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.3 (2025-04-30 14:42:33)
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 + 00:00:10 [warn] HTTP client 192.168.1.2 login succeeded (session key 3353761004)
2025-05-12 06:43:50 [warn] Date and time set at power up + 00:00:10
2025-05-12 06:44:55 [warn] Started printing file 0:/gcodes/NV00044073A.g
2025-05-12 06:44:55 [debug] File 0:/gcodes/NV00044073A.g selected for printing
2025-05-12 06:45:05 [info] PreTrigger: 0
2025-05-12 06:45:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:26 [debug] Stopped at height -0.185 mm
2025-05-12 06:45:26 [info] currentZPosition:-0.184788
2025-05-12 06:45:27 [debug] Stopped at height -0.184 mm
2025-05-12 06:45:27 [info] currentZPosition:-0.183794
2025-05-12 06:45:27 [info] tubeContactPos:-0.1842914 contactPositions:{-0.185,-0.184,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:45:27 [debug] Diagnostics for board 50:
2025-05-12 06:45:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:27 [debug] Never used RAM 51324, free system stack 174 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,146) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,63.2%,313) HEAT(2,nWait 6,0.0%,133) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,34.8%,249) IDLE(0,ready,1.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:01:47 ago, cause: power up
2025-05-12 06:45:27 [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
2025-05-12 06:45:27 [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
2025-05-12 06:45:27 [debug] Moves scheduled 9, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=0, max=325, frequency (Hz): min=0, max=37500
Sync err accum 71, peak jitter -4/5, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294918814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, current 2
2025-05-12 06:45:27 [debug] Driver 0: pos -12104, 10060.2 steps/mm, standstill, SG min 0, mspos 136, reads 22105, writes 45 timeouts 2
2025-05-12 06:45:27 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 942, send timeouts 0, received 547, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36359/37179
2025-05-12 06:45:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -364
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4670, no error
Lin: Encoder reverse polarity: no, raw count 65173
Accelerometer: none
I2C bus errors 6, naks 0, contentions 0, other errors 0
2025-05-12 06:45:27 [info] ProbeTriggered: 0
2025-05-12 06:45:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:27 [info] PreTrigger: 0
2025-05-12 06:45:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:28 [debug] Stopped at height -0.184 mm
2025-05-12 06:45:28 [info] currentZPosition:-0.184490
2025-05-12 06:45:28 [info] tubeContactPos:-0.184 contactPositions:{-0.184,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:45:28 [debug] Diagnostics for board 50:
2025-05-12 06:45:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:28 [debug] Never used RAM 51324, free system stack 174 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,146) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,133) CanAsync(5,nWait 4,0.1%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,34.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:01:49 ago, cause: power up
2025-05-12 06:45:28 [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
2025-05-12 06:45:28 [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
2025-05-12 06:45:28 [debug] Moves scheduled 11, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=257, frequency (Hz): min=2895, max=17045
Sync err accum 64, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294910532 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:45:28 [debug] Driver 0: pos -12111, 10060.2 steps/mm, standstill, SG min 0, mspos 248, reads 18256, writes 0 timeouts 0
2025-05-12 06:45:28 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 37155/37174
2025-05-12 06:45:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -364
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4673, no error
Lin: Encoder reverse polarity: no, raw count 65173
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:28 [info] ProbeTriggered: 0
2025-05-12 06:45:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:28 [info] PreTrigger: 0
2025-05-12 06:45:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:29 [debug] Stopped at height -0.185 mm
2025-05-12 06:45:29 [info] currentZPosition:-0.184888
2025-05-12 06:45:29 [info] tubeContactPos:-0.185 contactPositions:{-0.185,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:45:30 [debug] Diagnostics for board 50:
2025-05-12 06:45:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:30 [debug] Never used RAM 51324, free system stack 174 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,130) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,133) CanAsync(5,nWait 4,0.1%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,34.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:01:50 ago, cause: power up
2025-05-12 06:45:30 [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
2025-05-12 06:45:30 [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
2025-05-12 06:45:30 [debug] Moves scheduled 13, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=228, frequency (Hz): min=3393, max=17045
Sync err accum 59, peak jitter -3/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294913132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:45:30 [debug] Driver 0: pos -12115, 10060.2 steps/mm, standstill, SG min 0, mspos 312, reads 18455, writes 0 timeouts 0
2025-05-12 06:45:30 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 37153/37177
2025-05-12 06:45:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -363
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4667, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:30 [info] ProbeTriggered: 0
2025-05-12 06:45:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:30 [info] PreTrigger: 0
2025-05-12 06:45:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:31 [debug] Stopped at height -0.184 mm
2025-05-12 06:45:31 [info] currentZPosition:-0.184490
2025-05-12 06:45:31 [info] tubeContactPos:-0.184 contactPositions:{-0.184,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:45:31 [debug] Diagnostics for board 50:
2025-05-12 06:45:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:31 [debug] Never used RAM 51324, free system stack 174 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,130) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,133) CanAsync(5,nWait 4,0.1%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,34.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:01:52 ago, cause: power up
2025-05-12 06:45:31 [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
2025-05-12 06:45:31 [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
2025-05-12 06:45:31 [debug] Moves scheduled 15, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=362, frequency (Hz): min=2459, max=17045
Sync err accum 70, peak jitter 0/4, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294913121 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:45:31 [debug] Driver 0: pos -12111, 10060.2 steps/mm, standstill, SG min 0, mspos 248, reads 17424, writes 0 timeouts 0
2025-05-12 06:45:31 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 37146/37172
2025-05-12 06:45:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -364
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4670, no error
Lin: Encoder reverse polarity: no, raw count 65173
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:31 [info] ProbeTriggered: 0
2025-05-12 06:45:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:31 [info] ZeroDepth success, max error: 3.4791231e-4 Positions:{{-0.1842914,-0.184,-0.185,-0.184,0,0,0,0,0,0},{0,0,0,0,0,0,0,0,0,0}} Average Positions:-0.1845399 current position:-0.176
2025-05-12 06:45:31 [info] ZeroDepth set current Z position to: -0.008101270
2025-05-12 06:45:31 [debug] Diagnostics for board 50:
2025-05-12 06:45:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:31 [debug] Never used RAM 51324, free system stack 174 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,130) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,133) CanAsync(5,nWait 4,0.1%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,34.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:01:52 ago, cause: power up
2025-05-12 06:45:31 [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
2025-05-12 06:45:31 [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
2025-05-12 06:45:31 [debug] Moves scheduled 16, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=173, frequency (Hz): min=4934, max=17441
Sync err accum 70, peak jitter -1/1, peak Rx delay 153, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294674119 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:45:31 [debug] Driver 0: pos -12030, 10060.2 steps/mm, standstill, SG min 0, mspos 1000, reads 6507, writes 0 timeouts 0
2025-05-12 06:45:31 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 58, send timeouts 0, received 14, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 282, adv 37174/37174
2025-05-12 06:45:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -378
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8386, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4675, no error
Lin: Encoder reverse polarity: no, raw count 65158
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:32 [info] PreTrigger: 0
2025-05-12 06:45:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:33 [debug] Stopped at height 0.000 mm
2025-05-12 06:45:33 [info] currentZPosition:3.976082e-4
2025-05-12 06:45:33 [info] tubeContactPos:3.976e-4 contactPositions:{3.976e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:45:33 [debug] Diagnostics for board 50:
2025-05-12 06:45:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:33 [debug] Never used RAM 51324, free system stack 174 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,130) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,133) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,45) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:01:53 ago, cause: power up
2025-05-12 06:45:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:45:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:45:33 [debug] Moves scheduled 18, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=192, frequency (Hz): min=3787, max=17045
Sync err accum 66, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294909556 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:45:33 [debug] Driver 0: pos -12107, 10060.2 steps/mm, standstill, SG min 0, mspos 184, reads 14450, writes 0 timeouts 0
2025-05-12 06:45:33 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 70, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 37141/37149
2025-05-12 06:45:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -364
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4668, no error
Lin: Encoder reverse polarity: no, raw count 65173
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:33 [info] ProbeTriggered: 0
2025-05-12 06:45:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:33 [info] PreTrigger: 1000
2025-05-12 06:45:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:35 [debug] Stopped at height 0.001 mm
2025-05-12 06:45:35 [info] currentZPosition:7.952164e-4
2025-05-12 06:45:35 [info] tubeContactPos:7.952e-4 contactPositions:{7.952e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:45:35 [debug] Diagnostics for board 50:
2025-05-12 06:45:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:35 [debug] Never used RAM 51324, free system stack 174 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,130) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,133) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:01:55 ago, cause: power up
2025-05-12 06:45:35 [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
2025-05-12 06:45:35 [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
2025-05-12 06:45:35 [debug] Moves scheduled 22, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=446, frequency (Hz): min=483, max=17857
Sync err accum 69, peak jitter -3/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294913542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, current
2025-05-12 06:45:35 [debug] Driver 0: pos -12104, 10060.2 steps/mm, standstill, SG min 0, mspos 136, reads 23835, writes 11 timeouts 1
2025-05-12 06:45:35 [debug] Last sensors broadcast 0x00000000 found 0 123 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 291, adv 35724/37180
2025-05-12 06:45:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4669, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:35 [info] ProbeTriggered: 0
2025-05-12 06:45:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:35 [info] PreTrigger: 1000
2025-05-12 06:45:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:36 [debug] Stopped at height 0.002 mm
2025-05-12 06:45:36 [info] currentZPosition:0.00168983
2025-05-12 06:45:36 [info] tubeContactPos:0.00169 contactPositions:{0.00169,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:45:36 [debug] Diagnostics for board 50:
2025-05-12 06:45:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:36 [debug] Never used RAM 51324, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,130) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,133) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:01:57 ago, cause: power up
2025-05-12 06:45:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:45:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:45:36 [debug] Moves scheduled 26, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=426, frequency (Hz): min=2192, max=18292
Sync err accum 78, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294915241 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:45:36 [debug] Driver 0: pos -12096, 10060.2 steps/mm, standstill, SG min 0, mspos 8, reads 23293, writes 0 timeouts 0
2025-05-12 06:45:36 [debug] Last sensors broadcast 0x00000000 found 0 23 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 285, adv 35731/37175
2025-05-12 06:45:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -363
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4666, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:37 [info] ProbeTriggered: 0
2025-05-12 06:45:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:37 [info] PreTrigger: 0
2025-05-12 06:45:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:39 [debug] Stopped at height 0.000 mm
2025-05-12 06:45:39 [info] currentZPosition:3.976082e-4
2025-05-12 06:45:39 [debug] Stopped at height 0.001 mm
2025-05-12 06:45:39 [info] currentZPosition:0.00129223
2025-05-12 06:45:39 [info] tubeContactPos:0.00129 contactPositions:{3.976e-4,0.00129,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:45:39 [debug] Diagnostics for board 50:
2025-05-12 06:45:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:39 [debug] Never used RAM 51324, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,130) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,132) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:00 ago, cause: power up
2025-05-12 06:45:39 [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
2025-05-12 06:45:39 [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
2025-05-12 06:45:39 [debug] Moves scheduled 32, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=262, frequency (Hz): min=488, max=17857
Sync err accum 56, peak jitter -3/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294917231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:45:39 [debug] Driver 0: pos -12101, 10060.2 steps/mm, standstill, SG min 0, mspos 88, reads 36749, writes 22 timeouts 2
2025-05-12 06:45:39 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 139, send timeouts 0, received 38, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35972/37178
2025-05-12 06:45:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4668, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:39 [info] ProbeTriggered: 0
2025-05-12 06:45:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:40 [info] PreTrigger: 0
2025-05-12 06:45:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:42 [debug] Stopped at height 0.000 mm
2025-05-12 06:45:42 [info] currentZPosition:0.00000
2025-05-12 06:45:42 [debug] Stopped at height -0.000 mm
2025-05-12 06:45:42 [info] currentZPosition:-1.988041e-4
2025-05-12 06:45:42 [info] tubeContactPos:-9.9402052e-5 contactPositions:{0.00,-1.988e-4,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:45:42 [debug] Diagnostics for board 50:
2025-05-12 06:45:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:42 [debug] Never used RAM 51324, free system stack 172 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,130) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:03 ago, cause: power up
2025-05-12 06:45:42 [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
2025-05-12 06:45:42 [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
2025-05-12 06:45:42 [debug] Moves scheduled 38, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=370, frequency (Hz): min=751, max=17857
Sync err accum 72, peak jitter -1/4, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294918399 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, current
2025-05-12 06:45:42 [debug] Driver 0: pos -12117, 10060.2 steps/mm, standstill, SG min 0, mspos 344, reads 34931, writes 11 timeouts 1
2025-05-12 06:45:42 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 157, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36281/37174
2025-05-12 06:45:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4668, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:42 [info] ProbeTriggered: 0
2025-05-12 06:45:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:43 [info] PreTrigger: 0
2025-05-12 06:45:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:44 [debug] Stopped at height 0.001 mm
2025-05-12 06:45:44 [info] currentZPosition:6.958144e-4
2025-05-12 06:45:44 [info] tubeContactPos:6.958e-4 contactPositions:{6.958e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:45:44 [debug] Diagnostics for board 50:
2025-05-12 06:45:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:44 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,130) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:05 ago, cause: power up
2025-05-12 06:45:44 [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
2025-05-12 06:45:44 [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
2025-05-12 06:45:44 [debug] Moves scheduled 42, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=357, frequency (Hz): min=600, max=17857
Sync err accum 61, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294915748 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:45:44 [debug] Driver 0: pos -12109, 10060.2 steps/mm, standstill, SG min 0, mspos 216, reads 23505, writes 11 timeouts 1
2025-05-12 06:45:44 [debug] Last sensors broadcast 0x00000000 found 0 15 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 284, adv 36172/37176
2025-05-12 06:45:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4667, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:44 [info] ProbeTriggered: 0
2025-05-12 06:45:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:45 [info] PreTrigger: 1000
2025-05-12 06:45:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:46 [debug] Stopped at height 0.001 mm
2025-05-12 06:45:46 [info] currentZPosition:0.00139163
2025-05-12 06:45:46 [info] tubeContactPos:0.00139 contactPositions:{0.00139,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:45:46 [debug] Diagnostics for board 50:
2025-05-12 06:45:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:46 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,130) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:02:07 ago, cause: power up
2025-05-12 06:45:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:45:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:45:46 [debug] Moves scheduled 46, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=428, frequency (Hz): min=499, max=18292
Sync err accum 73, peak jitter -1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294910829 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:45:46 [debug] Driver 0: pos -12103, 10060.2 steps/mm, standstill, SG min 0, mspos 120, reads 25963, writes 11 timeouts 1
2025-05-12 06:45:46 [debug] Last sensors broadcast 0x00000000 found 0 130 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 286, adv 36278/37173
2025-05-12 06:45:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8751, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4673, no error
Lin: Encoder reverse polarity: no, raw count 65172
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:46 [info] ProbeTriggered: 0
2025-05-12 06:45:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:47 [info] PreTrigger: 1000
2025-05-12 06:45:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:48 [debug] Stopped at height 0.001 mm
2025-05-12 06:45:48 [info] currentZPosition:7.952164e-4
2025-05-12 06:45:48 [info] tubeContactPos:7.952e-4 contactPositions:{7.952e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:45:48 [debug] Diagnostics for board 50:
2025-05-12 06:45:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:48 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,130) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:09 ago, cause: power up
2025-05-12 06:45:48 [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
2025-05-12 06:45:48 [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
2025-05-12 06:45:48 [debug] Moves scheduled 50, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=305, frequency (Hz): min=2577, max=17857
Sync err accum 72, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294909876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:45:48 [debug] Driver 0: pos -12109, 10060.2 steps/mm, standstill, SG min 0, mspos 216, reads 24698, writes 0 timeouts 0
2025-05-12 06:45:48 [debug] Last sensors broadcast 0x00000000 found 0 141 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 285, adv 36170/37174
2025-05-12 06:45:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4669, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:48 [info] ProbeTriggered: 0
2025-05-12 06:45:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:49 [info] PreTrigger: 1000
2025-05-12 06:45:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:50 [debug] Stopped at height 0.001 mm
2025-05-12 06:45:50 [info] currentZPosition:9.940205e-4
2025-05-12 06:45:50 [info] tubeContactPos:9.940e-4 contactPositions:{9.940e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:45:50 [debug] Diagnostics for board 50:
2025-05-12 06:45:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:50 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:11 ago, cause: power up
2025-05-12 06:45:50 [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
2025-05-12 06:45:50 [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
2025-05-12 06:45:50 [debug] Moves scheduled 54, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 41, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=456, frequency (Hz): min=2071, max=18292
Sync err accum 58, peak jitter -2/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294913326 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:45:50 [debug] Driver 0: pos -12108, 10060.2 steps/mm, standstill, SG min 0, mspos 200, reads 26572, writes 0 timeouts 0
2025-05-12 06:45:50 [debug] Last sensors broadcast 0x00000000 found 0 50 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 287, adv 36281/37175
2025-05-12 06:45:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4668, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:51 [info] ProbeTriggered: 0
2025-05-12 06:45:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:51 [info] PreTrigger: 0
2025-05-12 06:45:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:52 [debug] Stopped at height 0.001 mm
2025-05-12 06:45:52 [info] currentZPosition:0.00139163
2025-05-12 06:45:52 [info] tubeContactPos:0.00139 contactPositions:{0.00139,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:45:52 [debug] Diagnostics for board 50:
2025-05-12 06:45:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:52 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:13 ago, cause: power up
2025-05-12 06:45:52 [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
2025-05-12 06:45:52 [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
2025-05-12 06:45:52 [debug] Moves scheduled 58, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=480, frequency (Hz): min=1958, max=18292
Sync err accum 74, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294908462 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:45:52 [debug] Driver 0: pos -12104, 10060.2 steps/mm, standstill, SG min 0, mspos 136, reads 23549, writes 0 timeouts 0
2025-05-12 06:45:52 [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 289, adv 36179/37171
2025-05-12 06:45:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4675, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:52 [info] ProbeTriggered: 0
2025-05-12 06:45:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:53 [info] PreTrigger: 1000
2025-05-12 06:45:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:55 [debug] Stopped at height 0.001 mm
2025-05-12 06:45:55 [info] currentZPosition:7.952164e-4
2025-05-12 06:45:55 [info] tubeContactPos:7.952e-4 contactPositions:{7.952e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:45:55 [debug] Diagnostics for board 50:
2025-05-12 06:45:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:55 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:15 ago, cause: power up
2025-05-12 06:45:55 [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
2025-05-12 06:45:55 [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
2025-05-12 06:45:55 [debug] Moves scheduled 62, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=388, frequency (Hz): min=2380, max=17441
Sync err accum 75, peak jitter -2/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294909933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:45:55 [debug] Driver 0: pos -12110, 10060.2 steps/mm, standstill, SG min 0, mspos 232, reads 27564, writes 0 timeouts 0
2025-05-12 06:45:55 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 112, 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 286, adv 36282/37171
2025-05-12 06:45:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4663, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:55 [info] ProbeTriggered: 0
2025-05-12 06:45:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:55 [info] PreTrigger: 1000
2025-05-12 06:45:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:56 [debug] Stopped at height 0.001 mm
2025-05-12 06:45:56 [info] currentZPosition:0.00149103
2025-05-12 06:45:56 [info] tubeContactPos:0.00149 contactPositions:{0.00149,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:45:57 [debug] Diagnostics for board 50:
2025-05-12 06:45:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:57 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:17 ago, cause: power up
2025-05-12 06:45:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:45:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:45:57 [debug] Moves scheduled 66, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=273, frequency (Hz): min=3036, max=17857
Sync err accum 64, peak jitter -4/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294914895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:45:57 [debug] Driver 0: pos -12104, 10060.2 steps/mm, standstill, SG min 0, mspos 136, reads 23134, writes 0 timeouts 0
2025-05-12 06:45:57 [debug] Last sensors broadcast 0x00000000 found 0 85 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 293, adv 36164/37178
2025-05-12 06:45:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8760, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4671, no error
Lin: Encoder reverse polarity: no, raw count 65173
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:57 [info] ProbeTriggered: 0
2025-05-12 06:45:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:57 [info] PreTrigger: 0
2025-05-12 06:45:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:59 [debug] Stopped at height 0.001 mm
2025-05-12 06:45:59 [info] currentZPosition:6.958144e-4
2025-05-12 06:45:59 [info] tubeContactPos:6.958e-4 contactPositions:{6.958e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:45:59 [debug] Diagnostics for board 50:
2025-05-12 06:45:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:45:59 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:19 ago, cause: power up
2025-05-12 06:45:59 [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
2025-05-12 06:45:59 [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
2025-05-12 06:45:59 [debug] Moves scheduled 70, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=562, frequency (Hz): min=1696, max=17045
Sync err accum 69, peak jitter -1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294908313 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:45:59 [debug] Driver 0: pos -12112, 10060.2 steps/mm, standstill, SG min 0, mspos 264, reads 25209, writes 0 timeouts 0
2025-05-12 06:45:59 [debug] Last sensors broadcast 0x00000000 found 0 126 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 291, adv 36276/37172
2025-05-12 06:45:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4671, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:45:59 [info] ProbeTriggered: 0
2025-05-12 06:45:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:45:59 [info] PreTrigger: 1000
2025-05-12 06:45:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:45:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:01 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:01 [info] currentZPosition:0.00109342
2025-05-12 06:46:01 [info] tubeContactPos:0.00109 contactPositions:{0.00109,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:01 [debug] Diagnostics for board 50:
2025-05-12 06:46:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:01 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:21 ago, cause: power up
2025-05-12 06:46:01 [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
2025-05-12 06:46:01 [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
2025-05-12 06:46:01 [debug] Moves scheduled 74, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=465, frequency (Hz): min=549, max=18292
Sync err accum 66, peak jitter -2/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294908039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:46:01 [debug] Driver 0: pos -12108, 10060.2 steps/mm, standstill, SG min 0, mspos 200, reads 26023, writes 11 timeouts 1
2025-05-12 06:46:01 [debug] Last sensors broadcast 0x00000000 found 0 9 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 290, adv 36187/37173
2025-05-12 06:46:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4666, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:01 [info] ProbeTriggered: 0
2025-05-12 06:46:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:01 [info] PreTrigger: 0
2025-05-12 06:46:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:03 [debug] Stopped at height 0.002 mm
2025-05-12 06:46:03 [info] currentZPosition:0.00188864
2025-05-12 06:46:03 [info] tubeContactPos:0.00189 contactPositions:{0.00189,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:03 [debug] Diagnostics for board 50:
2025-05-12 06:46:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:03 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:23 ago, cause: power up
2025-05-12 06:46:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:46:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:46:03 [debug] Moves scheduled 78, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=317, frequency (Hz): min=2604, max=17045
Sync err accum 62, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294913068 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:46:03 [debug] Driver 0: pos -12100, 10060.2 steps/mm, standstill, SG min 0, mspos 72, reads 23141, writes 0 timeouts 0
2025-05-12 06:46:03 [debug] Last sensors broadcast 0x00000000 found 0 128 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 288, adv 36281/37173
2025-05-12 06:46:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -363
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8738, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4666, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:03 [info] ProbeTriggered: 0
2025-05-12 06:46:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:03 [info] PreTrigger: 1000
2025-05-12 06:46:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:05 [debug] Stopped at height 0.002 mm
2025-05-12 06:46:05 [info] currentZPosition:0.00159043
2025-05-12 06:46:05 [info] tubeContactPos:0.00159 contactPositions:{0.00159,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:05 [debug] Diagnostics for board 50:
2025-05-12 06:46:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:05 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:25 ago, cause: power up
2025-05-12 06:46:05 [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
2025-05-12 06:46:05 [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
2025-05-12 06:46:05 [debug] Moves scheduled 82, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=378, frequency (Hz): min=2307, max=17857
Sync err accum 63, peak jitter -1/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294911951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:46:05 [debug] Driver 0: pos -12103, 10060.2 steps/mm, standstill, SG min 0, mspos 120, reads 26916, writes 0 timeouts 0
2025-05-12 06:46:05 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, 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 288, adv 36200/37172
2025-05-12 06:46:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8753, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4670, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:05 [info] ProbeTriggered: 0
2025-05-12 06:46:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:05 [info] PreTrigger: 0
2025-05-12 06:46:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:07 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:07 [info] currentZPosition:0.00129223
2025-05-12 06:46:07 [info] tubeContactPos:0.00129 contactPositions:{0.00129,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:07 [debug] Diagnostics for board 50:
2025-05-12 06:46:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:07 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:27 ago, cause: power up
2025-05-12 06:46:07 [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
2025-05-12 06:46:07 [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
2025-05-12 06:46:07 [debug] Moves scheduled 86, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=529, frequency (Hz): min=1575, max=17441
Sync err accum 66, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294911850 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:46:07 [debug] Driver 0: pos -12106, 10060.2 steps/mm, standstill, SG min 0, mspos 168, reads 24555, writes 0 timeouts 0
2025-05-12 06:46:07 [debug] Last sensors broadcast 0x00000000 found 0 55 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 288, adv 36264/37174
2025-05-12 06:46:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8766, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4664, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:07 [info] ProbeTriggered: 0
2025-05-12 06:46:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:07 [info] PreTrigger: 1000
2025-05-12 06:46:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:09 [debug] Stopped at height 0.002 mm
2025-05-12 06:46:09 [info] currentZPosition:0.00159043
2025-05-12 06:46:09 [info] tubeContactPos:0.00159 contactPositions:{0.00159,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:09 [debug] Diagnostics for board 50:
2025-05-12 06:46:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:09 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:30 ago, cause: power up
2025-05-12 06:46:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:46:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:46:09 [debug] Moves scheduled 90, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=306, frequency (Hz): min=742, max=17857
Sync err accum 72, peak jitter -3/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294911723 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, current
2025-05-12 06:46:09 [debug] Driver 0: pos -12103, 10060.2 steps/mm, standstill, SG min 0, mspos 120, reads 26119, writes 11 timeouts 1
2025-05-12 06:46:09 [debug] Last sensors broadcast 0x00000000 found 0 193 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 287, adv 36186/37173
2025-05-12 06:46:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8754, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4670, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:09 [info] ProbeTriggered: 0
2025-05-12 06:46:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:09 [info] PreTrigger: 0
2025-05-12 06:46:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:11 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:11 [info] currentZPosition:8.946185e-4
2025-05-12 06:46:11 [info] tubeContactPos:8.946e-4 contactPositions:{8.946e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:11 [debug] Diagnostics for board 50:
2025-05-12 06:46:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:11 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,1.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:32 ago, cause: power up
2025-05-12 06:46:11 [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
2025-05-12 06:46:11 [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
2025-05-12 06:46:11 [debug] Moves scheduled 94, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=450, frequency (Hz): min=1937, max=17441
Sync err accum 82, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294910352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:46:11 [debug] Driver 0: pos -12110, 10060.2 steps/mm, standstill, SG min 0, mspos 232, reads 25126, writes 0 timeouts 0
2025-05-12 06:46:11 [debug] Last sensors broadcast 0x00000000 found 0 220 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 286, adv 36279/37173
2025-05-12 06:46:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8789, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4669, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:11 [info] ProbeTriggered: 0
2025-05-12 06:46:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:12 [info] PreTrigger: 0
2025-05-12 06:46:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:13 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:13 [info] currentZPosition:0.00109342
2025-05-12 06:46:13 [info] tubeContactPos:0.00109 contactPositions:{0.00109,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:13 [debug] Diagnostics for board 50:
2025-05-12 06:46:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:13 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:34 ago, cause: power up
2025-05-12 06:46:13 [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
2025-05-12 06:46:13 [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
2025-05-12 06:46:13 [debug] Moves scheduled 98, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=413, frequency (Hz): min=2083, max=18292
Sync err accum 69, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294908460 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:46:13 [debug] Driver 0: pos -12109, 10060.2 steps/mm, standstill, SG min 0, mspos 216, reads 26454, writes 0 timeouts 0
2025-05-12 06:46:13 [debug] Last sensors broadcast 0x00000000 found 0 131 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 285, adv 36146/37173
2025-05-12 06:46:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4669, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:13 [info] ProbeTriggered: 0
2025-05-12 06:46:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:13 [info] PreTrigger: 0
2025-05-12 06:46:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:15 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:15 [info] currentZPosition:0.00149103
2025-05-12 06:46:15 [info] tubeContactPos:0.00149 contactPositions:{0.00149,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:15 [debug] Diagnostics for board 50:
2025-05-12 06:46:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:15 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,0.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:36 ago, cause: power up
2025-05-12 06:46:15 [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
2025-05-12 06:46:15 [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
2025-05-12 06:46:15 [debug] Moves scheduled 102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=338, frequency (Hz): min=1572, max=17857
Sync err accum 63, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294909431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:46:15 [debug] Driver 0: pos -12105, 10060.2 steps/mm, standstill, SG min 0, mspos 152, reads 23759, writes 0 timeouts 0
2025-05-12 06:46:15 [debug] Last sensors broadcast 0x00000000 found 0 45 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 287, adv 36282/37177
2025-05-12 06:46:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -364
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4666, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:15 [info] ProbeTriggered: 0
2025-05-12 06:46:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:16 [info] PreTrigger: 1000
2025-05-12 06:46:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:17 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:17 [info] currentZPosition:0.00119282
2025-05-12 06:46:17 [info] tubeContactPos:0.00119 contactPositions:{0.00119,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:17 [debug] Diagnostics for board 50:
2025-05-12 06:46:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:17 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:38 ago, cause: power up
2025-05-12 06:46:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:46:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:46:17 [debug] Moves scheduled 106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=370, frequency (Hz): min=2483, max=17441
Sync err accum 74, peak jitter -1/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294916749 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:46:17 [debug] Driver 0: pos -12109, 10060.2 steps/mm, standstill, SG min 0, mspos 216, reads 26914, writes 0 timeouts 0
2025-05-12 06:46:17 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, 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 288, adv 36171/37168
2025-05-12 06:46:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4670, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:17 [info] ProbeTriggered: 0
2025-05-12 06:46:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:18 [info] PreTrigger: 0
2025-05-12 06:46:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:19 [debug] Stopped at height 0.002 mm
2025-05-12 06:46:19 [info] currentZPosition:0.00188864
2025-05-12 06:46:19 [info] tubeContactPos:0.00189 contactPositions:{0.00189,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:19 [debug] Diagnostics for board 50:
2025-05-12 06:46:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:19 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,119) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:40 ago, cause: power up
2025-05-12 06:46:19 [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
2025-05-12 06:46:19 [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
2025-05-12 06:46:19 [debug] Moves scheduled 110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=320, frequency (Hz): min=2388, max=17045
Sync err accum 65, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294909766 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:46:19 [debug] Driver 0: pos -12102, 10060.2 steps/mm, standstill, SG min 0, mspos 104, reads 23425, writes 0 timeouts 0
2025-05-12 06:46:19 [debug] Last sensors broadcast 0x00000000 found 0 133 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 289, adv 36279/37174
2025-05-12 06:46:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -364
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8749, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4666, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:19 [info] ProbeTriggered: 0
2025-05-12 06:46:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:20 [info] PreTrigger: 1000
2025-05-12 06:46:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:21 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:21 [info] currentZPosition:0.00119282
2025-05-12 06:46:21 [info] tubeContactPos:0.00119 contactPositions:{0.00119,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:21 [debug] Diagnostics for board 50:
2025-05-12 06:46:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:21 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:42 ago, cause: power up
2025-05-12 06:46:21 [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
2025-05-12 06:46:21 [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
2025-05-12 06:46:21 [debug] Moves scheduled 114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=430, frequency (Hz): min=909, max=18292
Sync err accum 74, peak jitter -3/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294914320 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:46:21 [debug] Driver 0: pos -12110, 10060.2 steps/mm, standstill, SG min 0, mspos 232, reads 27330, writes 11 timeouts 1
2025-05-12 06:46:21 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 139, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36172/37175
2025-05-12 06:46:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4664, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:21 [info] ProbeTriggered: 0
2025-05-12 06:46:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:22 [info] PreTrigger: 0
2025-05-12 06:46:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:23 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:23 [info] currentZPosition:0.00109342
2025-05-12 06:46:23 [info] tubeContactPos:0.00109 contactPositions:{0.00109,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:23 [debug] Diagnostics for board 50:
2025-05-12 06:46:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:23 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:44 ago, cause: power up
2025-05-12 06:46:23 [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
2025-05-12 06:46:23 [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
2025-05-12 06:46:23 [debug] Moves scheduled 118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=373, frequency (Hz): min=2491, max=17045
Sync err accum 81, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294911205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:46:23 [debug] Driver 0: pos -12111, 10060.2 steps/mm, standstill, SG min 0, mspos 248, reads 24349, writes 0 timeouts 0
2025-05-12 06:46:23 [debug] Last sensors broadcast 0x00000000 found 0 91 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 286, adv 36284/37175
2025-05-12 06:46:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4662, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:23 [info] ProbeTriggered: 0
2025-05-12 06:46:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:24 [info] PreTrigger: 1000
2025-05-12 06:46:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:25 [debug] Stopped at height 0.002 mm
2025-05-12 06:46:25 [info] currentZPosition:0.00208744
2025-05-12 06:46:25 [info] tubeContactPos:0.00209 contactPositions:{0.00209,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:25 [debug] Diagnostics for board 50:
2025-05-12 06:46:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:25 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:46 ago, cause: power up
2025-05-12 06:46:25 [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
2025-05-12 06:46:25 [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
2025-05-12 06:46:25 [debug] Moves scheduled 122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=361, frequency (Hz): min=519, max=18292
Sync err accum 68, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294914500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:46:25 [debug] Driver 0: pos -12102, 10060.2 steps/mm, standstill, SG min 0, mspos 104, reads 25293, writes 11 timeouts 1
2025-05-12 06:46:25 [debug] Last sensors broadcast 0x00000000 found 0 161 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 290, adv 36190/37172
2025-05-12 06:46:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -363
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4665, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:25 [info] ProbeTriggered: 0
2025-05-12 06:46:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:26 [info] PreTrigger: 0
2025-05-12 06:46:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:27 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:27 [info] currentZPosition:0.00109342
2025-05-12 06:46:27 [info] tubeContactPos:0.00109 contactPositions:{0.00109,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:27 [debug] Diagnostics for board 50:
2025-05-12 06:46:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:27 [debug] Never used RAM 51324, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:48 ago, cause: power up
2025-05-12 06:46:27 [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
2025-05-12 06:46:27 [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
2025-05-12 06:46:27 [debug] Moves scheduled 126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=320, frequency (Hz): min=2136, max=17857
Sync err accum 65, peak jitter -3/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294909376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:46:27 [debug] Driver 0: pos -12112, 10060.2 steps/mm, standstill, SG min 0, mspos 264, reads 25446, writes 0 timeouts 0
2025-05-12 06:46:27 [debug] Last sensors broadcast 0x00000000 found 0 217 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 292, adv 36277/37178
2025-05-12 06:46:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4675, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:27 [info] ProbeTriggered: 0
2025-05-12 06:46:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:28 [info] PreTrigger: 1000
2025-05-12 06:46:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:29 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:29 [info] currentZPosition:0.00139163
2025-05-12 06:46:30 [info] tubeContactPos:0.00139 contactPositions:{0.00139,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:30 [debug] Diagnostics for board 50:
2025-05-12 06:46:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:30 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:50 ago, cause: power up
2025-05-12 06:46:30 [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
2025-05-12 06:46:30 [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
2025-05-12 06:46:30 [debug] Moves scheduled 130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=445, frequency (Hz): min=2021, max=18292
Sync err accum 84, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294911713 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:46:30 [debug] Driver 0: pos -12109, 10060.2 steps/mm, standstill, SG min 0, mspos 216, reads 26140, writes 0 timeouts 0
2025-05-12 06:46:30 [debug] Last sensors broadcast 0x00000000 found 0 102 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 285, adv 36181/37170
2025-05-12 06:46:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4664, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:30 [info] ProbeTriggered: 0
2025-05-12 06:46:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:30 [info] PreTrigger: 0
2025-05-12 06:46:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:31 [debug] Stopped at height 0.002 mm
2025-05-12 06:46:31 [info] currentZPosition:0.00198804
2025-05-12 06:46:31 [info] tubeContactPos:0.00199 contactPositions:{0.00199,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:31 [debug] Diagnostics for board 50:
2025-05-12 06:46:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:31 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,1.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:52 ago, cause: power up
2025-05-12 06:46:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:46:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:46:31 [debug] Moves scheduled 134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=340, frequency (Hz): min=2568, max=17857
Sync err accum 81, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294911168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:46:31 [debug] Driver 0: pos -12103, 10060.2 steps/mm, standstill, SG min 0, mspos 120, reads 23508, writes 0 timeouts 0
2025-05-12 06:46:31 [debug] Last sensors broadcast 0x00000000 found 0 249 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 287, adv 36282/37172
2025-05-12 06:46:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8754, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4670, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:31 [info] ProbeTriggered: 0
2025-05-12 06:46:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:32 [info] PreTrigger: 1000
2025-05-12 06:46:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:34 [debug] Stopped at height 0.002 mm
2025-05-12 06:46:34 [info] currentZPosition:0.00168983
2025-05-12 06:46:34 [info] tubeContactPos:0.00169 contactPositions:{0.00169,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:34 [debug] Diagnostics for board 50:
2025-05-12 06:46:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:34 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:54 ago, cause: power up
2025-05-12 06:46:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:46:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:46:34 [debug] Moves scheduled 138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=357, frequency (Hz): min=618, max=17857
Sync err accum 58, peak jitter -4/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294909531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:46:34 [debug] Driver 0: pos -12106, 10060.2 steps/mm, standstill, SG min 0, mspos 168, reads 26863, writes 11 timeouts 1
2025-05-12 06:46:34 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 108, 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 288, adv 36190/37171
2025-05-12 06:46:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4670, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:34 [info] ProbeTriggered: 0
2025-05-12 06:46:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:34 [info] PreTrigger: 0
2025-05-12 06:46:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:36 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:36 [info] currentZPosition:0.00109342
2025-05-12 06:46:36 [info] tubeContactPos:0.00109 contactPositions:{0.00109,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:36 [debug] Diagnostics for board 50:
2025-05-12 06:46:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:36 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:56 ago, cause: power up
2025-05-12 06:46:36 [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
2025-05-12 06:46:36 [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
2025-05-12 06:46:36 [debug] Moves scheduled 142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=416, frequency (Hz): min=2010, max=17857
Sync err accum 78, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294914481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:46:36 [debug] Driver 0: pos -12113, 10060.2 steps/mm, standstill, SG min 0, mspos 280, reads 25028, writes 0 timeouts 0
2025-05-12 06:46:36 [debug] Last sensors broadcast 0x00000000 found 0 222 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 285, adv 36282/37175
2025-05-12 06:46:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4666, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:36 [info] ProbeTriggered: 0
2025-05-12 06:46:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:36 [info] PreTrigger: 1000
2025-05-12 06:46:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:38 [debug] Stopped at height 0.003 mm
2025-05-12 06:46:38 [info] currentZPosition:0.00258445
2025-05-12 06:46:38 [debug] Stopped at height 0.002 mm
2025-05-12 06:46:38 [info] currentZPosition:0.00208744
2025-05-12 06:46:38 [info] tubeContactPos:0.00209 contactPositions:{0.00258,0.00209,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:46:38 [debug] Diagnostics for board 50:
2025-05-12 06:46:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:38 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:02:59 ago, cause: power up
2025-05-12 06:46:38 [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
2025-05-12 06:46:38 [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
2025-05-12 06:46:38 [debug] Moves scheduled 148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=533, frequency (Hz): min=594, max=17857
Sync err accum 78, peak jitter -2/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294917861 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:46:38 [debug] Driver 0: pos -12103, 10060.2 steps/mm, standstill, SG min 0, mspos 120, reads 31407, writes 11 timeouts 1
2025-05-12 06:46:38 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 126, 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 290, adv 36185/37171
2025-05-12 06:46:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -363
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4668, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:38 [info] ProbeTriggered: 0
2025-05-12 06:46:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:39 [info] PreTrigger: 0
2025-05-12 06:46:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:40 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:40 [info] currentZPosition:8.946185e-4
2025-05-12 06:46:40 [info] tubeContactPos:8.946e-4 contactPositions:{8.946e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:40 [debug] Diagnostics for board 50:
2025-05-12 06:46:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:40 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,1.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:01 ago, cause: power up
2025-05-12 06:46:40 [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
2025-05-12 06:46:40 [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
2025-05-12 06:46:40 [debug] Moves scheduled 152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=436, frequency (Hz): min=596, max=17857
Sync err accum 58, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294914540 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:46:40 [debug] Driver 0: pos -12116, 10060.2 steps/mm, standstill, SG min 0, mspos 328, reads 25670, writes 11 timeouts 1
2025-05-12 06:46:40 [debug] Last sensors broadcast 0x00000000 found 0 116 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 283, adv 36286/37177
2025-05-12 06:46:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4667, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:40 [info] ProbeTriggered: 0
2025-05-12 06:46:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:41 [info] PreTrigger: 1000
2025-05-12 06:46:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:42 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:42 [info] currentZPosition:9.940205e-4
2025-05-12 06:46:42 [info] tubeContactPos:9.940e-4 contactPositions:{9.940e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:42 [debug] Diagnostics for board 50:
2025-05-12 06:46:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:42 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:03 ago, cause: power up
2025-05-12 06:46:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:46:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:46:42 [debug] Moves scheduled 156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=385, frequency (Hz): min=551, max=18292
Sync err accum 75, peak jitter -1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:46:42 [debug] Driver 0: pos -12116, 10060.2 steps/mm, standstill, SG min 0, mspos 328, reads 26265, writes 22 timeouts 2
2025-05-12 06:46:42 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 142, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36182/37173
2025-05-12 06:46:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4666, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:43 [info] ProbeTriggered: 0
2025-05-12 06:46:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:43 [info] PreTrigger: 0
2025-05-12 06:46:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:44 [debug] Stopped at height 0.002 mm
2025-05-12 06:46:44 [info] currentZPosition:0.00238565
2025-05-12 06:46:45 [debug] Stopped at height 0.002 mm
2025-05-12 06:46:45 [info] currentZPosition:0.00238565
2025-05-12 06:46:45 [info] tubeContactPos:0.002385649 contactPositions:{0.00239,0.00239,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:46:45 [debug] Diagnostics for board 50:
2025-05-12 06:46:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:45 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:05 ago, cause: power up
2025-05-12 06:46:45 [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
2025-05-12 06:46:45 [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
2025-05-12 06:46:45 [debug] Moves scheduled 162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=328, frequency (Hz): min=2559, max=18292
Sync err accum 89, peak jitter -1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294921627 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:46:45 [debug] Driver 0: pos -12103, 10060.2 steps/mm, standstill, SG min 0, mspos 120, reads 28781, writes 0 timeouts 0
2025-05-12 06:46:45 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 104, 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 294, adv 36277/37176
2025-05-12 06:46:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8755, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4667, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:45 [info] ProbeTriggered: 0
2025-05-12 06:46:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:45 [info] PreTrigger: 1000
2025-05-12 06:46:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:47 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:47 [info] currentZPosition:0.00109342
2025-05-12 06:46:48 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:48 [info] currentZPosition:0.00139163
2025-05-12 06:46:48 [info] tubeContactPos:0.00139 contactPositions:{0.00109,0.00139,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:46:48 [debug] Diagnostics for board 50:
2025-05-12 06:46:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:48 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:08 ago, cause: power up
2025-05-12 06:46:48 [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
2025-05-12 06:46:48 [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
2025-05-12 06:46:48 [debug] Moves scheduled 168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=550, frequency (Hz): min=1724, max=17857
Sync err accum 66, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294914814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:46:48 [debug] Driver 0: pos -12113, 10060.2 steps/mm, standstill, SG min 0, mspos 280, reads 34133, writes 0 timeouts 0
2025-05-12 06:46:48 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 118, send timeouts 0, received 38, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36186/37178
2025-05-12 06:46:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4666, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:48 [info] ProbeTriggered: 0
2025-05-12 06:46:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:48 [info] PreTrigger: 0
2025-05-12 06:46:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:49 [debug] Stopped at height 0.002 mm
2025-05-12 06:46:49 [info] currentZPosition:0.00248505
2025-05-12 06:46:49 [info] tubeContactPos:0.00249 contactPositions:{0.00249,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:49 [debug] Diagnostics for board 50:
2025-05-12 06:46:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:49 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,1.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:10 ago, cause: power up
2025-05-12 06:46:49 [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
2025-05-12 06:46:49 [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
2025-05-12 06:46:49 [debug] Moves scheduled 172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 41, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=394, frequency (Hz): min=704, max=18292
Sync err accum 61, peak jitter -3/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294915374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:46:49 [debug] Driver 0: pos -12102, 10060.2 steps/mm, standstill, SG min 0, mspos 104, reads 22770, writes 11 timeouts 1
2025-05-12 06:46:49 [debug] Last sensors broadcast 0x00000000 found 0 218 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 285, adv 36284/37179
2025-05-12 06:46:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4665, no error
Lin: Encoder reverse polarity: no, raw count 65173
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:49 [info] ProbeTriggered: 0
2025-05-12 06:46:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:50 [info] PreTrigger: 1000
2025-05-12 06:46:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:52 [debug] Stopped at height 0.002 mm
2025-05-12 06:46:52 [info] currentZPosition:0.00238565
2025-05-12 06:46:52 [info] tubeContactPos:0.00239 contactPositions:{0.00239,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:52 [debug] Diagnostics for board 50:
2025-05-12 06:46:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:52 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:12 ago, cause: power up
2025-05-12 06:46:52 [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
2025-05-12 06:46:52 [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
2025-05-12 06:46:52 [debug] Moves scheduled 176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=364, frequency (Hz): min=2010, max=18292
Sync err accum 77, peak jitter 0/4, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294914553 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:46:52 [debug] Driver 0: pos -12104, 10060.2 steps/mm, standstill, SG min 0, mspos 136, reads 26628, writes 0 timeouts 0
2025-05-12 06:46:52 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 109, 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 286, adv 36183/37171
2025-05-12 06:46:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -363
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4670, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:52 [info] ProbeTriggered: 0
2025-05-12 06:46:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:52 [info] PreTrigger: 0
2025-05-12 06:46:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:54 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:54 [info] currentZPosition:0.00139163
2025-05-12 06:46:54 [info] tubeContactPos:0.00139 contactPositions:{0.00139,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:54 [debug] Diagnostics for board 50:
2025-05-12 06:46:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:54 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,111) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:14 ago, cause: power up
2025-05-12 06:46:54 [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
2025-05-12 06:46:54 [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
2025-05-12 06:46:54 [debug] Moves scheduled 180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=358, frequency (Hz): min=2396, max=17441
Sync err accum 68, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294916514 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:46:54 [debug] Driver 0: pos -12114, 10060.2 steps/mm, standstill, SG min 0, mspos 296, reads 25311, writes 0 timeouts 0
2025-05-12 06:46:54 [debug] Last sensors broadcast 0x00000000 found 0 195 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 291, adv 36280/37174
2025-05-12 06:46:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4662, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:54 [info] ProbeTriggered: 0
2025-05-12 06:46:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:54 [info] PreTrigger: 1000
2025-05-12 06:46:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:56 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:56 [info] currentZPosition:8.946185e-4
2025-05-12 06:46:56 [info] tubeContactPos:8.946e-4 contactPositions:{8.946e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:56 [debug] Diagnostics for board 50:
2025-05-12 06:46:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:56 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:17 ago, cause: power up
2025-05-12 06:46:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:46:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:46:56 [debug] Moves scheduled 184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=438, frequency (Hz): min=759, max=17857
Sync err accum 69, peak jitter -2/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294910636 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:46:56 [debug] Driver 0: pos -12119, 10060.2 steps/mm, standstill, SG min 0, mspos 376, reads 27055, writes 11 timeouts 1
2025-05-12 06:46:56 [debug] Last sensors broadcast 0x00000000 found 0 160 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 288, adv 36185/37174
2025-05-12 06:46:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8834, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4663, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:56 [info] ProbeTriggered: 0
2025-05-12 06:46:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:56 [info] PreTrigger: 0
2025-05-12 06:46:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:58 [debug] Stopped at height 0.001 mm
2025-05-12 06:46:58 [info] currentZPosition:0.00109342
2025-05-12 06:46:58 [info] tubeContactPos:0.00109 contactPositions:{0.00109,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:46:58 [debug] Diagnostics for board 50:
2025-05-12 06:46:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:46:58 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:18 ago, cause: power up
2025-05-12 06:46:58 [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
2025-05-12 06:46:58 [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
2025-05-12 06:46:58 [debug] Moves scheduled 188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=350, frequency (Hz): min=2542, max=18292
Sync err accum 82, peak jitter 0/2, peak Rx delay 214, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294916298 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:46:58 [debug] Driver 0: pos -12118, 10060.2 steps/mm, standstill, SG min 0, mspos 360, reads 23980, writes 0 timeouts 0
2025-05-12 06:46:58 [debug] Last sensors broadcast 0x00000000 found 0 100 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 286, adv 36280/37174
2025-05-12 06:46:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4663, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:46:58 [info] ProbeTriggered: 0
2025-05-12 06:46:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:46:58 [info] PreTrigger: 0
2025-05-12 06:46:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:46:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:00 [debug] Stopped at height 0.001 mm
2025-05-12 06:47:00 [info] currentZPosition:7.952164e-4
2025-05-12 06:47:00 [info] tubeContactPos:7.952e-4 contactPositions:{7.952e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:00 [debug] Diagnostics for board 50:
2025-05-12 06:47:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:00 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:21 ago, cause: power up
2025-05-12 06:47:00 [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
2025-05-12 06:47:00 [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
2025-05-12 06:47:00 [debug] Moves scheduled 192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=445, frequency (Hz): min=1989, max=17857
Sync err accum 75, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294913232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:47:00 [debug] Driver 0: pos -12122, 10060.2 steps/mm, standstill, SG min 0, mspos 424, reads 26890, writes 0 timeouts 0
2025-05-12 06:47:00 [debug] Last sensors broadcast 0x00000000 found 0 49 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 292, adv 36187/37168
2025-05-12 06:47:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8848, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4667, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:00 [info] ProbeTriggered: 0
2025-05-12 06:47:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:00 [info] PreTrigger: 0
2025-05-12 06:47:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:02 [debug] Stopped at height 0.002 mm
2025-05-12 06:47:02 [info] currentZPosition:0.00218685
2025-05-12 06:47:02 [debug] Stopped at height 0.003 mm
2025-05-12 06:47:02 [info] currentZPosition:0.00258445
2025-05-12 06:47:02 [info] tubeContactPos:0.002385649 contactPositions:{0.00219,0.00258,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:47:02 [debug] Diagnostics for board 50:
2025-05-12 06:47:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:02 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:03:23 ago, cause: power up
2025-05-12 06:47:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:47:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:47:02 [debug] Moves scheduled 198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=358, frequency (Hz): min=2307, max=17857
Sync err accum 62, peak jitter -3/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294913989 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:47:02 [debug] Driver 0: pos -12104, 10060.2 steps/mm, standstill, SG min 0, mspos 136, reads 28290, writes 0 timeouts 0
2025-05-12 06:47:02 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 114, 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 290, adv 36283/37172
2025-05-12 06:47:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8759, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4661, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:02 [info] ProbeTriggered: 0
2025-05-12 06:47:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:03 [info] PreTrigger: 0
2025-05-12 06:47:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:05 [debug] Stopped at height 0.001 mm
2025-05-12 06:47:05 [info] currentZPosition:0.00109342
2025-05-12 06:47:05 [debug] Stopped at height 0.002 mm
2025-05-12 06:47:05 [info] currentZPosition:0.00168983
2025-05-12 06:47:05 [info] tubeContactPos:0.00169 contactPositions:{0.00109,0.00169,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:47:05 [debug] Diagnostics for board 50:
2025-05-12 06:47:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:05 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:26 ago, cause: power up
2025-05-12 06:47:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:47:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:47:05 [debug] Moves scheduled 204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=358, frequency (Hz): min=2533, max=18292
Sync err accum 82, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294919633 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:47:05 [debug] Driver 0: pos -12113, 10060.2 steps/mm, standstill, SG min 0, mspos 280, reads 33770, writes 0 timeouts 0
2025-05-12 06:47:05 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 133, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36182/37175
2025-05-12 06:47:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4663, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:05 [info] ProbeTriggered: 0
2025-05-12 06:47:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:05 [info] PreTrigger: 0
2025-05-12 06:47:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:07 [debug] Stopped at height 0.003 mm
2025-05-12 06:47:07 [info] currentZPosition:0.00278326
2025-05-12 06:47:07 [info] tubeContactPos:0.00278 contactPositions:{0.00278,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:07 [debug] Diagnostics for board 50:
2025-05-12 06:47:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:07 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:28 ago, cause: power up
2025-05-12 06:47:07 [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
2025-05-12 06:47:07 [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
2025-05-12 06:47:07 [debug] Moves scheduled 208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=309, frequency (Hz): min=2329, max=17441
Sync err accum 75, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294915310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:47:07 [debug] Driver 0: pos -12103, 10060.2 steps/mm, standstill, SG min 0, mspos 120, reads 22840, writes 0 timeouts 0
2025-05-12 06:47:07 [debug] Last sensors broadcast 0x00000000 found 0 178 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 311, adv 36287/37175
2025-05-12 06:47:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8753, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4661, no error
Lin: Encoder reverse polarity: no, raw count 65173
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:07 [info] ProbeTriggered: 0
2025-05-12 06:47:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:08 [info] PreTrigger: 0
2025-05-12 06:47:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:09 [debug] Stopped at height 0.003 mm
2025-05-12 06:47:09 [info] currentZPosition:0.00268386
2025-05-12 06:47:09 [info] tubeContactPos:0.00268 contactPositions:{0.00268,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:09 [debug] Diagnostics for board 50:
2025-05-12 06:47:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:09 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:30 ago, cause: power up
2025-05-12 06:47:09 [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
2025-05-12 06:47:09 [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
2025-05-12 06:47:09 [debug] Moves scheduled 212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=422, frequency (Hz): min=2089, max=18292
Sync err accum 58, peak jitter -3/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294917883 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:47:09 [debug] Driver 0: pos -12105, 10060.2 steps/mm, standstill, SG min 0, mspos 152, reads 26655, writes 0 timeouts 0
2025-05-12 06:47:09 [debug] Last sensors broadcast 0x00000000 found 0 104 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 294, adv 36180/37167
2025-05-12 06:47:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -363
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4667, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:09 [info] ProbeTriggered: 0
2025-05-12 06:47:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:09 [info] PreTrigger: 0
2025-05-12 06:47:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:11 [debug] Stopped at height 0.002 mm
2025-05-12 06:47:11 [info] currentZPosition:0.00218685
2025-05-12 06:47:11 [info] tubeContactPos:0.00219 contactPositions:{0.00219,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:11 [debug] Diagnostics for board 50:
2025-05-12 06:47:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:11 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:32 ago, cause: power up
2025-05-12 06:47:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:47:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:47:11 [debug] Moves scheduled 216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=453, frequency (Hz): min=1958, max=17441
Sync err accum 80, peak jitter 0/5, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294913726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:47:11 [debug] Driver 0: pos -12111, 10060.2 steps/mm, standstill, SG min 0, mspos 248, reads 24867, writes 0 timeouts 0
2025-05-12 06:47:11 [debug] Last sensors broadcast 0x00000000 found 0 109 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 286, adv 36276/37174
2025-05-12 06:47:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4663, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:11 [info] ProbeTriggered: 0
2025-05-12 06:47:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:12 [info] PreTrigger: 1000
2025-05-12 06:47:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:13 [debug] Stopped at height 0.003 mm
2025-05-12 06:47:13 [info] currentZPosition:0.00298206
2025-05-12 06:47:13 [info] tubeContactPos:0.00298 contactPositions:{0.00298,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:13 [debug] Diagnostics for board 50:
2025-05-12 06:47:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:13 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:34 ago, cause: power up
2025-05-12 06:47:13 [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
2025-05-12 06:47:13 [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
2025-05-12 06:47:13 [debug] Moves scheduled 220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=298, frequency (Hz): min=803, max=18292
Sync err accum 87, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294919302 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, current
2025-05-12 06:47:13 [debug] Driver 0: pos -12104, 10060.2 steps/mm, standstill, SG min 0, mspos 136, reads 25499, writes 11 timeouts 1
2025-05-12 06:47:13 [debug] Last sensors broadcast 0x00000000 found 0 198 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 291, adv 36176/37168
2025-05-12 06:47:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -363
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8759, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4661, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:13 [info] ProbeTriggered: 0
2025-05-12 06:47:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:14 [info] PreTrigger: 0
2025-05-12 06:47:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:15 [debug] Stopped at height 0.001 mm
2025-05-12 06:47:15 [info] currentZPosition:0.00139163
2025-05-12 06:47:16 [debug] Stopped at height 0.001 mm
2025-05-12 06:47:16 [info] currentZPosition:0.00139163
2025-05-12 06:47:16 [info] tubeContactPos:0.001391629 contactPositions:{0.00139,0.00139,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:47:16 [debug] Diagnostics for board 50:
2025-05-12 06:47:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:16 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:36 ago, cause: power up
2025-05-12 06:47:16 [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
2025-05-12 06:47:16 [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
2025-05-12 06:47:16 [debug] Moves scheduled 226, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=433, frequency (Hz): min=2054, max=17441
Sync err accum 73, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294913814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:47:16 [debug] Driver 0: pos -12121, 10060.2 steps/mm, standstill, SG min 0, mspos 408, reads 32510, writes 0 timeouts 0
2025-05-12 06:47:16 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 142, 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 285, adv 36284/37178
2025-05-12 06:47:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4661, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:16 [info] ProbeTriggered: 0
2025-05-12 06:47:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:16 [info] PreTrigger: 1000
2025-05-12 06:47:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:18 [debug] Stopped at height 0.002 mm
2025-05-12 06:47:18 [info] currentZPosition:0.00188864
2025-05-12 06:47:18 [info] tubeContactPos:0.00189 contactPositions:{0.00189,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:18 [debug] Diagnostics for board 50:
2025-05-12 06:47:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:18 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:39 ago, cause: power up
2025-05-12 06:47:18 [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
2025-05-12 06:47:18 [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
2025-05-12 06:47:18 [debug] Moves scheduled 230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=416, frequency (Hz): min=555, max=17857
Sync err accum 59, peak jitter -3/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294916303 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:47:18 [debug] Driver 0: pos -12117, 10060.2 steps/mm, standstill, SG min 0, mspos 344, reads 25770, writes 22 timeouts 2
2025-05-12 06:47:18 [debug] Last sensors broadcast 0x00000000 found 0 190 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 288, adv 36182/37176
2025-05-12 06:47:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4662, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:18 [info] ProbeTriggered: 0
2025-05-12 06:47:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:18 [info] PreTrigger: 0
2025-05-12 06:47:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:20 [debug] Stopped at height 0.004 mm
2025-05-12 06:47:20 [info] currentZPosition:0.00377728
2025-05-12 06:47:20 [debug] Stopped at height 0.004 mm
2025-05-12 06:47:20 [info] currentZPosition:0.00367788
2025-05-12 06:47:20 [info] tubeContactPos:0.003727577 contactPositions:{0.00378,0.00368,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:47:20 [debug] Diagnostics for board 50:
2025-05-12 06:47:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:20 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,0.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:41 ago, cause: power up
2025-05-12 06:47:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:47:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:47:20 [debug] Moves scheduled 236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=396, frequency (Hz): min=2272, max=18292
Sync err accum 82, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294920177 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:47:20 [debug] Driver 0: pos -12099, 10060.2 steps/mm, standstill, SG min 0, mspos 56, reads 28317, writes 0 timeouts 0
2025-05-12 06:47:20 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 291, adv 36270/37174
2025-05-12 06:47:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4668, no error
Lin: Encoder reverse polarity: no, raw count 65171
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:20 [info] ProbeTriggered: 0
2025-05-12 06:47:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42153f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:21 [info] PreTrigger: 1000
2025-05-12 06:47:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:22 [debug] Stopped at height 0.002 mm
2025-05-12 06:47:22 [info] currentZPosition:0.00248505
2025-05-12 06:47:22 [info] tubeContactPos:0.00249 contactPositions:{0.00249,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:22 [debug] Diagnostics for board 50:
2025-05-12 06:47:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:22 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:43 ago, cause: power up
2025-05-12 06:47:22 [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
2025-05-12 06:47:22 [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
2025-05-12 06:47:22 [debug] Moves scheduled 240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=406, frequency (Hz): min=2148, max=18292
Sync err accum 85, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294914765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:47:22 [debug] Driver 0: pos -12112, 10060.2 steps/mm, standstill, SG min 0, mspos 264, reads 28113, writes 0 timeouts 0
2025-05-12 06:47:22 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 107, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36170/37170
2025-05-12 06:47:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4662, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:22 [info] ProbeTriggered: 0
2025-05-12 06:47:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:23 [info] PreTrigger: 0
2025-05-12 06:47:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:24 [debug] Stopped at height 0.003 mm
2025-05-12 06:47:24 [info] currentZPosition:0.00308146
2025-05-12 06:47:24 [info] tubeContactPos:0.00308 contactPositions:{0.00308,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:24 [debug] Diagnostics for board 50:
2025-05-12 06:47:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:24 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:45 ago, cause: power up
2025-05-12 06:47:24 [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
2025-05-12 06:47:24 [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
2025-05-12 06:47:24 [debug] Moves scheduled 244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=385, frequency (Hz): min=2186, max=17045
Sync err accum 73, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294914987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:47:24 [debug] Driver 0: pos -12106, 10060.2 steps/mm, standstill, SG min 0, mspos 168, reads 23394, writes 0 timeouts 0
2025-05-12 06:47:24 [debug] Last sensors broadcast 0x00000000 found 0 149 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 312, adv 36284/37177
2025-05-12 06:47:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4662, no error
Lin: Encoder reverse polarity: no, raw count 65173
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:24 [info] ProbeTriggered: 0
2025-05-12 06:47:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:25 [info] PreTrigger: 1000
2025-05-12 06:47:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:26 [debug] Stopped at height 0.003 mm
2025-05-12 06:47:26 [info] currentZPosition:0.00268386
2025-05-12 06:47:26 [info] tubeContactPos:0.00268 contactPositions:{0.00268,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:27 [debug] Diagnostics for board 50:
2025-05-12 06:47:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:27 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:47 ago, cause: power up
2025-05-12 06:47:27 [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
2025-05-12 06:47:27 [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
2025-05-12 06:47:27 [debug] Moves scheduled 248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=336, frequency (Hz): min=1773, max=17857
Sync err accum 63, peak jitter -3/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294905871 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:47:27 [debug] Driver 0: pos -12110, 10060.2 steps/mm, standstill, SG min 0, mspos 232, reads 26997, writes 0 timeouts 0
2025-05-12 06:47:27 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 122, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36188/37171
2025-05-12 06:47:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8790, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4662, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:27 [info] ProbeTriggered: 0
2025-05-12 06:47:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:27 [info] PreTrigger: 0
2025-05-12 06:47:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:29 [debug] Stopped at height 0.002 mm
2025-05-12 06:47:29 [info] currentZPosition:0.00188864
2025-05-12 06:47:29 [info] tubeContactPos:0.00189 contactPositions:{0.00189,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:29 [debug] Diagnostics for board 50:
2025-05-12 06:47:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:29 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:49 ago, cause: power up
2025-05-12 06:47:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:47:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:47:29 [debug] Moves scheduled 252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=292, frequency (Hz): min=2329, max=17857
Sync err accum 83, peak jitter 1/4, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294915599 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:47:29 [debug] Driver 0: pos -12119, 10060.2 steps/mm, standstill, SG min 0, mspos 376, reads 25254, writes 0 timeouts 0
2025-05-12 06:47:29 [debug] Last sensors broadcast 0x00000000 found 0 147 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 288, adv 36281/37173
2025-05-12 06:47:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4661, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:29 [info] ProbeTriggered: 0
2025-05-12 06:47:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:29 [info] PreTrigger: 1000
2025-05-12 06:47:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:31 [debug] Stopped at height 0.002 mm
2025-05-12 06:47:31 [info] currentZPosition:0.00248505
2025-05-12 06:47:31 [info] tubeContactPos:0.00249 contactPositions:{0.00249,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:31 [debug] Diagnostics for board 50:
2025-05-12 06:47:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:31 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:51 ago, cause: power up
2025-05-12 06:47:31 [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
2025-05-12 06:47:31 [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
2025-05-12 06:47:31 [debug] Moves scheduled 256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=517, frequency (Hz): min=1760, max=17857
Sync err accum 79, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294904995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:47:31 [debug] Driver 0: pos -12113, 10060.2 steps/mm, standstill, SG min 0, mspos 280, reads 25761, writes 0 timeouts 0
2025-05-12 06:47:31 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 128, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36214/37169
2025-05-12 06:47:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8805, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4664, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:31 [info] ProbeTriggered: 0
2025-05-12 06:47:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:31 [info] PreTrigger: 0
2025-05-12 06:47:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:33 [debug] Stopped at height 0.002 mm
2025-05-12 06:47:33 [info] currentZPosition:0.00198804
2025-05-12 06:47:33 [info] tubeContactPos:0.00199 contactPositions:{0.00199,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:33 [debug] Diagnostics for board 50:
2025-05-12 06:47:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:33 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:53 ago, cause: power up
2025-05-12 06:47:33 [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
2025-05-12 06:47:33 [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
2025-05-12 06:47:33 [debug] Moves scheduled 260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=316, frequency (Hz): min=2358, max=17045
Sync err accum 67, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294917584 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:47:33 [debug] Driver 0: pos -12119, 10060.2 steps/mm, standstill, SG min 0, mspos 376, reads 24848, writes 0 timeouts 0
2025-05-12 06:47:33 [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 286, adv 36282/37176
2025-05-12 06:47:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4663, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:33 [info] ProbeTriggered: 0
2025-05-12 06:47:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:33 [info] PreTrigger: 0
2025-05-12 06:47:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:35 [debug] Stopped at height 0.002 mm
2025-05-12 06:47:35 [info] currentZPosition:0.00208744
2025-05-12 06:47:35 [info] tubeContactPos:0.00209 contactPositions:{0.00209,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:35 [debug] Diagnostics for board 50:
2025-05-12 06:47:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:35 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:56 ago, cause: power up
2025-05-12 06:47:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:47:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:47:35 [debug] Moves scheduled 264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=481, frequency (Hz): min=648, max=17857
Sync err accum 70, peak jitter -3/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294912566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:47:35 [debug] Driver 0: pos -12119, 10060.2 steps/mm, standstill, SG min 0, mspos 376, reads 26358, writes 11 timeouts 1
2025-05-12 06:47:35 [debug] Last sensors broadcast 0x00000000 found 0 170 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 291, adv 36184/37173
2025-05-12 06:47:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4659, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:35 [info] ProbeTriggered: 0
2025-05-12 06:47:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:35 [info] PreTrigger: 0
2025-05-12 06:47:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:37 [debug] Stopped at height 0.004 mm
2025-05-12 06:47:37 [info] currentZPosition:0.00387668
2025-05-12 06:47:37 [debug] Stopped at height 0.004 mm
2025-05-12 06:47:37 [info] currentZPosition:0.00357847
2025-05-12 06:47:37 [info] tubeContactPos:0.003727577 contactPositions:{0.00388,0.00358,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:47:37 [debug] Diagnostics for board 50:
2025-05-12 06:47:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:37 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:03:58 ago, cause: power up
2025-05-12 06:47:37 [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
2025-05-12 06:47:37 [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
2025-05-12 06:47:37 [debug] Moves scheduled 270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=378, frequency (Hz): min=557, max=17857
Sync err accum 82, peak jitter 0/4, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294913613 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, current
2025-05-12 06:47:37 [debug] Driver 0: pos -12104, 10060.2 steps/mm, standstill, SG min 0, mspos 136, reads 28645, writes 11 timeouts 1
2025-05-12 06:47:37 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 108, 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 302, adv 36279/37169
2025-05-12 06:47:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8759, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4660, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:37 [info] ProbeTriggered: 0
2025-05-12 06:47:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:38 [info] PreTrigger: 1000
2025-05-12 06:47:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:39 [debug] Stopped at height 0.002 mm
2025-05-12 06:47:39 [info] currentZPosition:0.00238565
2025-05-12 06:47:40 [debug] Stopped at height 0.003 mm
2025-05-12 06:47:40 [info] currentZPosition:0.00318087
2025-05-12 06:47:40 [info] tubeContactPos:0.00318 contactPositions:{0.00239,0.00318,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:47:40 [debug] Diagnostics for board 50:
2025-05-12 06:47:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:40 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:01 ago, cause: power up
2025-05-12 06:47:40 [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
2025-05-12 06:47:40 [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
2025-05-12 06:47:40 [debug] Moves scheduled 276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=350, frequency (Hz): min=494, max=18292
Sync err accum 70, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294921923 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:47:40 [debug] Driver 0: pos -12109, 10060.2 steps/mm, standstill, SG min 0, mspos 216, reads 33517, writes 11 timeouts 1
2025-05-12 06:47:40 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 132, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36184/37174
2025-05-12 06:47:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4662, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:40 [info] ProbeTriggered: 0
2025-05-12 06:47:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:40 [info] PreTrigger: 0
2025-05-12 06:47:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:42 [debug] Stopped at height 0.002 mm
2025-05-12 06:47:42 [info] currentZPosition:0.00208744
2025-05-12 06:47:42 [info] tubeContactPos:0.00209 contactPositions:{0.00209,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:42 [debug] Diagnostics for board 50:
2025-05-12 06:47:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:42 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:03 ago, cause: power up
2025-05-12 06:47:42 [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
2025-05-12 06:47:42 [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
2025-05-12 06:47:42 [debug] Moves scheduled 280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=380, frequency (Hz): min=588, max=17441
Sync err accum 66, peak jitter -3/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294908135 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:47:42 [debug] Driver 0: pos -12120, 10060.2 steps/mm, standstill, SG min 0, mspos 392, reads 25418, writes 11 timeouts 1
2025-05-12 06:47:42 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 141, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36285/37178
2025-05-12 06:47:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8839, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4661, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:42 [info] ProbeTriggered: 0
2025-05-12 06:47:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:43 [info] PreTrigger: 1000
2025-05-12 06:47:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:44 [debug] Stopped at height 0.004 mm
2025-05-12 06:47:44 [info] currentZPosition:0.00427429
2025-05-12 06:47:44 [debug] Stopped at height 0.004 mm
2025-05-12 06:47:44 [info] currentZPosition:0.00357847
2025-05-12 06:47:44 [info] tubeContactPos:0.003926381 contactPositions:{0.00427,0.00358,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:47:44 [debug] Diagnostics for board 50:
2025-05-12 06:47:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:44 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:05 ago, cause: power up
2025-05-12 06:47:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:47:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:47:44 [debug] Moves scheduled 286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 47, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=448, frequency (Hz): min=603, max=17441
Sync err accum 86, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294912369 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:47:44 [debug] Driver 0: pos -12105, 10060.2 steps/mm, standstill, SG min 0, mspos 152, reads 30977, writes 11 timeouts 1
2025-05-12 06:47:44 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 140, 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 309, adv 36174/37168
2025-05-12 06:47:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4662, no error
Lin: Encoder reverse polarity: no, raw count 65173
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:45 [info] ProbeTriggered: 0
2025-05-12 06:47:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:45 [info] PreTrigger: 0
2025-05-12 06:47:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:47 [debug] Stopped at height 0.002 mm
2025-05-12 06:47:47 [info] currentZPosition:0.00228625
2025-05-12 06:47:47 [debug] Stopped at height 0.002 mm
2025-05-12 06:47:47 [info] currentZPosition:0.00248505
2025-05-12 06:47:47 [info] tubeContactPos:0.002385649 contactPositions:{0.00229,0.00249,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:47:47 [debug] Diagnostics for board 50:
2025-05-12 06:47:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:47 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,0.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:08 ago, cause: power up
2025-05-12 06:47:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:47:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:47:47 [debug] Moves scheduled 292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=282, frequency (Hz): min=807, max=18292
Sync err accum 84, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294919129 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:47:47 [debug] Driver 0: pos -12117, 10060.2 steps/mm, standstill, SG min 0, mspos 344, reads 32364, writes 11 timeouts 1
2025-05-12 06:47:47 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 108, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36281/37176
2025-05-12 06:47:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4660, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:47 [info] ProbeTriggered: 0
2025-05-12 06:47:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:48 [info] PreTrigger: 1000
2025-05-12 06:47:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:49 [debug] Stopped at height 0.004 mm
2025-05-12 06:47:49 [info] currentZPosition:0.00377728
2025-05-12 06:47:50 [debug] Stopped at height 0.004 mm
2025-05-12 06:47:50 [info] currentZPosition:0.00407548
2025-05-12 06:47:50 [info] tubeContactPos:0.003926381 contactPositions:{0.00378,0.00408,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:47:50 [debug] Diagnostics for board 50:
2025-05-12 06:47:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:50 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:10 ago, cause: power up
2025-05-12 06:47:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:47:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:47:50 [debug] Moves scheduled 298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=520, frequency (Hz): min=1781, max=17857
Sync err accum 62, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294921445 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:47:50 [debug] Driver 0: pos -12103, 10060.2 steps/mm, standstill, SG min 0, mspos 120, reads 30800, writes 0 timeouts 0
2025-05-12 06:47:50 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 118, 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 288, adv 36176/37176
2025-05-12 06:47:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8753, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4661, no error
Lin: Encoder reverse polarity: no, raw count 65172
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:50 [info] ProbeTriggered: 0
2025-05-12 06:47:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:50 [info] PreTrigger: 0
2025-05-12 06:47:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:52 [debug] Stopped at height 0.003 mm
2025-05-12 06:47:52 [info] currentZPosition:0.00328027
2025-05-12 06:47:52 [info] tubeContactPos:0.00328 contactPositions:{0.00328,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:52 [debug] Diagnostics for board 50:
2025-05-12 06:47:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:52 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,0.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:12 ago, cause: power up
2025-05-12 06:47:52 [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
2025-05-12 06:47:52 [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
2025-05-12 06:47:52 [debug] Moves scheduled 302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=296, frequency (Hz): min=2180, max=17441
Sync err accum 70, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294909350 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:47:52 [debug] Driver 0: pos -12111, 10060.2 steps/mm, standstill, SG min 0, mspos 248, reads 25039, writes 0 timeouts 0
2025-05-12 06:47:52 [debug] Last sensors broadcast 0x00000000 found 0 204 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 288, adv 36278/37171
2025-05-12 06:47:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4659, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:52 [info] ProbeTriggered: 0
2025-05-12 06:47:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:52 [info] PreTrigger: 1000
2025-05-12 06:47:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:54 [debug] Stopped at height 0.002 mm
2025-05-12 06:47:54 [info] currentZPosition:0.00238565
2025-05-12 06:47:54 [info] tubeContactPos:0.00239 contactPositions:{0.00239,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:54 [debug] Diagnostics for board 50:
2025-05-12 06:47:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:54 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:15 ago, cause: power up
2025-05-12 06:47:54 [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
2025-05-12 06:47:54 [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
2025-05-12 06:47:54 [debug] Moves scheduled 306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=402, frequency (Hz): min=2136, max=17857
Sync err accum 82, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294916522 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:47:54 [debug] Driver 0: pos -12121, 10060.2 steps/mm, standstill, SG min 0, mspos 408, reads 27606, writes 0 timeouts 0
2025-05-12 06:47:54 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 124, 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 290, adv 36176/37172
2025-05-12 06:47:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8843, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4657, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:54 [info] ProbeTriggered: 0
2025-05-12 06:47:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:54 [info] PreTrigger: 0
2025-05-12 06:47:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:56 [debug] Stopped at height 0.003 mm
2025-05-12 06:47:56 [info] currentZPosition:0.00347907
2025-05-12 06:47:56 [info] tubeContactPos:0.00348 contactPositions:{0.00348,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:56 [debug] Diagnostics for board 50:
2025-05-12 06:47:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:56 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:16 ago, cause: power up
2025-05-12 06:47:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:47:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:47:56 [debug] Moves scheduled 310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=396, frequency (Hz): min=2180, max=17441
Sync err accum 79, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294911240 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:47:56 [debug] Driver 0: pos -12110, 10060.2 steps/mm, standstill, SG min 0, mspos 232, reads 22743, writes 0 timeouts 0
2025-05-12 06:47:56 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 122, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36268/37169
2025-05-12 06:47:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4657, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:56 [info] ProbeTriggered: 0
2025-05-12 06:47:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:56 [info] PreTrigger: 1000
2025-05-12 06:47:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:58 [debug] Stopped at height 0.003 mm
2025-05-12 06:47:58 [info] currentZPosition:0.00337967
2025-05-12 06:47:58 [info] tubeContactPos:0.00338 contactPositions:{0.00338,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:47:58 [debug] Diagnostics for board 50:
2025-05-12 06:47:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:47:58 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:19 ago, cause: power up
2025-05-12 06:47:58 [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
2025-05-12 06:47:58 [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
2025-05-12 06:47:58 [debug] Moves scheduled 314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 95, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=370, frequency (Hz): min=2265, max=17857
Sync err accum 62, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294914441 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:47:58 [debug] Driver 0: pos -12112, 10060.2 steps/mm, standstill, SG min 0, mspos 264, reads 26688, writes 0 timeouts 0
2025-05-12 06:47:58 [debug] Last sensors broadcast 0x00000000 found 0 237 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 316, adv 36176/37167
2025-05-12 06:47:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4660, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:47:58 [info] ProbeTriggered: 0
2025-05-12 06:47:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:47:58 [info] PreTrigger: 0
2025-05-12 06:47:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:47:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:00 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:00 [info] currentZPosition:0.00387668
2025-05-12 06:48:00 [info] tubeContactPos:0.00388 contactPositions:{0.00388,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:00 [debug] Diagnostics for board 50:
2025-05-12 06:48:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:00 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:20 ago, cause: power up
2025-05-12 06:48:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:48:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:48:00 [debug] Moves scheduled 318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=388, frequency (Hz): min=2396, max=17045
Sync err accum 74, peak jitter -1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294910696 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:00 [debug] Driver 0: pos -12107, 10060.2 steps/mm, standstill, SG min 0, mspos 184, reads 23607, writes 0 timeouts 0
2025-05-12 06:48:00 [debug] Last sensors broadcast 0x00000000 found 0 140 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 288, adv 36277/37176
2025-05-12 06:48:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8775, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4661, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:00 [info] ProbeTriggered: 0
2025-05-12 06:48:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:00 [info] PreTrigger: 1000
2025-05-12 06:48:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:02 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:02 [info] currentZPosition:0.00427429
2025-05-12 06:48:02 [info] tubeContactPos:0.00427 contactPositions:{0.00427,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:02 [debug] Diagnostics for board 50:
2025-05-12 06:48:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:02 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:23 ago, cause: power up
2025-05-12 06:48:02 [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
2025-05-12 06:48:02 [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
2025-05-12 06:48:02 [debug] Moves scheduled 322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=394, frequency (Hz): min=1851, max=18292
Sync err accum 90, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294910999 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:02 [debug] Driver 0: pos -12103, 10060.2 steps/mm, standstill, SG min 0, mspos 120, reads 25991, writes 0 timeouts 0
2025-05-12 06:48:02 [debug] Last sensors broadcast 0x00000000 found 0 15 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 285, adv 36186/37171
2025-05-12 06:48:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -363
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8754, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4664, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:02 [info] ProbeTriggered: 1000
2025-05-12 06:48:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:02 [info] PreTrigger: 0
2025-05-12 06:48:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:04 [debug] Stopped at height 0.003 mm
2025-05-12 06:48:04 [info] currentZPosition:0.00268386
2025-05-12 06:48:05 [debug] Stopped at height 0.003 mm
2025-05-12 06:48:05 [info] currentZPosition:0.00288266
2025-05-12 06:48:05 [info] tubeContactPos:0.002783258 contactPositions:{0.00268,0.00288,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:48:05 [debug] Diagnostics for board 50:
2025-05-12 06:48:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:05 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:25 ago, cause: power up
2025-05-12 06:48:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:48:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:48:05 [debug] Moves scheduled 328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=574, frequency (Hz): min=1662, max=17857
Sync err accum 89, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294913508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:05 [debug] Driver 0: pos -12118, 10060.2 steps/mm, standstill, SG min 0, mspos 360, reads 32313, writes 0 timeouts 0
2025-05-12 06:48:05 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 115, 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 286, adv 36280/37176
2025-05-12 06:48:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4665, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:05 [info] ProbeTriggered: 0
2025-05-12 06:48:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:05 [info] PreTrigger: 1000
2025-05-12 06:48:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:07 [debug] Stopped at height 0.003 mm
2025-05-12 06:48:07 [info] currentZPosition:0.00318087
2025-05-12 06:48:07 [info] tubeContactPos:0.00318 contactPositions:{0.00318,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:07 [debug] Diagnostics for board 50:
2025-05-12 06:48:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:07 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:27 ago, cause: power up
2025-05-12 06:48:07 [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
2025-05-12 06:48:07 [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
2025-05-12 06:48:07 [debug] Moves scheduled 332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=328, frequency (Hz): min=2388, max=17857
Sync err accum 77, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294911030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:07 [debug] Driver 0: pos -12115, 10060.2 steps/mm, standstill, SG min 0, mspos 312, reads 26147, writes 0 timeouts 0
2025-05-12 06:48:07 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 110, 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 288, adv 35935/37173
2025-05-12 06:48:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8816, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4659, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:07 [info] ProbeTriggered: 0
2025-05-12 06:48:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:07 [info] PreTrigger: 0
2025-05-12 06:48:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:09 [debug] Stopped at height 0.003 mm
2025-05-12 06:48:09 [info] currentZPosition:0.00337967
2025-05-12 06:48:09 [info] tubeContactPos:0.00338 contactPositions:{0.00338,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:09 [debug] Diagnostics for board 50:
2025-05-12 06:48:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:09 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:29 ago, cause: power up
2025-05-12 06:48:09 [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
2025-05-12 06:48:09 [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
2025-05-12 06:48:09 [debug] Moves scheduled 336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=330, frequency (Hz): min=679, max=17441
Sync err accum 61, peak jitter -3/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294910927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:48:09 [debug] Driver 0: pos -12114, 10060.2 steps/mm, standstill, SG min 0, mspos 296, reads 23966, writes 11 timeouts 1
2025-05-12 06:48:09 [debug] Last sensors broadcast 0x00000000 found 0 187 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 285, adv 36283/37178
2025-05-12 06:48:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8807, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4666, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:09 [info] ProbeTriggered: 0
2025-05-12 06:48:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:09 [info] PreTrigger: 1000
2025-05-12 06:48:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:11 [debug] Stopped at height 0.003 mm
2025-05-12 06:48:11 [info] currentZPosition:0.00318087
2025-05-12 06:48:11 [info] tubeContactPos:0.00318 contactPositions:{0.00318,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:11 [debug] Diagnostics for board 50:
2025-05-12 06:48:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:11 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:31 ago, cause: power up
2025-05-12 06:48:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:48:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:48:11 [debug] Moves scheduled 340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=316, frequency (Hz): min=587, max=18292
Sync err accum 78, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294911429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:48:11 [debug] Driver 0: pos -12117, 10060.2 steps/mm, standstill, SG min 0, mspos 344, reads 26882, writes 33 timeouts 3
2025-05-12 06:48:11 [debug] Last sensors broadcast 0x00000000 found 0 133 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 291, adv 36181/37168
2025-05-12 06:48:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4660, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:11 [info] ProbeTriggered: 0
2025-05-12 06:48:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:11 [info] PreTrigger: 0
2025-05-12 06:48:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:13 [debug] Stopped at height 0.003 mm
2025-05-12 06:48:13 [info] currentZPosition:0.00347907
2025-05-12 06:48:13 [info] tubeContactPos:0.00348 contactPositions:{0.00348,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:13 [debug] Diagnostics for board 50:
2025-05-12 06:48:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:13 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:33 ago, cause: power up
2025-05-12 06:48:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:48:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:48:13 [debug] Moves scheduled 344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=402, frequency (Hz): min=2186, max=17857
Sync err accum 83, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294910892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:48:13 [debug] Driver 0: pos -12114, 10060.2 steps/mm, standstill, SG min 0, mspos 296, reads 23724, writes 0 timeouts 0
2025-05-12 06:48:13 [debug] Last sensors broadcast 0x00000000 found 0 53 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 287, adv 36280/37174
2025-05-12 06:48:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4664, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:13 [info] ProbeTriggered: 0
2025-05-12 06:48:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:13 [info] PreTrigger: 1000
2025-05-12 06:48:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:15 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:15 [info] currentZPosition:0.00387668
2025-05-12 06:48:15 [info] tubeContactPos:0.00388 contactPositions:{0.00388,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:15 [debug] Diagnostics for board 50:
2025-05-12 06:48:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:15 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:36 ago, cause: power up
2025-05-12 06:48:15 [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
2025-05-12 06:48:15 [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
2025-05-12 06:48:15 [debug] Moves scheduled 348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=432, frequency (Hz): min=710, max=18292
Sync err accum 78, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294912999 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:48:15 [debug] Driver 0: pos -12111, 10060.2 steps/mm, standstill, SG min 0, mspos 248, reads 26230, writes 11 timeouts 1
2025-05-12 06:48:15 [debug] Last sensors broadcast 0x00000000 found 0 194 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 291, adv 36181/37171
2025-05-12 06:48:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4658, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:15 [info] ProbeTriggered: 0
2025-05-12 06:48:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:15 [info] PreTrigger: 0
2025-05-12 06:48:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:17 [debug] Stopped at height 0.003 mm
2025-05-12 06:48:17 [info] currentZPosition:0.00328027
2025-05-12 06:48:17 [info] tubeContactPos:0.00328 contactPositions:{0.00328,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:17 [debug] Diagnostics for board 50:
2025-05-12 06:48:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:17 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:38 ago, cause: power up
2025-05-12 06:48:17 [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
2025-05-12 06:48:17 [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
2025-05-12 06:48:17 [debug] Moves scheduled 352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=325, frequency (Hz): min=1973, max=17857
Sync err accum 60, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294904053 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:17 [debug] Driver 0: pos -12117, 10060.2 steps/mm, standstill, SG min 0, mspos 344, reads 25034, writes 0 timeouts 0
2025-05-12 06:48:17 [debug] Last sensors broadcast 0x00000000 found 0 216 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 288, adv 36281/37178
2025-05-12 06:48:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4661, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:17 [info] ProbeTriggered: 0
2025-05-12 06:48:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00153701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:18 [info] PreTrigger: 1000
2025-05-12 06:48:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:19 [debug] Stopped at height 0.005 mm
2025-05-12 06:48:19 [info] currentZPosition:0.00497010
2025-05-12 06:48:19 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:19 [info] currentZPosition:0.00427429
2025-05-12 06:48:19 [info] tubeContactPos:0.00427 contactPositions:{0.00497,0.00427,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:48:19 [debug] Diagnostics for board 50:
2025-05-12 06:48:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:19 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:40 ago, cause: power up
2025-05-12 06:48:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:48:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:48:19 [debug] Moves scheduled 358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=392, frequency (Hz): min=2252, max=18292
Sync err accum 86, peak jitter 0/3, peak Rx delay 214, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294916598 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:19 [debug] Driver 0: pos -12107, 10060.2 steps/mm, standstill, SG min 0, mspos 184, reads 31554, writes 0 timeouts 0
2025-05-12 06:48:19 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 140, 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 291, adv 36164/37171
2025-05-12 06:48:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4669, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:20 [info] ProbeTriggered: 0
2025-05-12 06:48:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:20 [info] PreTrigger: 0
2025-05-12 06:48:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:22 [debug] Stopped at height 0.003 mm
2025-05-12 06:48:22 [info] currentZPosition:0.00258445
2025-05-12 06:48:22 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:22 [info] currentZPosition:0.00357847
2025-05-12 06:48:22 [info] tubeContactPos:0.00358 contactPositions:{0.00258,0.00358,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:48:22 [debug] Diagnostics for board 50:
2025-05-12 06:48:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:22 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:43 ago, cause: power up
2025-05-12 06:48:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:48:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:48:22 [debug] Moves scheduled 364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=460, frequency (Hz): min=762, max=18292
Sync err accum 101, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294919048 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:22 [debug] Driver 0: pos -12116, 10060.2 steps/mm, standstill, SG min 0, mspos 328, reads 31456, writes 11 timeouts 1
2025-05-12 06:48:22 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 131, 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 288, adv 36286/37172
2025-05-12 06:48:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8816, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4660, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:22 [info] ProbeTriggered: 0
2025-05-12 06:48:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:23 [info] PreTrigger: 1000
2025-05-12 06:48:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:24 [debug] Stopped at height 0.003 mm
2025-05-12 06:48:24 [info] currentZPosition:0.00347907
2025-05-12 06:48:24 [info] tubeContactPos:0.00348 contactPositions:{0.00348,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:24 [debug] Diagnostics for board 50:
2025-05-12 06:48:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:24 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:45 ago, cause: power up
2025-05-12 06:48:24 [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
2025-05-12 06:48:24 [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
2025-05-12 06:48:24 [debug] Moves scheduled 368, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=440, frequency (Hz): min=717, max=18292
Sync err accum 100, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294909948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:24 [debug] Driver 0: pos -12117, 10060.2 steps/mm, standstill, SG min 0, mspos 344, reads 26537, writes 11 timeouts 1
2025-05-12 06:48:24 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 108, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36185/37172
2025-05-12 06:48:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4657, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:24 [info] ProbeTriggered: 0
2025-05-12 06:48:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:25 [info] PreTrigger: 0
2025-05-12 06:48:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:26 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:26 [info] currentZPosition:0.00447309
2025-05-12 06:48:26 [info] tubeContactPos:0.00447 contactPositions:{0.00447,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:26 [debug] Diagnostics for board 50:
2025-05-12 06:48:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:26 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:47 ago, cause: power up
2025-05-12 06:48:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:48:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:48:26 [debug] Moves scheduled 372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=364, frequency (Hz): min=2508, max=17045
Sync err accum 89, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294914891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:26 [debug] Driver 0: pos -12107, 10060.2 steps/mm, standstill, SG min 0, mspos 184, reads 22890, writes 0 timeouts 0
2025-05-12 06:48:26 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 27, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36285/37177
2025-05-12 06:48:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8773, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4662, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:26 [info] ProbeTriggered: 0
2025-05-12 06:48:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:27 [info] PreTrigger: 1000
2025-05-12 06:48:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:28 [debug] Stopped at height 0.003 mm
2025-05-12 06:48:28 [info] currentZPosition:0.00318087
2025-05-12 06:48:29 [debug] Stopped at height 0.003 mm
2025-05-12 06:48:29 [info] currentZPosition:0.00347907
2025-05-12 06:48:29 [info] tubeContactPos:0.00348 contactPositions:{0.00318,0.00348,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:48:29 [debug] Diagnostics for board 50:
2025-05-12 06:48:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:29 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:50 ago, cause: power up
2025-05-12 06:48:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:48:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:48:29 [debug] Moves scheduled 378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=362, frequency (Hz): min=2173, max=17857
Sync err accum 58, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294915091 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:48:29 [debug] Driver 0: pos -12117, 10060.2 steps/mm, standstill, SG min 0, mspos 344, reads 34396, writes 0 timeouts 0
2025-05-12 06:48:29 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 120, send timeouts 0, received 38, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 320, adv 36164/37173
2025-05-12 06:48:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4660, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:29 [info] ProbeTriggered: 0
2025-05-12 06:48:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:29 [info] PreTrigger: 0
2025-05-12 06:48:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:31 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:31 [info] currentZPosition:0.00407548
2025-05-12 06:48:31 [info] tubeContactPos:0.00408 contactPositions:{0.00408,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:31 [debug] Diagnostics for board 50:
2025-05-12 06:48:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:31 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:51 ago, cause: power up
2025-05-12 06:48:31 [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
2025-05-12 06:48:31 [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
2025-05-12 06:48:31 [debug] Moves scheduled 382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=400, frequency (Hz): min=2336, max=18292
Sync err accum 70, peak jitter 0/4, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294910002 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:48:31 [debug] Driver 0: pos -12111, 10060.2 steps/mm, standstill, SG min 0, mspos 248, reads 23440, writes 0 timeouts 0
2025-05-12 06:48:31 [debug] Last sensors broadcast 0x00000000 found 0 52 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 288, adv 36276/37175
2025-05-12 06:48:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4658, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:31 [info] ProbeTriggered: 0
2025-05-12 06:48:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:31 [info] PreTrigger: 1000
2025-05-12 06:48:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:33 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:33 [info] currentZPosition:0.00407548
2025-05-12 06:48:33 [info] tubeContactPos:0.00408 contactPositions:{0.00408,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:33 [debug] Diagnostics for board 50:
2025-05-12 06:48:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:33 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:54 ago, cause: power up
2025-05-12 06:48:33 [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
2025-05-12 06:48:33 [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
2025-05-12 06:48:33 [debug] Moves scheduled 386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=497, frequency (Hz): min=1923, max=17857
Sync err accum 82, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294913344 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:33 [debug] Driver 0: pos -12112, 10060.2 steps/mm, standstill, SG min 0, mspos 264, reads 26600, writes 0 timeouts 0
2025-05-12 06:48:33 [debug] Last sensors broadcast 0x00000000 found 0 222 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 294, adv 36176/37173
2025-05-12 06:48:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -363
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4659, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:33 [info] ProbeTriggered: 0
2025-05-12 06:48:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:33 [info] PreTrigger: 0
2025-05-12 06:48:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:35 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:35 [info] currentZPosition:0.00417489
2025-05-12 06:48:35 [info] tubeContactPos:0.00417 contactPositions:{0.00417,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:35 [debug] Diagnostics for board 50:
2025-05-12 06:48:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:35 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:56 ago, cause: power up
2025-05-12 06:48:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:48:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:48:35 [debug] Moves scheduled 390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=385, frequency (Hz): min=2419, max=17857
Sync err accum 81, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294913594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:35 [debug] Driver 0: pos -12112, 10060.2 steps/mm, standstill, SG min 0, mspos 264, reads 24106, writes 0 timeouts 0
2025-05-12 06:48:35 [debug] Last sensors broadcast 0x00000000 found 0 170 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 293, adv 36274/37176
2025-05-12 06:48:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -363
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4658, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:35 [info] ProbeTriggered: 0
2025-05-12 06:48:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:36 [info] PreTrigger: 1000
2025-05-12 06:48:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:37 [debug] Stopped at height 0.003 mm
2025-05-12 06:48:37 [info] currentZPosition:0.00318087
2025-05-12 06:48:37 [info] tubeContactPos:0.00318 contactPositions:{0.00318,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:37 [debug] Diagnostics for board 50:
2025-05-12 06:48:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:37 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:04:58 ago, cause: power up
2025-05-12 06:48:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:48:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:48:37 [debug] Moves scheduled 394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=368, frequency (Hz): min=2005, max=17857
Sync err accum 66, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294904894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:48:37 [debug] Driver 0: pos -12122, 10060.2 steps/mm, standstill, SG min 0, mspos 424, reads 27791, writes 0 timeouts 0
2025-05-12 06:48:37 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 127, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36183/37170
2025-05-12 06:48:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4657, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:37 [info] ProbeTriggered: 0
2025-05-12 06:48:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:38 [info] PreTrigger: 0
2025-05-12 06:48:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:39 [debug] Stopped at height 0.003 mm
2025-05-12 06:48:39 [info] currentZPosition:0.00328027
2025-05-12 06:48:39 [info] tubeContactPos:0.00328 contactPositions:{0.00328,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:39 [debug] Diagnostics for board 50:
2025-05-12 06:48:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:39 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:00 ago, cause: power up
2025-05-12 06:48:39 [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
2025-05-12 06:48:39 [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
2025-05-12 06:48:39 [debug] Moves scheduled 398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=404, frequency (Hz): min=1752, max=17045
Sync err accum 66, peak jitter -3/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294911619 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:48:39 [debug] Driver 0: pos -12121, 10060.2 steps/mm, standstill, SG min 0, mspos 408, reads 23941, writes 0 timeouts 0
2025-05-12 06:48:39 [debug] Last sensors broadcast 0x00000000 found 0 130 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 288, adv 36279/37177
2025-05-12 06:48:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4656, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:39 [info] ProbeTriggered: 0
2025-05-12 06:48:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:40 [info] PreTrigger: 1000
2025-05-12 06:48:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:41 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:41 [info] currentZPosition:0.00367788
2025-05-12 06:48:41 [info] tubeContactPos:0.00368 contactPositions:{0.00368,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:41 [debug] Diagnostics for board 50:
2025-05-12 06:48:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:41 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:02 ago, cause: power up
2025-05-12 06:48:41 [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
2025-05-12 06:48:41 [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
2025-05-12 06:48:41 [debug] Moves scheduled 402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=369, frequency (Hz): min=587, max=17857
Sync err accum 82, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294913365 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:48:41 [debug] Driver 0: pos -12117, 10060.2 steps/mm, standstill, SG min 0, mspos 344, reads 25920, writes 11 timeouts 1
2025-05-12 06:48:41 [debug] Last sensors broadcast 0x00000000 found 0 3 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 289, adv 36169/37169
2025-05-12 06:48:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8822, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4660, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:41 [info] ProbeTriggered: 0
2025-05-12 06:48:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:42 [info] PreTrigger: 0
2025-05-12 06:48:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:43 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:43 [info] currentZPosition:0.00407548
2025-05-12 06:48:43 [info] tubeContactPos:0.00408 contactPositions:{0.00408,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:43 [debug] Diagnostics for board 50:
2025-05-12 06:48:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:43 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:04 ago, cause: power up
2025-05-12 06:48:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:48:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:48:43 [debug] Moves scheduled 406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=424, frequency (Hz): min=663, max=17857
Sync err accum 83, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294909875 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:48:43 [debug] Driver 0: pos -12113, 10060.2 steps/mm, standstill, SG min 0, mspos 280, reads 23658, writes 11 timeouts 1
2025-05-12 06:48:43 [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 285, adv 36281/37173
2025-05-12 06:48:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4665, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:43 [info] ProbeTriggered: 0
2025-05-12 06:48:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:44 [info] PreTrigger: 1000
2025-05-12 06:48:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:45 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:45 [info] currentZPosition:0.00377728
2025-05-12 06:48:45 [info] tubeContactPos:0.00378 contactPositions:{0.00378,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:45 [debug] Diagnostics for board 50:
2025-05-12 06:48:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:45 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:06 ago, cause: power up
2025-05-12 06:48:45 [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
2025-05-12 06:48:45 [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
2025-05-12 06:48:45 [debug] Moves scheduled 410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=438, frequency (Hz): min=2112, max=17441
Sync err accum 75, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294912003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:45 [debug] Driver 0: pos -12116, 10060.2 steps/mm, standstill, SG min 0, mspos 328, reads 26905, writes 0 timeouts 0
2025-05-12 06:48:45 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 106, 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 288, adv 36179/37171
2025-05-12 06:48:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4660, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:45 [info] ProbeTriggered: 0
2025-05-12 06:48:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:46 [info] PreTrigger: 0
2025-05-12 06:48:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:47 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:47 [info] currentZPosition:0.00377728
2025-05-12 06:48:47 [info] tubeContactPos:0.00378 contactPositions:{0.00378,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:47 [debug] Diagnostics for board 50:
2025-05-12 06:48:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:47 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:08 ago, cause: power up
2025-05-12 06:48:47 [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
2025-05-12 06:48:47 [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
2025-05-12 06:48:47 [debug] Moves scheduled 414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=405, frequency (Hz): min=2167, max=17857
Sync err accum 61, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294916011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:47 [debug] Driver 0: pos -12117, 10060.2 steps/mm, standstill, SG min 0, mspos 344, reads 24239, writes 0 timeouts 0
2025-05-12 06:48:47 [debug] Last sensors broadcast 0x00000000 found 0 64 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 288, adv 36286/37177
2025-05-12 06:48:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8822, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4652, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:47 [info] ProbeTriggered: 0
2025-05-12 06:48:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:48 [info] PreTrigger: 1000
2025-05-12 06:48:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:49 [debug] Stopped at height 0.003 mm
2025-05-12 06:48:49 [info] currentZPosition:0.00347907
2025-05-12 06:48:49 [info] tubeContactPos:0.00348 contactPositions:{0.00348,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:49 [debug] Diagnostics for board 50:
2025-05-12 06:48:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:49 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:10 ago, cause: power up
2025-05-12 06:48:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:48:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:48:49 [debug] Moves scheduled 418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=469, frequency (Hz): min=1903, max=18292
Sync err accum 77, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294912419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:49 [debug] Driver 0: pos -12120, 10060.2 steps/mm, standstill, SG min 0, mspos 392, reads 26815, writes 0 timeouts 0
2025-05-12 06:48:49 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 125, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36183/37171
2025-05-12 06:48:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8835, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4656, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:49 [info] ProbeTriggered: 0
2025-05-12 06:48:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:50 [info] PreTrigger: 0
2025-05-12 06:48:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:51 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:51 [info] currentZPosition:0.00357847
2025-05-12 06:48:51 [info] tubeContactPos:0.00358 contactPositions:{0.00358,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:51 [debug] Diagnostics for board 50:
2025-05-12 06:48:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:51 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:12 ago, cause: power up
2025-05-12 06:48:51 [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
2025-05-12 06:48:51 [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
2025-05-12 06:48:51 [debug] Moves scheduled 422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=433, frequency (Hz): min=1884, max=17441
Sync err accum 89, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294915079 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:51 [debug] Driver 0: pos -12120, 10060.2 steps/mm, standstill, SG min 0, mspos 392, reads 24121, writes 0 timeouts 0
2025-05-12 06:48:51 [debug] Last sensors broadcast 0x00000000 found 0 206 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 287, adv 36279/37176
2025-05-12 06:48:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4659, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:51 [info] ProbeTriggered: 0
2025-05-12 06:48:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:52 [info] PreTrigger: 0
2025-05-12 06:48:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:54 [debug] Stopped at height 0.003 mm
2025-05-12 06:48:54 [info] currentZPosition:0.00308146
2025-05-12 06:48:54 [info] tubeContactPos:0.00308 contactPositions:{0.00308,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:54 [debug] Diagnostics for board 50:
2025-05-12 06:48:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:54 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:14 ago, cause: power up
2025-05-12 06:48:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:48:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:48:54 [debug] Moves scheduled 426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=377, frequency (Hz): min=2173, max=17857
Sync err accum 88, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294913006 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:48:54 [debug] Driver 0: pos -12125, 10060.2 steps/mm, standstill, SG min 0, mspos 472, reads 27114, writes 0 timeouts 0
2025-05-12 06:48:54 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 129, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36186/37174
2025-05-12 06:48:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8867, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4655, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:54 [info] ProbeTriggered: 0
2025-05-12 06:48:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:54 [info] PreTrigger: 0
2025-05-12 06:48:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:55 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:55 [info] currentZPosition:0.00407548
2025-05-12 06:48:55 [info] tubeContactPos:0.00408 contactPositions:{0.00408,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:55 [debug] Diagnostics for board 50:
2025-05-12 06:48:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:55 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:16 ago, cause: power up
2025-05-12 06:48:55 [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
2025-05-12 06:48:55 [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
2025-05-12 06:48:55 [debug] Moves scheduled 430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=400, frequency (Hz): min=2130, max=18292
Sync err accum 76, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294909239 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:48:55 [debug] Driver 0: pos -12115, 10060.2 steps/mm, standstill, SG min 0, mspos 312, reads 22978, writes 0 timeouts 0
2025-05-12 06:48:55 [debug] Last sensors broadcast 0x00000000 found 0 21 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 291, adv 36265/37171
2025-05-12 06:48:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4655, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:56 [info] ProbeTriggered: 0
2025-05-12 06:48:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:56 [info] PreTrigger: 1000
2025-05-12 06:48:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:58 [debug] Stopped at height 0.004 mm
2025-05-12 06:48:58 [info] currentZPosition:0.00387668
2025-05-12 06:48:58 [info] tubeContactPos:0.00388 contactPositions:{0.00388,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:48:58 [debug] Diagnostics for board 50:
2025-05-12 06:48:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:48:58 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:18 ago, cause: power up
2025-05-12 06:48:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:48:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:48:58 [debug] Moves scheduled 434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=405, frequency (Hz): min=2071, max=17857
Sync err accum 60, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294912200 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:48:58 [debug] Driver 0: pos -12117, 10060.2 steps/mm, standstill, SG min 0, mspos 344, reads 26686, writes 0 timeouts 0
2025-05-12 06:48:58 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 114, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 293, adv 36177/37171
2025-05-12 06:48:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4657, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:48:58 [info] ProbeTriggered: 0
2025-05-12 06:48:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:58 [info] PreTrigger: 0
2025-05-12 06:48:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:48:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:48:59 [debug] Stopped at height 0.011 mm
2025-05-12 06:48:59 [info] currentZPosition:0.0105366
2025-05-12 06:49:00 [debug] Stopped at height 0.004 mm
2025-05-12 06:49:00 [info] currentZPosition:0.00387668
2025-05-12 06:49:00 [info] tubeContactPos:0.00388 contactPositions:{0.0105,0.00388,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:49:00 [debug] Diagnostics for board 50:
2025-05-12 06:49:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:00 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:21 ago, cause: power up
2025-05-12 06:49:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:49:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:49:00 [debug] Moves scheduled 440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=282, frequency (Hz): min=2777, max=17857
Sync err accum 82, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294911124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:49:00 [debug] Driver 0: pos -12118, 10060.2 steps/mm, standstill, SG min 0, mspos 360, reads 30654, writes 0 timeouts 0
2025-05-12 06:49:00 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 144, 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 288, adv 36278/37175
2025-05-12 06:49:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4656, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:00 [info] ProbeTriggered: 0
2025-05-12 06:49:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:01 [info] PreTrigger: 1000
2025-05-12 06:49:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:02 [debug] Stopped at height 0.004 mm
2025-05-12 06:49:02 [info] currentZPosition:0.00367788
2025-05-12 06:49:02 [info] tubeContactPos:0.00368 contactPositions:{0.00368,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:02 [debug] Diagnostics for board 50:
2025-05-12 06:49:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:02 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:23 ago, cause: power up
2025-05-12 06:49:02 [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
2025-05-12 06:49:02 [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
2025-05-12 06:49:02 [debug] Moves scheduled 444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=369, frequency (Hz): min=2100, max=17857
Sync err accum 92, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294915918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:49:02 [debug] Driver 0: pos -12121, 10060.2 steps/mm, standstill, SG min 0, mspos 408, reads 26810, writes 0 timeouts 0
2025-05-12 06:49:02 [debug] Last sensors broadcast 0x00000000 found 0 112 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 288, adv 36171/37172
2025-05-12 06:49:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4658, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:02 [info] ProbeTriggered: 0
2025-05-12 06:49:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:03 [info] PreTrigger: 0
2025-05-12 06:49:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:04 [debug] Stopped at height 0.004 mm
2025-05-12 06:49:04 [info] currentZPosition:0.00397608
2025-05-12 06:49:04 [info] tubeContactPos:0.00398 contactPositions:{0.00398,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:04 [debug] Diagnostics for board 50:
2025-05-12 06:49:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:04 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:25 ago, cause: power up
2025-05-12 06:49:04 [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
2025-05-12 06:49:04 [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
2025-05-12 06:49:04 [debug] Moves scheduled 448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=357, frequency (Hz): min=797, max=17857
Sync err accum 91, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294910492 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:49:04 [debug] Driver 0: pos -12118, 10060.2 steps/mm, standstill, SG min 0, mspos 360, reads 23778, writes 11 timeouts 1
2025-05-12 06:49:04 [debug] Last sensors broadcast 0x00000000 found 0 33 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 288, adv 36280/37172
2025-05-12 06:49:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4657, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:04 [info] ProbeTriggered: 0
2025-05-12 06:49:04 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:05 [info] PreTrigger: 1000
2025-05-12 06:49:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:06 [debug] Stopped at height 0.003 mm
2025-05-12 06:49:06 [info] currentZPosition:0.00347907
2025-05-12 06:49:06 [info] tubeContactPos:0.00348 contactPositions:{0.00348,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:06 [debug] Diagnostics for board 50:
2025-05-12 06:49:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:06 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:27 ago, cause: power up
2025-05-12 06:49:06 [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
2025-05-12 06:49:06 [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
2025-05-12 06:49:06 [debug] Moves scheduled 452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=445, frequency (Hz): min=1838, max=17857
Sync err accum 82, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294912450 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:49:06 [debug] Driver 0: pos -12123, 10060.2 steps/mm, standstill, SG min 0, mspos 440, reads 27160, writes 0 timeouts 0
2025-05-12 06:49:06 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 115, 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 288, adv 36187/37170
2025-05-12 06:49:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4653, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:06 [info] ProbeTriggered: 0
2025-05-12 06:49:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:07 [info] PreTrigger: 0
2025-05-12 06:49:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:08 [debug] Stopped at height 0.004 mm
2025-05-12 06:49:08 [info] currentZPosition:0.00447309
2025-05-12 06:49:08 [info] tubeContactPos:0.00447 contactPositions:{0.00447,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:08 [debug] Diagnostics for board 50:
2025-05-12 06:49:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:08 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:29 ago, cause: power up
2025-05-12 06:49:08 [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
2025-05-12 06:49:08 [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
2025-05-12 06:49:08 [debug] Moves scheduled 456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 66, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=253, frequency (Hz): min=3218, max=18292
Sync err accum 65, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294910654 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:49:08 [debug] Driver 0: pos -12114, 10060.2 steps/mm, standstill, SG min 0, mspos 296, reads 23037, writes 0 timeouts 0
2025-05-12 06:49:08 [debug] Last sensors broadcast 0x00000000 found 0 105 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 285, adv 36284/37177
2025-05-12 06:49:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8808, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4657, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:08 [info] ProbeTriggered: 0
2025-05-12 06:49:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:09 [info] PreTrigger: 1000
2025-05-12 06:49:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:10 [debug] Stopped at height 0.004 mm
2025-05-12 06:49:10 [info] currentZPosition:0.00367788
2025-05-12 06:49:10 [info] tubeContactPos:0.00368 contactPositions:{0.00368,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:11 [debug] Diagnostics for board 50:
2025-05-12 06:49:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:11 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:31 ago, cause: power up
2025-05-12 06:49:11 [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
2025-05-12 06:49:11 [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
2025-05-12 06:49:11 [debug] Moves scheduled 460, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=472, frequency (Hz): min=1875, max=17857
Sync err accum 70, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294915482 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:49:11 [debug] Driver 0: pos -12122, 10060.2 steps/mm, standstill, SG min 0, mspos 424, reads 27342, writes 0 timeouts 0
2025-05-12 06:49:11 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 128, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36185/37172
2025-05-12 06:49:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8850, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4656, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:11 [info] ProbeTriggered: 0
2025-05-12 06:49:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:11 [info] PreTrigger: 0
2025-05-12 06:49:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:12 [debug] Stopped at height 0.004 mm
2025-05-12 06:49:12 [info] currentZPosition:0.00427429
2025-05-12 06:49:12 [info] tubeContactPos:0.00427 contactPositions:{0.00427,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:12 [debug] Diagnostics for board 50:
2025-05-12 06:49:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:12 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:33 ago, cause: power up
2025-05-12 06:49:12 [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
2025-05-12 06:49:12 [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
2025-05-12 06:49:12 [debug] Moves scheduled 464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=341, frequency (Hz): min=2559, max=17441
Sync err accum 79, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294912617 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:49:12 [debug] Driver 0: pos -12116, 10060.2 steps/mm, standstill, SG min 0, mspos 328, reads 23296, writes 0 timeouts 0
2025-05-12 06:49:12 [debug] Last sensors broadcast 0x00000000 found 0 227 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 286, adv 36280/37173
2025-05-12 06:49:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4658, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:12 [info] ProbeTriggered: 0
2025-05-12 06:49:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:13 [info] PreTrigger: 1000
2025-05-12 06:49:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:15 [debug] Stopped at height 0.004 mm
2025-05-12 06:49:15 [info] currentZPosition:0.00387668
2025-05-12 06:49:15 [info] tubeContactPos:0.00388 contactPositions:{0.00388,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:15 [debug] Diagnostics for board 50:
2025-05-12 06:49:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:15 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:35 ago, cause: power up
2025-05-12 06:49:15 [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
2025-05-12 06:49:15 [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
2025-05-12 06:49:15 [debug] Moves scheduled 468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=356, frequency (Hz): min=2542, max=17857
Sync err accum 79, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294917970 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:49:15 [debug] Driver 0: pos -12121, 10060.2 steps/mm, standstill, SG min 0, mspos 408, reads 26980, writes 0 timeouts 0
2025-05-12 06:49:15 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 135, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36176/37172
2025-05-12 06:49:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:15 [info] ProbeTriggered: 0
2025-05-12 06:49:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:15 [info] PreTrigger: 0
2025-05-12 06:49:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:17 [debug] Stopped at height 0.003 mm
2025-05-12 06:49:17 [info] currentZPosition:0.00288266
2025-05-12 06:49:17 [info] tubeContactPos:0.00288 contactPositions:{0.00288,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:17 [debug] Diagnostics for board 50:
2025-05-12 06:49:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:17 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:37 ago, cause: power up
2025-05-12 06:49:17 [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
2025-05-12 06:49:17 [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
2025-05-12 06:49:17 [debug] Moves scheduled 472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=385, frequency (Hz): min=2307, max=17045
Sync err accum 71, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294912036 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:49:17 [debug] Driver 0: pos -12132, 10060.2 steps/mm, standstill, SG min 0, mspos 584, reads 25304, writes 0 timeouts 0
2025-05-12 06:49:17 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 122, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36275/37176
2025-05-12 06:49:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4657, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:17 [info] ProbeTriggered: 0
2025-05-12 06:49:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:17 [info] PreTrigger: 1000
2025-05-12 06:49:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:19 [debug] Stopped at height 0.004 mm
2025-05-12 06:49:19 [info] currentZPosition:0.00417489
2025-05-12 06:49:19 [debug] Stopped at height 0.005 mm
2025-05-12 06:49:19 [info] currentZPosition:0.00497010
2025-05-12 06:49:19 [info] tubeContactPos:0.004572494 contactPositions:{0.00417,0.00497,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:49:19 [debug] Diagnostics for board 50:
2025-05-12 06:49:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:19 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:40 ago, cause: power up
2025-05-12 06:49:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:49:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:49:19 [debug] Moves scheduled 478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=316, frequency (Hz): min=2559, max=18292
Sync err accum 69, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294910643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:49:19 [debug] Driver 0: pos -12112, 10060.2 steps/mm, standstill, SG min 0, mspos 264, reads 30387, writes 0 timeouts 0
2025-05-12 06:49:19 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 137, 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 290, adv 36186/37172
2025-05-12 06:49:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4655, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:19 [info] ProbeTriggered: 0
2025-05-12 06:49:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:20 [info] PreTrigger: 0
2025-05-12 06:49:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:21 [debug] Stopped at height 0.006 mm
2025-05-12 06:49:21 [info] currentZPosition:0.00566592
2025-05-12 06:49:21 [info] tubeContactPos:0.00567 contactPositions:{0.00567,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:21 [debug] Diagnostics for board 50:
2025-05-12 06:49:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:21 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,0.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:42 ago, cause: power up
2025-05-12 06:49:21 [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
2025-05-12 06:49:21 [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
2025-05-12 06:49:21 [debug] Moves scheduled 482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=258, frequency (Hz): min=2707, max=17857
Sync err accum 83, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294917701 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:49:21 [debug] Driver 0: pos -12106, 10060.2 steps/mm, standstill, SG min 0, mspos 168, reads 22914, writes 0 timeouts 0
2025-05-12 06:49:21 [debug] Last sensors broadcast 0x00000000 found 0 59 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 288, adv 36275/37172
2025-05-12 06:49:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8770, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4658, no error
Lin: Encoder reverse polarity: no, raw count 65172
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:21 [info] ProbeTriggered: 0
2025-05-12 06:49:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:22 [info] PreTrigger: 1000
2025-05-12 06:49:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:23 [debug] Stopped at height 0.002 mm
2025-05-12 06:49:23 [info] currentZPosition:0.00208744
2025-05-12 06:49:24 [debug] Stopped at height 0.002 mm
2025-05-12 06:49:24 [info] currentZPosition:0.00228625
2025-05-12 06:49:24 [info] tubeContactPos:0.002186845 contactPositions:{0.00209,0.00229,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:49:24 [debug] Diagnostics for board 50:
2025-05-12 06:49:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:24 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:45 ago, cause: power up
2025-05-12 06:49:24 [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
2025-05-12 06:49:24 [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
2025-05-12 06:49:24 [debug] Moves scheduled 488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=389, frequency (Hz): min=2388, max=18292
Sync err accum 84, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294911074 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:49:24 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 37150, writes 0 timeouts 0
2025-05-12 06:49:24 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 169, send timeouts 0, received 38, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36184/37174
2025-05-12 06:49:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -353
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4654, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:24 [info] ProbeTriggered: 0
2025-05-12 06:49:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:24 [info] PreTrigger: 0
2025-05-12 06:49:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:26 [debug] Stopped at height 0.004 mm
2025-05-12 06:49:26 [info] currentZPosition:0.00437369
2025-05-12 06:49:26 [debug] Stopped at height 0.005 mm
2025-05-12 06:49:26 [info] currentZPosition:0.00477130
2025-05-12 06:49:26 [info] tubeContactPos:0.004572495 contactPositions:{0.00437,0.00477,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:49:26 [debug] Diagnostics for board 50:
2025-05-12 06:49:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:26 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:47 ago, cause: power up
2025-05-12 06:49:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:49:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:49:26 [debug] Moves scheduled 494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 38, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=276, frequency (Hz): min=937, max=17857
Sync err accum 76, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294910722 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:49:26 [debug] Driver 0: pos -12115, 10060.2 steps/mm, standstill, SG min 0, mspos 312, reads 27378, writes 11 timeouts 1
2025-05-12 06:49:26 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 142, 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 289, adv 36280/37176
2025-05-12 06:49:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4657, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:26 [info] ProbeTriggered: 0
2025-05-12 06:49:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:27 [info] PreTrigger: 0
2025-05-12 06:49:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:28 [debug] Stopped at height 0.005 mm
2025-05-12 06:49:28 [info] currentZPosition:0.00487070
2025-05-12 06:49:28 [info] tubeContactPos:0.00487 contactPositions:{0.00487,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:28 [debug] Diagnostics for board 50:
2025-05-12 06:49:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:28 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:49 ago, cause: power up
2025-05-12 06:49:28 [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
2025-05-12 06:49:28 [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
2025-05-12 06:49:28 [debug] Moves scheduled 498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=441, frequency (Hz): min=1973, max=19230
Sync err accum 61, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294915318 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:49:28 [debug] Driver 0: pos -12115, 10060.2 steps/mm, standstill, SG min 0, mspos 312, reads 26225, writes 0 timeouts 0
2025-05-12 06:49:28 [debug] Last sensors broadcast 0x00000000 found 0 172 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 286, adv 36177/37174
2025-05-12 06:49:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -363
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4662, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:28 [info] ProbeTriggered: 0
2025-05-12 06:49:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:29 [info] PreTrigger: 0
2025-05-12 06:49:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:30 [debug] Stopped at height 0.004 mm
2025-05-12 06:49:30 [info] currentZPosition:0.00387668
2025-05-12 06:49:30 [info] tubeContactPos:0.00388 contactPositions:{0.00388,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:30 [debug] Diagnostics for board 50:
2025-05-12 06:49:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:30 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:51 ago, cause: power up
2025-05-12 06:49:30 [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
2025-05-12 06:49:30 [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
2025-05-12 06:49:30 [debug] Moves scheduled 502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=337, frequency (Hz): min=2707, max=17045
Sync err accum 74, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294914414 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:49:30 [debug] Driver 0: pos -12126, 10060.2 steps/mm, standstill, SG min 0, mspos 488, reads 25436, writes 0 timeouts 0
2025-05-12 06:49:30 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 122, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 310, adv 36259/37173
2025-05-12 06:49:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4657, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:30 [info] ProbeTriggered: 0
2025-05-12 06:49:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:31 [info] PreTrigger: 0
2025-05-12 06:49:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:32 [debug] Stopped at height 0.006 mm
2025-05-12 06:49:32 [info] currentZPosition:0.00556652
2025-05-12 06:49:33 [debug] Stopped at height 0.006 mm
2025-05-12 06:49:33 [info] currentZPosition:0.00556652
2025-05-12 06:49:33 [info] tubeContactPos:0.005566515 contactPositions:{0.00557,0.00557,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:49:33 [debug] Diagnostics for board 50:
2025-05-12 06:49:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:33 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:54 ago, cause: power up
2025-05-12 06:49:33 [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
2025-05-12 06:49:33 [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
2025-05-12 06:49:33 [debug] Moves scheduled 508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 78, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=481, frequency (Hz): min=732, max=17045
Sync err accum 78, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294921727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:49:33 [debug] Driver 0: pos -12111, 10060.2 steps/mm, standstill, SG min 0, mspos 248, reads 30788, writes 11 timeouts 1
2025-05-12 06:49:33 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 119, 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 295, adv 36163/37171
2025-05-12 06:49:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4658, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:33 [info] ProbeTriggered: 0
2025-05-12 06:49:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:33 [info] PreTrigger: 0
2025-05-12 06:49:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:34 [warn] Error: G30: Probe already triggered at start of probing move
2025-05-12 06:49:34 [info] currentZPosition:0.0136181
2025-05-12 06:49:34 [debug] Stopped at height 0.016 mm
2025-05-12 06:49:34 [info] currentZPosition:0.0161031
2025-05-12 06:49:35 [debug] Stopped at height 0.018 mm
2025-05-12 06:49:35 [info] currentZPosition:0.0182900
2025-05-12 06:49:35 [debug] Stopped at height 0.017 mm
2025-05-12 06:49:35 [info] currentZPosition:0.0174948
2025-05-12 06:49:35 [info] tubeContactPos:0.01789237 contactPositions:{0.0136,0.0161,0.0183,0.0175,0,0,0,0,0,0} Success Two Point Average at 2 touches
2025-05-12 06:49:35 [debug] Diagnostics for board 50:
2025-05-12 06:49:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:35 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:05:56 ago, cause: power up
2025-05-12 06:49:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:49:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:49:35 [debug] Moves scheduled 517, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=402, frequency (Hz): min=2155, max=17441
Sync err accum 70, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294914352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:49:35 [debug] Driver 0: pos -11992, 10060.2 steps/mm, standstill, SG min 0, mspos 392, reads 28001, writes 0 timeouts 0
2025-05-12 06:49:35 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 123, send timeouts 0, received 41, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36286/37175
2025-05-12 06:49:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -390
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8184, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4655, no error
Lin: Encoder reverse polarity: no, raw count 65149
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:35 [info] ProbeTriggered: 0
2025-05-12 06:49:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:36 [info] PreTrigger: 1000
2025-05-12 06:49:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:39 [debug] Stopped at height 0.004 mm
2025-05-12 06:49:39 [info] currentZPosition:0.00427429
2025-05-12 06:49:39 [debug] Stopped at height 0.005 mm
2025-05-12 06:49:39 [info] currentZPosition:0.00497010
2025-05-12 06:49:39 [info] tubeContactPos:0.004622195 contactPositions:{0.00427,0.00497,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:49:39 [debug] Diagnostics for board 50:
2025-05-12 06:49:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:39 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:00 ago, cause: power up
2025-05-12 06:49:39 [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
2025-05-12 06:49:39 [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
2025-05-12 06:49:39 [debug] Moves scheduled 523, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=349, frequency (Hz): min=524, max=18292
Sync err accum 67, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294918710 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:49:39 [debug] Driver 0: pos -12118, 10060.2 steps/mm, standstill, SG min 0, mspos 360, reads 48960, writes 11 timeouts 1
2025-05-12 06:49:39 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 146, send timeouts 0, received 43, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36175/37171
2025-05-12 06:49:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8831, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4651, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:39 [info] ProbeTriggered: 0
2025-05-12 06:49:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:40 [info] PreTrigger: 0
2025-05-12 06:49:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:41 [debug] Stopped at height 0.005 mm
2025-05-12 06:49:41 [info] currentZPosition:0.00546711
2025-05-12 06:49:41 [info] tubeContactPos:0.00547 contactPositions:{0.00547,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:41 [debug] Diagnostics for board 50:
2025-05-12 06:49:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:41 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,109) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:02 ago, cause: power up
2025-05-12 06:49:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:49:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:49:41 [debug] Moves scheduled 527, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=312, frequency (Hz): min=2516, max=17857
Sync err accum 63, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294910660 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:49:41 [debug] Driver 0: pos -12113, 10060.2 steps/mm, standstill, SG min 0, mspos 280, reads 23015, writes 0 timeouts 0
2025-05-12 06:49:41 [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 285, adv 36283/37177
2025-05-12 06:49:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4656, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:41 [info] ProbeTriggered: 0
2025-05-12 06:49:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:42 [info] PreTrigger: 1000
2025-05-12 06:49:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:43 [debug] Stopped at height 0.004 mm
2025-05-12 06:49:43 [info] currentZPosition:0.00397608
2025-05-12 06:49:44 [debug] Stopped at height 0.004 mm
2025-05-12 06:49:44 [info] currentZPosition:0.00387668
2025-05-12 06:49:44 [info] tubeContactPos:0.003926381 contactPositions:{0.00398,0.00388,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:49:44 [debug] Diagnostics for board 50:
2025-05-12 06:49:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:44 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:04 ago, cause: power up
2025-05-12 06:49:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:49:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:49:44 [debug] Moves scheduled 533, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=402, frequency (Hz): min=497, max=17857
Sync err accum 77, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294918149 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:49:44 [debug] Driver 0: pos -12130, 10060.2 steps/mm, standstill, SG min 0, mspos 552, reads 34964, writes 11 timeouts 1
2025-05-12 06:49:44 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 118, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36168/37174
2025-05-12 06:49:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4655, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:44 [info] ProbeTriggered: 0
2025-05-12 06:49:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:44 [info] PreTrigger: 0
2025-05-12 06:49:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:46 [debug] Stopped at height 0.005 mm
2025-05-12 06:49:46 [info] currentZPosition:0.00516891
2025-05-12 06:49:46 [info] tubeContactPos:0.00517 contactPositions:{0.00517,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:46 [debug] Diagnostics for board 50:
2025-05-12 06:49:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:46 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:06 ago, cause: power up
2025-05-12 06:49:46 [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
2025-05-12 06:49:46 [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
2025-05-12 06:49:46 [debug] Moves scheduled 537, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=296, frequency (Hz): min=2586, max=17441
Sync err accum 77, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294912893 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:49:46 [debug] Driver 0: pos -12117, 10060.2 steps/mm, standstill, SG min 0, mspos 344, reads 22565, writes 0 timeouts 0
2025-05-12 06:49:46 [debug] Last sensors broadcast 0x00000000 found 0 226 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 282, adv 36285/37176
2025-05-12 06:49:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4652, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:46 [info] ProbeTriggered: 0
2025-05-12 06:49:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:46 [info] PreTrigger: 1000
2025-05-12 06:49:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:48 [debug] Stopped at height 0.005 mm
2025-05-12 06:49:48 [info] currentZPosition:0.00497010
2025-05-12 06:49:48 [info] tubeContactPos:0.00497 contactPositions:{0.00497,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:48 [debug] Diagnostics for board 50:
2025-05-12 06:49:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:48 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:09 ago, cause: power up
2025-05-12 06:49:48 [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
2025-05-12 06:49:48 [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
2025-05-12 06:49:48 [debug] Moves scheduled 541, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=381, frequency (Hz): min=2212, max=18292
Sync err accum 67, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916026 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:49:48 [debug] Driver 0: pos -12120, 10060.2 steps/mm, standstill, SG min 0, mspos 392, reads 26758, writes 0 timeouts 0
2025-05-12 06:49:48 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 120, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36187/37174
2025-05-12 06:49:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8838, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:48 [info] ProbeTriggered: 0
2025-05-12 06:49:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:48 [info] PreTrigger: 0
2025-05-12 06:49:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:50 [debug] Stopped at height 0.004 mm
2025-05-12 06:49:50 [info] currentZPosition:0.00447309
2025-05-12 06:49:50 [info] tubeContactPos:0.00447 contactPositions:{0.00447,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:50 [debug] Diagnostics for board 50:
2025-05-12 06:49:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:50 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:11 ago, cause: power up
2025-05-12 06:49:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:49:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:49:50 [debug] Moves scheduled 545, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=414, frequency (Hz): min=2027, max=18292
Sync err accum 69, peak jitter -2/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4294967250 ticks, enabled, next step interrupt due in 4294911979 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.
2025-05-12 06:49:50 [debug] Driver 0: pos -12125, 10060.2 steps/mm, standstill, SG min 0, mspos 472, reads 24690, writes 0 timeouts 0
2025-05-12 06:49:50 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 315, adv 36283/37169
2025-05-12 06:49:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4652, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:50 [info] ProbeTriggered: 0
2025-05-12 06:49:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:50 [info] PreTrigger: 1000
2025-05-12 06:49:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:52 [debug] Stopped at height 0.006 mm
2025-05-12 06:49:52 [info] currentZPosition:0.00596412
2025-05-12 06:49:52 [debug] Stopped at height 0.006 mm
2025-05-12 06:49:52 [info] currentZPosition:0.00596412
2025-05-12 06:49:52 [info] tubeContactPos:0.005964123 contactPositions:{0.00596,0.00596,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:49:52 [debug] Diagnostics for board 50:
2025-05-12 06:49:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:52 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:13 ago, cause: power up
2025-05-12 06:49:52 [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
2025-05-12 06:49:52 [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
2025-05-12 06:49:52 [debug] Moves scheduled 551, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=426, frequency (Hz): min=776, max=17857
Sync err accum 77, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294918394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:49:52 [debug] Driver 0: pos -12111, 10060.2 steps/mm, standstill, SG min 0, mspos 248, reads 30966, writes 11 timeouts 1
2025-05-12 06:49:52 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 116, 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 285, adv 36170/37174
2025-05-12 06:49:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4652, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:52 [info] ProbeTriggered: 0
2025-05-12 06:49:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:53 [info] PreTrigger: 0
2025-05-12 06:49:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:55 [debug] Stopped at height 0.003 mm
2025-05-12 06:49:55 [info] currentZPosition:0.00347907
2025-05-12 06:49:55 [debug] Stopped at height 0.005 mm
2025-05-12 06:49:55 [info] currentZPosition:0.00536771
2025-05-12 06:49:55 [info] tubeContactPos:0.00537 contactPositions:{0.00348,0.00537,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:49:55 [debug] Diagnostics for board 50:
2025-05-12 06:49:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:55 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:16 ago, cause: power up
2025-05-12 06:49:55 [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
2025-05-12 06:49:55 [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
2025-05-12 06:49:55 [debug] Moves scheduled 557, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=562, frequency (Hz): min=1681, max=17857
Sync err accum 70, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294915806 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:49:55 [debug] Driver 0: pos -12117, 10060.2 steps/mm, standstill, SG min 0, mspos 344, reads 31195, writes 0 timeouts 0
2025-05-12 06:49:55 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 133, 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 286, adv 36281/37177
2025-05-12 06:49:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:55 [info] ProbeTriggered: 0
2025-05-12 06:49:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:56 [info] PreTrigger: 1000
2025-05-12 06:49:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:57 [debug] Stopped at height 0.005 mm
2025-05-12 06:49:57 [info] currentZPosition:0.00487070
2025-05-12 06:49:57 [info] tubeContactPos:0.00487 contactPositions:{0.00487,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:57 [debug] Diagnostics for board 50:
2025-05-12 06:49:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:57 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:18 ago, cause: power up
2025-05-12 06:49:57 [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
2025-05-12 06:49:57 [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
2025-05-12 06:49:57 [debug] Moves scheduled 561, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=384, frequency (Hz): min=2419, max=17857
Sync err accum 66, peak jitter -2/2, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294913695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:49:57 [debug] Driver 0: pos -12122, 10060.2 steps/mm, standstill, SG min 0, mspos 424, reads 27162, writes 0 timeouts 0
2025-05-12 06:49:57 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, 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 287, adv 36183/37173
2025-05-12 06:49:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4661, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:57 [info] ProbeTriggered: 0
2025-05-12 06:49:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:58 [info] PreTrigger: 0
2025-05-12 06:49:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:49:59 [debug] Stopped at height 0.005 mm
2025-05-12 06:49:59 [info] currentZPosition:0.00506950
2025-05-12 06:49:59 [info] tubeContactPos:0.00507 contactPositions:{0.00507,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:49:59 [debug] Diagnostics for board 50:
2025-05-12 06:49:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:49:59 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:20 ago, cause: power up
2025-05-12 06:49:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:49:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:49:59 [debug] Moves scheduled 565, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=366, frequency (Hz): min=2551, max=18292
Sync err accum 83, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294912937 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:49:59 [debug] Driver 0: pos -12121, 10060.2 steps/mm, standstill, SG min 0, mspos 408, reads 23995, writes 0 timeouts 0
2025-05-12 06:49:59 [debug] Last sensors broadcast 0x00000000 found 0 106 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 285, adv 36280/37175
2025-05-12 06:49:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4661, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:49:59 [info] ProbeTriggered: 0
2025-05-12 06:49:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:49:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:00 [info] PreTrigger: 1000
2025-05-12 06:50:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:01 [debug] Stopped at height 0.004 mm
2025-05-12 06:50:01 [info] currentZPosition:0.00377728
2025-05-12 06:50:02 [debug] Stopped at height 0.004 mm
2025-05-12 06:50:02 [info] currentZPosition:0.00417489
2025-05-12 06:50:02 [info] tubeContactPos:0.00417 contactPositions:{0.00378,0.00417,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:50:02 [debug] Diagnostics for board 50:
2025-05-12 06:50:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:02 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:22 ago, cause: power up
2025-05-12 06:50:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:50:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:50:02 [debug] Moves scheduled 571, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=378, frequency (Hz): min=2286, max=17857
Sync err accum 97, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294915542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:50:02 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 34011, writes 0 timeouts 0
2025-05-12 06:50:02 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 131, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 302, adv 36183/37170
2025-05-12 06:50:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8894, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4659, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:02 [info] ProbeTriggered: 0
2025-05-12 06:50:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:02 [info] PreTrigger: 0
2025-05-12 06:50:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:04 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:04 [info] currentZPosition:0.00606353
2025-05-12 06:50:04 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:04 [info] currentZPosition:0.00596412
2025-05-12 06:50:04 [info] tubeContactPos:0.006013824 contactPositions:{0.00606,0.00596,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:50:04 [debug] Diagnostics for board 50:
2025-05-12 06:50:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:04 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:25 ago, cause: power up
2025-05-12 06:50:04 [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
2025-05-12 06:50:04 [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
2025-05-12 06:50:04 [debug] Moves scheduled 577, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=310, frequency (Hz): min=775, max=17857
Sync err accum 97, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294918704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:50:04 [debug] Driver 0: pos -12115, 10060.2 steps/mm, standstill, SG min 0, mspos 312, reads 28278, writes 11 timeouts 1
2025-05-12 06:50:04 [debug] Last sensors broadcast 0x00000000 found 0 155 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 293, adv 36276/37176
2025-05-12 06:50:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8817, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4651, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:04 [info] ProbeTriggered: 0
2025-05-12 06:50:04 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:05 [info] PreTrigger: 1000
2025-05-12 06:50:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:06 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:06 [info] currentZPosition:0.00566592
2025-05-12 06:50:06 [info] tubeContactPos:0.00567 contactPositions:{0.00567,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:50:06 [debug] Diagnostics for board 50:
2025-05-12 06:50:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:06 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:27 ago, cause: power up
2025-05-12 06:50:06 [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
2025-05-12 06:50:06 [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
2025-05-12 06:50:06 [debug] Moves scheduled 581, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=385, frequency (Hz): min=1693, max=18292
Sync err accum 87, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294907483 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:50:06 [debug] Driver 0: pos -12118, 10060.2 steps/mm, standstill, SG min 0, mspos 360, reads 26996, writes 0 timeouts 0
2025-05-12 06:50:06 [debug] Last sensors broadcast 0x00000000 found 0 106 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 287, adv 36171/37173
2025-05-12 06:50:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4656, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:06 [info] ProbeTriggered: 0
2025-05-12 06:50:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:07 [info] PreTrigger: 0
2025-05-12 06:50:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:08 [debug] Stopped at height 0.005 mm
2025-05-12 06:50:08 [info] currentZPosition:0.00457249
2025-05-12 06:50:08 [info] tubeContactPos:0.00457 contactPositions:{0.00457,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:50:08 [debug] Diagnostics for board 50:
2025-05-12 06:50:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:08 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:29 ago, cause: power up
2025-05-12 06:50:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:50:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:50:08 [debug] Moves scheduled 585, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=357, frequency (Hz): min=2225, max=17045
Sync err accum 69, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294910402 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:50:08 [debug] Driver 0: pos -12129, 10060.2 steps/mm, standstill, SG min 0, mspos 536, reads 25589, writes 0 timeouts 0
2025-05-12 06:50:08 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36285/37173
2025-05-12 06:50:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4653, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:08 [info] ProbeTriggered: 0
2025-05-12 06:50:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:09 [info] PreTrigger: 0
2025-05-12 06:50:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:10 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:10 [info] currentZPosition:0.00566592
2025-05-12 06:50:10 [info] tubeContactPos:0.00567 contactPositions:{0.00567,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:50:10 [debug] Diagnostics for board 50:
2025-05-12 06:50:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:10 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:31 ago, cause: power up
2025-05-12 06:50:10 [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
2025-05-12 06:50:10 [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
2025-05-12 06:50:10 [debug] Moves scheduled 589, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=453, frequency (Hz): min=1847, max=17441
Sync err accum 71, peak jitter -3/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294909235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:50:10 [debug] Driver 0: pos -12118, 10060.2 steps/mm, standstill, SG min 0, mspos 360, reads 25099, writes 0 timeouts 0
2025-05-12 06:50:10 [debug] Last sensors broadcast 0x00000000 found 0 222 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 285, adv 36188/37174
2025-05-12 06:50:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4659, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:10 [info] ProbeTriggered: 0
2025-05-12 06:50:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:11 [info] PreTrigger: 0
2025-05-12 06:50:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:12 [debug] Stopped at height 0.004 mm
2025-05-12 06:50:12 [info] currentZPosition:0.00427429
2025-05-12 06:50:13 [debug] Stopped at height 0.005 mm
2025-05-12 06:50:13 [info] currentZPosition:0.00457249
2025-05-12 06:50:13 [info] tubeContactPos:0.00457 contactPositions:{0.00427,0.00457,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:50:13 [debug] Diagnostics for board 50:
2025-05-12 06:50:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:13 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:34 ago, cause: power up
2025-05-12 06:50:13 [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
2025-05-12 06:50:13 [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
2025-05-12 06:50:13 [debug] Moves scheduled 595, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=334, frequency (Hz): min=2595, max=17045
Sync err accum 94, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294920224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:50:13 [debug] Driver 0: pos -12130, 10060.2 steps/mm, standstill, SG min 0, mspos 552, reads 31914, writes 0 timeouts 0
2025-05-12 06:50:13 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 122, 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 287, adv 36278/37174
2025-05-12 06:50:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4654, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:13 [info] ProbeTriggered: 0
2025-05-12 06:50:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:14 [info] PreTrigger: 1000
2025-05-12 06:50:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:15 [debug] Stopped at height 0.004 mm
2025-05-12 06:50:15 [info] currentZPosition:0.00447309
2025-05-12 06:50:15 [info] tubeContactPos:0.00447 contactPositions:{0.00447,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:50:15 [debug] Diagnostics for board 50:
2025-05-12 06:50:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:15 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:36 ago, cause: power up
2025-05-12 06:50:15 [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
2025-05-12 06:50:15 [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
2025-05-12 06:50:15 [debug] Moves scheduled 599, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=350, frequency (Hz): min=2435, max=18292
Sync err accum 100, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294909994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:50:15 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 26635, writes 0 timeouts 0
2025-05-12 06:50:15 [debug] Last sensors broadcast 0x00000000 found 0 215 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 291, adv 36170/37167
2025-05-12 06:50:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4653, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:15 [info] ProbeTriggered: 0
2025-05-12 06:50:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:16 [info] PreTrigger: 0
2025-05-12 06:50:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:17 [debug] Stopped at height 0.007 mm
2025-05-12 06:50:17 [info] currentZPosition:0.00665994
2025-05-12 06:50:17 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:17 [info] currentZPosition:0.00636173
2025-05-12 06:50:17 [info] tubeContactPos:0.006510834 contactPositions:{0.00666,0.00636,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:50:17 [debug] Diagnostics for board 50:
2025-05-12 06:50:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:17 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:38 ago, cause: power up
2025-05-12 06:50:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:50:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:50:17 [debug] Moves scheduled 605, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=349, frequency (Hz): min=2388, max=18750
Sync err accum 105, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294917065 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:50:17 [debug] Driver 0: pos -12113, 10060.2 steps/mm, standstill, SG min 0, mspos 280, reads 28258, writes 0 timeouts 0
2025-05-12 06:50:17 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 141, 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 285, adv 36285/37175
2025-05-12 06:50:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4658, no error
Lin: Encoder reverse polarity: no, raw count 65173
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:17 [info] ProbeTriggered: 0
2025-05-12 06:50:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:18 [info] PreTrigger: 1000
2025-05-12 06:50:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:20 [debug] Stopped at height 0.005 mm
2025-05-12 06:50:20 [info] currentZPosition:0.00546711
2025-05-12 06:50:20 [info] tubeContactPos:0.00547 contactPositions:{0.00547,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:50:20 [debug] Diagnostics for board 50:
2025-05-12 06:50:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:20 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:40 ago, cause: power up
2025-05-12 06:50:20 [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
2025-05-12 06:50:20 [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
2025-05-12 06:50:20 [debug] Moves scheduled 609, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=400, frequency (Hz): min=518, max=18292
Sync err accum 98, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294913215 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:50:20 [debug] Driver 0: pos -12122, 10060.2 steps/mm, standstill, SG min 0, mspos 424, reads 27713, writes 11 timeouts 1
2025-05-12 06:50:20 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 104, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36169/37172
2025-05-12 06:50:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8851, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4653, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:20 [info] ProbeTriggered: 0
2025-05-12 06:50:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:20 [info] PreTrigger: 0
2025-05-12 06:50:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:22 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:22 [info] currentZPosition:0.00576532
2025-05-12 06:50:22 [info] tubeContactPos:0.00577 contactPositions:{0.00577,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:50:22 [debug] Diagnostics for board 50:
2025-05-12 06:50:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:22 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:42 ago, cause: power up
2025-05-12 06:50:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:50:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:50:22 [debug] Moves scheduled 613, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=362, frequency (Hz): min=2071, max=17045
Sync err accum 85, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294912605 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:50:22 [debug] Driver 0: pos -12119, 10060.2 steps/mm, standstill, SG min 0, mspos 376, reads 23728, writes 0 timeouts 0
2025-05-12 06:50:22 [debug] Last sensors broadcast 0x00000000 found 0 173 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 284, adv 36283/37180
2025-05-12 06:50:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4658, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:22 [info] ProbeTriggered: 0
2025-05-12 06:50:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:22 [info] PreTrigger: 1000
2025-05-12 06:50:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:24 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:24 [info] currentZPosition:0.00586472
2025-05-12 06:50:24 [info] tubeContactPos:0.00586 contactPositions:{0.00586,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:50:24 [debug] Diagnostics for board 50:
2025-05-12 06:50:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:24 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:06:44 ago, cause: power up
2025-05-12 06:50:24 [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
2025-05-12 06:50:24 [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
2025-05-12 06:50:24 [debug] Moves scheduled 617, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=404, frequency (Hz): min=1861, max=17857
Sync err accum 62, peak jitter -3/-1, peak Rx delay 201, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294914789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:50:24 [debug] Driver 0: pos -12119, 10060.2 steps/mm, standstill, SG min 0, mspos 376, reads 26323, writes 0 timeouts 0
2025-05-12 06:50:24 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 141, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36186/37172
2025-05-12 06:50:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8834, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4655, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:24 [info] ProbeTriggered: 0
2025-05-12 06:50:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:24 [info] PreTrigger: 0
2025-05-12 06:50:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:26 [debug] Stopped at height 0.004 mm
2025-05-12 06:50:26 [info] currentZPosition:0.00427429
2025-05-12 06:50:26 [debug] Stopped at height 0.004 mm
2025-05-12 06:50:26 [info] currentZPosition:0.00417489
2025-05-12 06:50:26 [info] tubeContactPos:0.004224587 contactPositions:{0.00427,0.00417,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:50:26 [debug] Diagnostics for board 50:
2025-05-12 06:50:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:26 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:47 ago, cause: power up
2025-05-12 06:50:26 [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
2025-05-12 06:50:26 [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
2025-05-12 06:50:26 [debug] Moves scheduled 623, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 65, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=438, frequency (Hz): min=1978, max=17441
Sync err accum 80, peak jitter -2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294918330 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:50:26 [debug] Driver 0: pos -12137, 10060.2 steps/mm, standstill, SG min 0, mspos 664, reads 32602, writes 0 timeouts 0
2025-05-12 06:50:26 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 109, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 301, adv 36274/37172
2025-05-12 06:50:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8930, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4654, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:26 [info] ProbeTriggered: 0
2025-05-12 06:50:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:27 [info] PreTrigger: 1000
2025-05-12 06:50:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:28 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:28 [info] currentZPosition:0.00586472
2025-05-12 06:50:29 [debug] Stopped at height 0.007 mm
2025-05-12 06:50:29 [info] currentZPosition:0.00656054
2025-05-12 06:50:29 [info] tubeContactPos:0.006212628 contactPositions:{0.00586,0.00656,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:50:29 [debug] Diagnostics for board 50:
2025-05-12 06:50:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:29 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:49 ago, cause: power up
2025-05-12 06:50:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:50:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:50:29 [debug] Moves scheduled 629, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=374, frequency (Hz): min=2265, max=17857
Sync err accum 95, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294916686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:50:29 [debug] Driver 0: pos -12115, 10060.2 steps/mm, standstill, SG min 0, mspos 312, reads 29898, writes 0 timeouts 0
2025-05-12 06:50:29 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 128, 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 292, adv 36182/37168
2025-05-12 06:50:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65173
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:29 [info] ProbeTriggered: 1000
2025-05-12 06:50:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:29 [info] PreTrigger: 0
2025-05-12 06:50:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:31 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:31 [info] currentZPosition:0.00556652
2025-05-12 06:50:31 [info] tubeContactPos:0.00557 contactPositions:{0.00557,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:50:31 [debug] Diagnostics for board 50:
2025-05-12 06:50:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:31 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:52 ago, cause: power up
2025-05-12 06:50:31 [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
2025-05-12 06:50:31 [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
2025-05-12 06:50:31 [debug] Moves scheduled 633, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=358, frequency (Hz): min=2136, max=17857
Sync err accum 100, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294911590 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:50:31 [debug] Driver 0: pos -12125, 10060.2 steps/mm, standstill, SG min 0, mspos 472, reads 24903, writes 0 timeouts 0
2025-05-12 06:50:31 [debug] Last sensors broadcast 0x00000000 found 0 163 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 286, adv 36282/37177
2025-05-12 06:50:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:31 [info] ProbeTriggered: 0
2025-05-12 06:50:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:31 [info] PreTrigger: 1000
2025-05-12 06:50:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:33 [debug] Stopped at height 0.004 mm
2025-05-12 06:50:33 [info] currentZPosition:0.00437369
2025-05-12 06:50:33 [info] tubeContactPos:0.00437 contactPositions:{0.00437,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:50:33 [debug] Diagnostics for board 50:
2025-05-12 06:50:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:33 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:54 ago, cause: power up
2025-05-12 06:50:33 [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
2025-05-12 06:50:33 [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
2025-05-12 06:50:33 [debug] Moves scheduled 637, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=440, frequency (Hz): min=517, max=17857
Sync err accum 99, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294912946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:50:33 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 28006, writes 11 timeouts 1
2025-05-12 06:50:33 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 113, 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 294, adv 36166/37172
2025-05-12 06:50:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -354
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8935, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4657, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:33 [info] ProbeTriggered: 0
2025-05-12 06:50:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:34 [info] PreTrigger: 0
2025-05-12 06:50:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:35 [debug] Stopped at height 0.008 mm
2025-05-12 06:50:35 [info] currentZPosition:0.00755456
2025-05-12 06:50:35 [debug] Stopped at height 0.007 mm
2025-05-12 06:50:35 [info] currentZPosition:0.00735575
2025-05-12 06:50:35 [info] tubeContactPos:0.007455154 contactPositions:{0.00755,0.00736,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:50:35 [debug] Diagnostics for board 50:
2025-05-12 06:50:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:35 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:56 ago, cause: power up
2025-05-12 06:50:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:50:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:50:35 [debug] Moves scheduled 643, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=472, frequency (Hz): min=1648, max=17857
Sync err accum 92, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294918079 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:50:35 [debug] Driver 0: pos -12110, 10060.2 steps/mm, standstill, SG min 0, mspos 232, reads 26870, writes 0 timeouts 0
2025-05-12 06:50:35 [debug] Last sensors broadcast 0x00000000 found 0 126 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 289, adv 36278/37175
2025-05-12 06:50:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -365
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4650, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:35 [info] ProbeTriggered: 0
2025-05-12 06:50:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:36 [info] PreTrigger: 1000
2025-05-12 06:50:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:38 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:38 [info] currentZPosition:0.00576532
2025-05-12 06:50:38 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:38 [info] currentZPosition:0.00556652
2025-05-12 06:50:38 [info] tubeContactPos:0.005665917 contactPositions:{0.00577,0.00557,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:50:38 [debug] Diagnostics for board 50:
2025-05-12 06:50:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:38 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:06:59 ago, cause: power up
2025-05-12 06:50:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:50:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:50:38 [debug] Moves scheduled 649, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=393, frequency (Hz): min=2373, max=18292
Sync err accum 66, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294911717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:50:38 [debug] Driver 0: pos -12128, 10060.2 steps/mm, standstill, SG min 0, mspos 520, reads 35136, writes 0 timeouts 0
2025-05-12 06:50:38 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 152, send timeouts 0, received 38, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36184/37177
2025-05-12 06:50:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8880, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4655, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:38 [info] ProbeTriggered: 0
2025-05-12 06:50:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:39 [info] PreTrigger: 0
2025-05-12 06:50:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:40 [debug] Stopped at height 0.005 mm
2025-05-12 06:50:40 [info] currentZPosition:0.00546711
2025-05-12 06:50:40 [info] tubeContactPos:0.00547 contactPositions:{0.00547,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:50:40 [debug] Diagnostics for board 50:
2025-05-12 06:50:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:40 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:01 ago, cause: power up
2025-05-12 06:50:40 [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
2025-05-12 06:50:40 [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
2025-05-12 06:50:40 [debug] Moves scheduled 653, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=308, frequency (Hz): min=2321, max=17857
Sync err accum 70, peak jitter -2/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294912231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:50:40 [debug] Driver 0: pos -12129, 10060.2 steps/mm, standstill, SG min 0, mspos 536, reads 24299, writes 0 timeouts 0
2025-05-12 06:50:40 [debug] Last sensors broadcast 0x00000000 found 0 204 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 290, adv 36274/37176
2025-05-12 06:50:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8880, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:40 [info] ProbeTriggered: 0
2025-05-12 06:50:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:41 [info] PreTrigger: 1000
2025-05-12 06:50:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:42 [debug] Stopped at height 0.008 mm
2025-05-12 06:50:42 [info] currentZPosition:0.00785276
2025-05-12 06:50:43 [debug] Stopped at height 0.007 mm
2025-05-12 06:50:43 [info] currentZPosition:0.00735575
2025-05-12 06:50:43 [info] tubeContactPos:0.007604257 contactPositions:{0.00785,0.00736,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:50:43 [debug] Diagnostics for board 50:
2025-05-12 06:50:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:43 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:03 ago, cause: power up
2025-05-12 06:50:43 [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
2025-05-12 06:50:43 [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
2025-05-12 06:50:43 [debug] Moves scheduled 659, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=370, frequency (Hz): min=567, max=18292
Sync err accum 91, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294915339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, current
2025-05-12 06:50:43 [debug] Driver 0: pos -12110, 10060.2 steps/mm, standstill, SG min 0, mspos 232, reads 30289, writes 11 timeouts 1
2025-05-12 06:50:43 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 126, 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 288, adv 36154/37171
2025-05-12 06:50:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4655, no error
Lin: Encoder reverse polarity: no, raw count 65172
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:43 [info] ProbeTriggered: 0
2025-05-12 06:50:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:43 [info] PreTrigger: 0
2025-05-12 06:50:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:45 [debug] Stopped at height 0.005 mm
2025-05-12 06:50:45 [info] currentZPosition:0.00467190
2025-05-12 06:50:45 [debug] Stopped at height 0.004 mm
2025-05-12 06:50:45 [info] currentZPosition:0.00417489
2025-05-12 06:50:45 [info] tubeContactPos:0.004423391 contactPositions:{0.00467,0.00417,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:50:45 [debug] Diagnostics for board 50:
2025-05-12 06:50:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:45 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:06 ago, cause: power up
2025-05-12 06:50:45 [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
2025-05-12 06:50:45 [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
2025-05-12 06:50:45 [debug] Moves scheduled 665, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=418, frequency (Hz): min=700, max=17857
Sync err accum 105, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294917781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:50:45 [debug] Driver 0: pos -12143, 10060.2 steps/mm, standstill, SG min 0, mspos 760, reads 34528, writes 11 timeouts 1
2025-05-12 06:50:45 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 135, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36275/37175
2025-05-12 06:50:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4655, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:45 [info] ProbeTriggered: 0
2025-05-12 06:50:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:46 [info] PreTrigger: 1000
2025-05-12 06:50:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:47 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:47 [info] currentZPosition:0.00616293
2025-05-12 06:50:48 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:48 [info] currentZPosition:0.00566592
2025-05-12 06:50:48 [info] tubeContactPos:0.00567 contactPositions:{0.00616,0.00567,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:50:48 [debug] Diagnostics for board 50:
2025-05-12 06:50:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:48 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:09 ago, cause: power up
2025-05-12 06:50:48 [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
2025-05-12 06:50:48 [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
2025-05-12 06:50:48 [debug] Moves scheduled 671, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=390, frequency (Hz): min=682, max=17857
Sync err accum 102, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294917822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:50:48 [debug] Driver 0: pos -12129, 10060.2 steps/mm, standstill, SG min 0, mspos 536, reads 31003, writes 11 timeouts 1
2025-05-12 06:50:48 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 126, send timeouts 0, received 36, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36171/37172
2025-05-12 06:50:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4650, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:48 [info] ProbeTriggered: 0
2025-05-12 06:50:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:48 [info] PreTrigger: 0
2025-05-12 06:50:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:50 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:50 [info] currentZPosition:0.00636173
2025-05-12 06:50:50 [info] tubeContactPos:0.00636 contactPositions:{0.00636,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:50:50 [debug] Diagnostics for board 50:
2025-05-12 06:50:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:50 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:10 ago, cause: power up
2025-05-12 06:50:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:50:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:50:50 [debug] Moves scheduled 675, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=400, frequency (Hz): min=2186, max=17045
Sync err accum 98, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294914262 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:50:50 [debug] Driver 0: pos -12123, 10060.2 steps/mm, standstill, SG min 0, mspos 440, reads 23382, writes 0 timeouts 0
2025-05-12 06:50:50 [debug] Last sensors broadcast 0x00000000 found 0 146 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 315, adv 36284/37173
2025-05-12 06:50:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8855, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4653, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:50 [info] ProbeTriggered: 0
2025-05-12 06:50:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:50 [info] PreTrigger: 1000
2025-05-12 06:50:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:52 [debug] Stopped at height 0.005 mm
2025-05-12 06:50:52 [info] currentZPosition:0.00516891
2025-05-12 06:50:52 [info] tubeContactPos:0.00517 contactPositions:{0.00517,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:50:52 [debug] Diagnostics for board 50:
2025-05-12 06:50:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:52 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:13 ago, cause: power up
2025-05-12 06:50:52 [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
2025-05-12 06:50:52 [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
2025-05-12 06:50:52 [debug] Moves scheduled 679, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=634, frequency (Hz): min=1515, max=18292
Sync err accum 84, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294914134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:50:52 [debug] Driver 0: pos -12136, 10060.2 steps/mm, standstill, SG min 0, mspos 648, reads 27959, writes 0 timeouts 0
2025-05-12 06:50:52 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36187/37175
2025-05-12 06:50:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8922, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4652, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:52 [info] ProbeTriggered: 0
2025-05-12 06:50:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:53 [info] PreTrigger: 0
2025-05-12 06:50:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:54 [debug] Stopped at height 0.008 mm
2025-05-12 06:50:54 [info] currentZPosition:0.00785276
2025-05-12 06:50:54 [debug] Stopped at height 0.007 mm
2025-05-12 06:50:54 [info] currentZPosition:0.00745515
2025-05-12 06:50:54 [info] tubeContactPos:0.007653958 contactPositions:{0.00785,0.00746,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:50:54 [debug] Diagnostics for board 50:
2025-05-12 06:50:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:54 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:15 ago, cause: power up
2025-05-12 06:50:54 [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
2025-05-12 06:50:54 [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
2025-05-12 06:50:54 [debug] Moves scheduled 685, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=422, frequency (Hz): min=1760, max=18292
Sync err accum 64, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294919501 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:50:54 [debug] Driver 0: pos -12115, 10060.2 steps/mm, standstill, SG min 0, mspos 312, reads 27717, writes 0 timeouts 0
2025-05-12 06:50:54 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 124, 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 290, adv 36282/37174
2025-05-12 06:50:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4655, no error
Lin: Encoder reverse polarity: no, raw count 65173
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:54 [info] ProbeTriggered: 0
2025-05-12 06:50:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:55 [info] PreTrigger: 1000
2025-05-12 06:50:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:57 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:57 [info] currentZPosition:0.00616293
2025-05-12 06:50:57 [debug] Stopped at height 0.007 mm
2025-05-12 06:50:57 [info] currentZPosition:0.00705755
2025-05-12 06:50:57 [info] tubeContactPos:0.00706 contactPositions:{0.00616,0.00706,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:50:57 [debug] Diagnostics for board 50:
2025-05-12 06:50:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:57 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:18 ago, cause: power up
2025-05-12 06:50:57 [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
2025-05-12 06:50:57 [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
2025-05-12 06:50:57 [debug] Moves scheduled 691, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=497, frequency (Hz): min=1913, max=17857
Sync err accum 83, peak jitter -2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294913207 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:50:57 [debug] Driver 0: pos -12120, 10060.2 steps/mm, standstill, SG min 0, mspos 392, reads 33438, writes 0 timeouts 0
2025-05-12 06:50:57 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 164, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36173/37174
2025-05-12 06:50:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8838, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4657, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:57 [info] ProbeTriggered: 0
2025-05-12 06:50:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:58 [info] PreTrigger: 0
2025-05-12 06:50:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:50:59 [debug] Stopped at height 0.006 mm
2025-05-12 06:50:59 [info] currentZPosition:0.00606353
2025-05-12 06:50:59 [info] tubeContactPos:0.00606 contactPositions:{0.00606,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:50:59 [debug] Diagnostics for board 50:
2025-05-12 06:50:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:50:59 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:20 ago, cause: power up
2025-05-12 06:50:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:50:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:50:59 [debug] Moves scheduled 695, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=422, frequency (Hz): min=766, max=17857
Sync err accum 101, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294915201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:50:59 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 25326, writes 11 timeouts 1
2025-05-12 06:50:59 [debug] Last sensors broadcast 0x00000000 found 0 202 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 288, adv 36283/37176
2025-05-12 06:50:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8896, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4650, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:50:59 [info] ProbeTriggered: 0
2025-05-12 06:50:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:50:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:01 [info] PreTrigger: 0
2025-05-12 06:51:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:02 [debug] Stopped at height 0.008 mm
2025-05-12 06:51:02 [info] currentZPosition:0.00805157
2025-05-12 06:51:03 [debug] Stopped at height 0.008 mm
2025-05-12 06:51:03 [info] currentZPosition:0.00755456
2025-05-12 06:51:03 [info] tubeContactPos:0.007803062 contactPositions:{0.00805,0.00755,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:51:03 [debug] Diagnostics for board 50:
2025-05-12 06:51:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:03 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:23 ago, cause: power up
2025-05-12 06:51:03 [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
2025-05-12 06:51:03 [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
2025-05-12 06:51:03 [debug] Moves scheduled 701, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=360, frequency (Hz): min=930, max=17857
Sync err accum 114, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294914765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:51:03 [debug] Driver 0: pos -12116, 10060.2 steps/mm, standstill, SG min 0, mspos 328, reads 42051, writes 11 timeouts 1
2025-05-12 06:51:03 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 126, send timeouts 0, received 40, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 37148/37176
2025-05-12 06:51:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4650, no error
Lin: Encoder reverse polarity: no, raw count 65173
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:03 [info] ProbeTriggered: 0
2025-05-12 06:51:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:03 [info] PreTrigger: 0
2025-05-12 06:51:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:05 [debug] Stopped at height 0.005 mm
2025-05-12 06:51:05 [info] currentZPosition:0.00516891
2025-05-12 06:51:05 [debug] Stopped at height 0.006 mm
2025-05-12 06:51:05 [info] currentZPosition:0.00556652
2025-05-12 06:51:05 [info] tubeContactPos:0.005367711 contactPositions:{0.00517,0.00557,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:51:05 [debug] Diagnostics for board 50:
2025-05-12 06:51:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:05 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:26 ago, cause: power up
2025-05-12 06:51:05 [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
2025-05-12 06:51:05 [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
2025-05-12 06:51:05 [debug] Moves scheduled 707, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=424, frequency (Hz): min=1968, max=17857
Sync err accum 111, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294914283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:51:05 [debug] Driver 0: pos -12136, 10060.2 steps/mm, standstill, SG min 0, mspos 648, reads 33177, writes 0 timeouts 0
2025-05-12 06:51:05 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 144, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36283/37175
2025-05-12 06:51:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8925, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4653, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:05 [info] ProbeTriggered: 0
2025-05-12 06:51:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:06 [info] PreTrigger: 1000
2025-05-12 06:51:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:07 [debug] Stopped at height 0.006 mm
2025-05-12 06:51:07 [info] currentZPosition:0.00606353
2025-05-12 06:51:07 [info] tubeContactPos:0.00606 contactPositions:{0.00606,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:51:07 [debug] Diagnostics for board 50:
2025-05-12 06:51:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:07 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:28 ago, cause: power up
2025-05-12 06:51:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:51:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:51:07 [debug] Moves scheduled 711, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=382, frequency (Hz): min=514, max=17857
Sync err accum 104, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294910603 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:51:07 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 25526, writes 11 timeouts 1
2025-05-12 06:51:07 [debug] Last sensors broadcast 0x00000000 found 0 128 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 288, adv 36170/37174
2025-05-12 06:51:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8896, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:07 [info] ProbeTriggered: 0
2025-05-12 06:51:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:08 [info] PreTrigger: 0
2025-05-12 06:51:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:09 [debug] Stopped at height 0.008 mm
2025-05-12 06:51:09 [info] currentZPosition:0.00775336
2025-05-12 06:51:10 [debug] Stopped at height 0.008 mm
2025-05-12 06:51:10 [info] currentZPosition:0.00785276
2025-05-12 06:51:10 [info] tubeContactPos:0.007803061 contactPositions:{0.00775,0.00785,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:51:10 [debug] Diagnostics for board 50:
2025-05-12 06:51:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:10 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:30 ago, cause: power up
2025-05-12 06:51:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:51:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:51:10 [debug] Moves scheduled 717, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=344, frequency (Hz): min=2500, max=17441
Sync err accum 91, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294915451 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:51:10 [debug] Driver 0: pos -12113, 10060.2 steps/mm, standstill, SG min 0, mspos 280, reads 28286, writes 0 timeouts 0
2025-05-12 06:51:10 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, send timeouts 0, received 34, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36279/37175
2025-05-12 06:51:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -363
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8803, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4652, no error
Lin: Encoder reverse polarity: no, raw count 65173
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:10 [info] ProbeTriggered: 0
2025-05-12 06:51:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:10 [info] PreTrigger: 1000
2025-05-12 06:51:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:12 [debug] Stopped at height 0.006 mm
2025-05-12 06:51:12 [info] currentZPosition:0.00616293
2025-05-12 06:51:12 [debug] Stopped at height 0.006 mm
2025-05-12 06:51:12 [info] currentZPosition:0.00596412
2025-05-12 06:51:12 [info] tubeContactPos:0.006063526 contactPositions:{0.00616,0.00596,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:51:12 [debug] Diagnostics for board 50:
2025-05-12 06:51:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:12 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:33 ago, cause: power up
2025-05-12 06:51:12 [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
2025-05-12 06:51:12 [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
2025-05-12 06:51:12 [debug] Moves scheduled 723, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=358, frequency (Hz): min=2071, max=17441
Sync err accum 65, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294913840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:51:12 [debug] Driver 0: pos -12132, 10060.2 steps/mm, standstill, SG min 0, mspos 584, reads 34975, writes 0 timeouts 0
2025-05-12 06:51:12 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 125, send timeouts 0, received 38, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36177/37175
2025-05-12 06:51:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8898, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4653, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:12 [info] ProbeTriggered: 0
2025-05-12 06:51:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:13 [info] PreTrigger: 0
2025-05-12 06:51:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:14 [debug] Stopped at height 0.007 mm
2025-05-12 06:51:14 [info] currentZPosition:0.00735575
2025-05-12 06:51:15 [debug] Stopped at height 0.006 mm
2025-05-12 06:51:15 [info] currentZPosition:0.00606353
2025-05-12 06:51:15 [info] tubeContactPos:0.00606 contactPositions:{0.00736,0.00606,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:51:15 [debug] Diagnostics for board 50:
2025-05-12 06:51:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:15 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:36 ago, cause: power up
2025-05-12 06:51:15 [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
2025-05-12 06:51:15 [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
2025-05-12 06:51:15 [debug] Moves scheduled 729, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=308, frequency (Hz): min=670, max=17857
Sync err accum 78, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294919192 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:51:15 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 30238, writes 11 timeouts 1
2025-05-12 06:51:15 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 160, 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 286, adv 36279/37179
2025-05-12 06:51:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8898, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:15 [info] ProbeTriggered: 0
2025-05-12 06:51:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:16 [info] PreTrigger: 1000
2025-05-12 06:51:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:17 [debug] Stopped at height 0.008 mm
2025-05-12 06:51:17 [info] currentZPosition:0.00785276
2025-05-12 06:51:17 [debug] Stopped at height 0.008 mm
2025-05-12 06:51:17 [info] currentZPosition:0.00815097
2025-05-12 06:51:17 [info] tubeContactPos:0.008001866 contactPositions:{0.00785,0.00815,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:51:17 [debug] Diagnostics for board 50:
2025-05-12 06:51:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:17 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:38 ago, cause: power up
2025-05-12 06:51:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:51:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:51:17 [debug] Moves scheduled 735, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=454, frequency (Hz): min=1833, max=17857
Sync err accum 99, peak jitter 0/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916288 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:51:17 [debug] Driver 0: pos -12111, 10060.2 steps/mm, standstill, SG min 0, mspos 248, reads 30063, writes 0 timeouts 0
2025-05-12 06:51:17 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 116, 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 286, adv 36154/37174
2025-05-12 06:51:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4650, no error
Lin: Encoder reverse polarity: no, raw count 65172
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:17 [info] ProbeTriggered: 0
2025-05-12 06:51:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:18 [info] PreTrigger: 0
2025-05-12 06:51:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:19 [debug] Stopped at height 0.006 mm
2025-05-12 06:51:19 [info] currentZPosition:0.00646113
2025-05-12 06:51:20 [debug] Stopped at height 0.007 mm
2025-05-12 06:51:20 [info] currentZPosition:0.00656054
2025-05-12 06:51:20 [info] tubeContactPos:0.006510835 contactPositions:{0.00646,0.00656,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:51:20 [debug] Diagnostics for board 50:
2025-05-12 06:51:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:20 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:41 ago, cause: power up
2025-05-12 06:51:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:51:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:51:20 [debug] Moves scheduled 741, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 47, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=377, frequency (Hz): min=2279, max=17441
Sync err accum 109, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294917785 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:51:20 [debug] Driver 0: pos -12129, 10060.2 steps/mm, standstill, SG min 0, mspos 536, reads 32352, writes 0 timeouts 0
2025-05-12 06:51:20 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36283/37175
2025-05-12 06:51:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8885, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4652, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:20 [info] ProbeTriggered: 0
2025-05-12 06:51:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:21 [info] PreTrigger: 1000
2025-05-12 06:51:21 [warn] Warning: Discarded std reply src=50 RID=325 exp=325 "0000000 00000000 00000000 00000000 00000000"
2025-05-12 06:51:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 0
CAN response timeout: board 50, req type 6040, RID 325
2025-05-12 06:51:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:22 [debug] Stopped at height 0.007 mm
2025-05-12 06:51:22 [info] currentZPosition:0.00725635
2025-05-12 06:51:22 [info] tubeContactPos:0.00726 contactPositions:{0.00726,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:51:22 [debug] Diagnostics for board 50:
2025-05-12 06:51:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:22 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:43 ago, cause: power up
2025-05-12 06:51:22 [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
2025-05-12 06:51:22 [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
2025-05-12 06:51:22 [debug] Moves scheduled 745, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=382, frequency (Hz): min=1918, max=17857
Sync err accum 113, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294911004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:51:22 [debug] Driver 0: pos -12123, 10060.2 steps/mm, standstill, SG min 0, mspos 440, reads 30888, writes 0 timeouts 0
2025-05-12 06:51:22 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 119, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36184/37171
2025-05-12 06:51:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8853, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:23 [info] ProbeTriggered: 0
2025-05-12 06:51:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:23 [info] PreTrigger: 0
2025-05-12 06:51:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:24 [debug] Stopped at height 0.006 mm
2025-05-12 06:51:24 [info] currentZPosition:0.00646113
2025-05-12 06:51:24 [info] tubeContactPos:0.00646 contactPositions:{0.00646,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:51:24 [debug] Diagnostics for board 50:
2025-05-12 06:51:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:24 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:45 ago, cause: power up
2025-05-12 06:51:24 [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
2025-05-12 06:51:24 [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
2025-05-12 06:51:24 [debug] Moves scheduled 749, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=322, frequency (Hz): min=2830, max=18292
Sync err accum 109, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294911179 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:51:24 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 25112, writes 0 timeouts 0
2025-05-12 06:51:24 [debug] Last sensors broadcast 0x00000000 found 0 72 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 300, adv 36267/37178
2025-05-12 06:51:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4652, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:25 [info] ProbeTriggered: 0
2025-05-12 06:51:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:25 [info] PreTrigger: 1000
2025-05-12 06:51:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:27 [debug] Stopped at height 0.006 mm
2025-05-12 06:51:27 [info] currentZPosition:0.00636173
2025-05-12 06:51:27 [info] tubeContactPos:0.00636 contactPositions:{0.00636,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:51:27 [debug] Diagnostics for board 50:
2025-05-12 06:51:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:27 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:47 ago, cause: power up
2025-05-12 06:51:27 [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
2025-05-12 06:51:27 [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
2025-05-12 06:51:27 [debug] Moves scheduled 753, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=436, frequency (Hz): min=2038, max=17857
Sync err accum 95, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294913626 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:51:27 [debug] Driver 0: pos -12133, 10060.2 steps/mm, standstill, SG min 0, mspos 600, reads 26654, writes 0 timeouts 0
2025-05-12 06:51:27 [debug] Last sensors broadcast 0x00000000 found 0 248 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 285, adv 36171/37174
2025-05-12 06:51:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8906, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:27 [info] ProbeTriggered: 0
2025-05-12 06:51:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:27 [info] PreTrigger: 0
2025-05-12 06:51:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:28 [debug] Stopped at height 0.008 mm
2025-05-12 06:51:28 [info] currentZPosition:0.00834977
2025-05-12 06:51:29 [debug] Stopped at height 0.008 mm
2025-05-12 06:51:29 [info] currentZPosition:0.00805157
2025-05-12 06:51:29 [info] tubeContactPos:0.008200670 contactPositions:{0.00835,0.00805,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:51:29 [debug] Diagnostics for board 50:
2025-05-12 06:51:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:29 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:50 ago, cause: power up
2025-05-12 06:51:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:51:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:51:29 [debug] Moves scheduled 759, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=344, frequency (Hz): min=531, max=17857
Sync err accum 78, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294920607 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:51:29 [debug] Driver 0: pos -12117, 10060.2 steps/mm, standstill, SG min 0, mspos 344, reads 28394, writes 11 timeouts 1
2025-05-12 06:51:29 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, 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 286, adv 36269/37178
2025-05-12 06:51:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4652, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:29 [info] ProbeTriggered: 0
2025-05-12 06:51:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:30 [info] PreTrigger: 1000
2025-05-12 06:51:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:31 [debug] Stopped at height 0.007 mm
2025-05-12 06:51:31 [info] currentZPosition:0.00735575
2025-05-12 06:51:31 [info] tubeContactPos:0.00736 contactPositions:{0.00736,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:51:31 [debug] Diagnostics for board 50:
2025-05-12 06:51:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:31 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:52 ago, cause: power up
2025-05-12 06:51:31 [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
2025-05-12 06:51:31 [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
2025-05-12 06:51:31 [debug] Moves scheduled 763, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=305, frequency (Hz): min=2286, max=17045
Sync err accum 60, peak jitter -3/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294909057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:51:31 [debug] Driver 0: pos -12124, 10060.2 steps/mm, standstill, SG min 0, mspos 456, reads 27495, writes 0 timeouts 0
2025-05-12 06:51:31 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 288, adv 36159/37176
2025-05-12 06:51:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8860, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4650, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:31 [info] ProbeTriggered: 0
2025-05-12 06:51:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:32 [info] PreTrigger: 0
2025-05-12 06:51:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:33 [debug] Stopped at height 0.006 mm
2025-05-12 06:51:33 [info] currentZPosition:0.00636173
2025-05-12 06:51:33 [info] tubeContactPos:0.00636 contactPositions:{0.00636,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:51:33 [debug] Diagnostics for board 50:
2025-05-12 06:51:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:33 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:54 ago, cause: power up
2025-05-12 06:51:33 [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
2025-05-12 06:51:33 [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
2025-05-12 06:51:33 [debug] Moves scheduled 767, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=352, frequency (Hz): min=551, max=17857
Sync err accum 80, peak jitter 1/4, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294910985 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, current
2025-05-12 06:51:33 [debug] Driver 0: pos -12134, 10060.2 steps/mm, standstill, SG min 0, mspos 616, reads 25286, writes 11 timeouts 1
2025-05-12 06:51:33 [debug] Last sensors broadcast 0x00000000 found 0 81 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 291, adv 36274/37173
2025-05-12 06:51:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:33 [info] ProbeTriggered: 0
2025-05-12 06:51:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:34 [info] PreTrigger: 0
2025-05-12 06:51:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:35 [debug] Stopped at height 0.008 mm
2025-05-12 06:51:35 [info] currentZPosition:0.00825037
2025-05-12 06:51:36 [debug] Stopped at height 0.008 mm
2025-05-12 06:51:36 [info] currentZPosition:0.00844917
2025-05-12 06:51:36 [info] tubeContactPos:0.008349773 contactPositions:{0.00825,0.00845,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:51:36 [debug] Diagnostics for board 50:
2025-05-12 06:51:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:36 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:07:56 ago, cause: power up
2025-05-12 06:51:36 [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
2025-05-12 06:51:36 [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
2025-05-12 06:51:36 [debug] Moves scheduled 773, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=346, frequency (Hz): min=505, max=18292
Sync err accum 87, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294914870 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:51:36 [debug] Driver 0: pos -12114, 10060.2 steps/mm, standstill, SG min 0, mspos 296, reads 30155, writes 11 timeouts 1
2025-05-12 06:51:36 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 108, 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 288, adv 36169/37172
2025-05-12 06:51:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -364
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:36 [info] ProbeTriggered: 0
2025-05-12 06:51:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:36 [info] PreTrigger: 0
2025-05-12 06:51:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:38 [debug] Stopped at height 0.007 mm
2025-05-12 06:51:38 [info] currentZPosition:0.00675934
2025-05-12 06:51:38 [debug] Stopped at height 0.007 mm
2025-05-12 06:51:38 [info] currentZPosition:0.00715695
2025-05-12 06:51:38 [info] tubeContactPos:0.00716 contactPositions:{0.00676,0.00716,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:51:38 [debug] Diagnostics for board 50:
2025-05-12 06:51:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:38 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:07:59 ago, cause: power up
2025-05-12 06:51:38 [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
2025-05-12 06:51:38 [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
2025-05-12 06:51:38 [debug] Moves scheduled 779, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=370, frequency (Hz): min=2112, max=17857
Sync err accum 90, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294915784 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:51:38 [debug] Driver 0: pos -12127, 10060.2 steps/mm, standstill, SG min 0, mspos 504, reads 31941, writes 0 timeouts 0
2025-05-12 06:51:38 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, 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 290, adv 36283/37177
2025-05-12 06:51:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8872, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:38 [info] ProbeTriggered: 1000
2025-05-12 06:51:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:39 [info] PreTrigger: 1000
2025-05-12 06:51:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:40 [debug] Stopped at height 0.007 mm
2025-05-12 06:51:40 [info] currentZPosition:0.00735575
2025-05-12 06:51:40 [info] tubeContactPos:0.00736 contactPositions:{0.00736,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:51:40 [debug] Diagnostics for board 50:
2025-05-12 06:51:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:40 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:01 ago, cause: power up
2025-05-12 06:51:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:51:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:51:40 [debug] Moves scheduled 783, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=441, frequency (Hz): min=1937, max=17857
Sync err accum 81, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294914640 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:51:40 [debug] Driver 0: pos -12125, 10060.2 steps/mm, standstill, SG min 0, mspos 472, reads 26121, writes 0 timeouts 0
2025-05-12 06:51:40 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 106, 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 288, adv 36171/37171
2025-05-12 06:51:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8867, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:40 [info] ProbeTriggered: 0
2025-05-12 06:51:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:41 [info] PreTrigger: 0
2025-05-12 06:51:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:42 [debug] Stopped at height 0.007 mm
2025-05-12 06:51:42 [info] currentZPosition:0.00665994
2025-05-12 06:51:42 [info] tubeContactPos:0.00666 contactPositions:{0.00666,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:51:42 [debug] Diagnostics for board 50:
2025-05-12 06:51:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:42 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:03 ago, cause: power up
2025-05-12 06:51:42 [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
2025-05-12 06:51:42 [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
2025-05-12 06:51:42 [debug] Moves scheduled 787, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=309, frequency (Hz): min=507, max=17857
Sync err accum 74, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294912700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:51:42 [debug] Driver 0: pos -12133, 10060.2 steps/mm, standstill, SG min 0, mspos 600, reads 24935, writes 11 timeouts 1
2025-05-12 06:51:42 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 124, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36283/37177
2025-05-12 06:51:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8906, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:43 [info] ProbeTriggered: 0
2025-05-12 06:51:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:43 [info] PreTrigger: 1000
2025-05-12 06:51:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:45 [debug] Stopped at height 0.006 mm
2025-05-12 06:51:45 [info] currentZPosition:0.00636173
2025-05-12 06:51:45 [info] tubeContactPos:0.00636 contactPositions:{0.00636,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:51:45 [debug] Diagnostics for board 50:
2025-05-12 06:51:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:45 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:05 ago, cause: power up
2025-05-12 06:51:45 [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
2025-05-12 06:51:45 [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
2025-05-12 06:51:45 [debug] Moves scheduled 791, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=421, frequency (Hz): min=2218, max=17857
Sync err accum 63, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294914210 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:51:45 [debug] Driver 0: pos -12135, 10060.2 steps/mm, standstill, SG min 0, mspos 632, reads 26756, writes 0 timeouts 0
2025-05-12 06:51:45 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 108, 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 307, adv 36189/37173
2025-05-12 06:51:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8919, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4647, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:45 [info] ProbeTriggered: 0
2025-05-12 06:51:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:45 [info] PreTrigger: 0
2025-05-12 06:51:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:46 [debug] Stopped at height 0.008 mm
2025-05-12 06:51:46 [info] currentZPosition:0.00795216
2025-05-12 06:51:47 [debug] Stopped at height 0.007 mm
2025-05-12 06:51:47 [info] currentZPosition:0.00725635
2025-05-12 06:51:47 [info] tubeContactPos:0.00726 contactPositions:{0.00795,0.00726,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:51:47 [debug] Diagnostics for board 50:
2025-05-12 06:51:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:47 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:08 ago, cause: power up
2025-05-12 06:51:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:51:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:51:47 [debug] Moves scheduled 797, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=385, frequency (Hz): min=2435, max=17857
Sync err accum 85, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294920217 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:51:47 [debug] Driver 0: pos -12126, 10060.2 steps/mm, standstill, SG min 0, mspos 488, reads 29345, writes 0 timeouts 0
2025-05-12 06:51:47 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 128, 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 292, adv 36258/37175
2025-05-12 06:51:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4650, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:47 [info] ProbeTriggered: 0
2025-05-12 06:51:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:48 [info] PreTrigger: 1000
2025-05-12 06:51:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:49 [debug] Stopped at height 0.007 mm
2025-05-12 06:51:49 [info] currentZPosition:0.00725635
2025-05-12 06:51:49 [info] tubeContactPos:0.00726 contactPositions:{0.00726,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:51:49 [debug] Diagnostics for board 50:
2025-05-12 06:51:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:49 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:10 ago, cause: power up
2025-05-12 06:51:49 [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
2025-05-12 06:51:49 [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
2025-05-12 06:51:49 [debug] Moves scheduled 801, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=417, frequency (Hz): min=1794, max=18292
Sync err accum 101, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294910080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:51:49 [debug] Driver 0: pos -12126, 10060.2 steps/mm, standstill, SG min 0, mspos 488, reads 26424, writes 0 timeouts 0
2025-05-12 06:51:49 [debug] Last sensors broadcast 0x00000000 found 0 249 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 288, adv 36169/37171
2025-05-12 06:51:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4657, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:49 [info] ProbeTriggered: 0
2025-05-12 06:51:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:50 [info] PreTrigger: 0
2025-05-12 06:51:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:51 [debug] Stopped at height 0.007 mm
2025-05-12 06:51:51 [info] currentZPosition:0.00675934
2025-05-12 06:51:51 [info] tubeContactPos:0.00676 contactPositions:{0.00676,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:51:51 [debug] Diagnostics for board 50:
2025-05-12 06:51:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:51 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:12 ago, cause: power up
2025-05-12 06:51:51 [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
2025-05-12 06:51:51 [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
2025-05-12 06:51:51 [debug] Moves scheduled 805, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=348, frequency (Hz): min=2516, max=17857
Sync err accum 107, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294915617 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:51:51 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 24759, writes 0 timeouts 0
2025-05-12 06:51:51 [debug] Last sensors broadcast 0x00000000 found 0 2 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 293, adv 36272/37174
2025-05-12 06:51:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4647, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:51 [info] ProbeTriggered: 0
2025-05-12 06:51:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:52 [info] PreTrigger: 1000
2025-05-12 06:51:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:53 [debug] Stopped at height 0.007 mm
2025-05-12 06:51:53 [info] currentZPosition:0.00715695
2025-05-12 06:51:53 [info] tubeContactPos:0.00716 contactPositions:{0.00716,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:51:53 [debug] Diagnostics for board 50:
2025-05-12 06:51:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:53 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:14 ago, cause: power up
2025-05-12 06:51:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:51:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:51:53 [debug] Moves scheduled 809, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=381, frequency (Hz): min=613, max=18292
Sync err accum 113, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294910869 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:51:53 [debug] Driver 0: pos -12126, 10060.2 steps/mm, standstill, SG min 0, mspos 488, reads 25855, writes 33 timeouts 3
2025-05-12 06:51:53 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 121, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36188/37171
2025-05-12 06:51:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:53 [info] ProbeTriggered: 0
2025-05-12 06:51:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:54 [info] PreTrigger: 0
2025-05-12 06:51:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:55 [debug] Stopped at height 0.007 mm
2025-05-12 06:51:55 [info] currentZPosition:0.00745515
2025-05-12 06:51:55 [info] tubeContactPos:0.00746 contactPositions:{0.00746,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:51:55 [debug] Diagnostics for board 50:
2025-05-12 06:51:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:55 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:16 ago, cause: power up
2025-05-12 06:51:55 [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
2025-05-12 06:51:55 [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
2025-05-12 06:51:55 [debug] Moves scheduled 813, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=421, frequency (Hz): min=2218, max=18292
Sync err accum 111, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294916908 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:51:55 [debug] Driver 0: pos -12123, 10060.2 steps/mm, standstill, SG min 0, mspos 440, reads 23754, writes 0 timeouts 0
2025-05-12 06:51:55 [debug] Last sensors broadcast 0x00000000 found 0 45 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 284, adv 36285/37176
2025-05-12 06:51:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4653, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:55 [info] ProbeTriggered: 0
2025-05-12 06:51:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:56 [info] PreTrigger: 1000
2025-05-12 06:51:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:57 [debug] Stopped at height 0.007 mm
2025-05-12 06:51:57 [info] currentZPosition:0.00656054
2025-05-12 06:51:57 [info] tubeContactPos:0.00656 contactPositions:{0.00656,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:51:57 [debug] Diagnostics for board 50:
2025-05-12 06:51:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:57 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:18 ago, cause: power up
2025-05-12 06:51:57 [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
2025-05-12 06:51:57 [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
2025-05-12 06:51:57 [debug] Moves scheduled 817, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=406, frequency (Hz): min=863, max=17857
Sync err accum 106, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294909054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:51:57 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 27591, writes 11 timeouts 1
2025-05-12 06:51:57 [debug] Last sensors broadcast 0x00000000 found 0 47 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 285, adv 36187/37173
2025-05-12 06:51:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8892, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:58 [info] ProbeTriggered: 1000
2025-05-12 06:51:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:58 [info] PreTrigger: 0
2025-05-12 06:51:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:51:59 [debug] Stopped at height 0.007 mm
2025-05-12 06:51:59 [info] currentZPosition:0.00745515
2025-05-12 06:51:59 [info] tubeContactPos:0.00746 contactPositions:{0.00746,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:51:59 [debug] Diagnostics for board 50:
2025-05-12 06:51:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:51:59 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:08:20 ago, cause: power up
2025-05-12 06:51:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:51:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:51:59 [debug] Moves scheduled 821, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=373, frequency (Hz): min=2245, max=17857
Sync err accum 95, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294909489 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:51:59 [debug] Driver 0: pos -12121, 10060.2 steps/mm, standstill, SG min 0, mspos 408, reads 22985, writes 0 timeouts 0
2025-05-12 06:51:59 [debug] Last sensors broadcast 0x00000000 found 0 156 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 291, adv 36264/37177
2025-05-12 06:51:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4653, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:51:59 [info] ProbeTriggered: 0
2025-05-12 06:51:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:51:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:00 [info] PreTrigger: 1000
2025-05-12 06:52:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:02 [debug] Stopped at height 0.007 mm
2025-05-12 06:52:02 [info] currentZPosition:0.00695814
2025-05-12 06:52:02 [info] tubeContactPos:0.00696 contactPositions:{0.00696,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:02 [debug] Diagnostics for board 50:
2025-05-12 06:52:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:02 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:22 ago, cause: power up
2025-05-12 06:52:02 [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
2025-05-12 06:52:02 [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
2025-05-12 06:52:02 [debug] Moves scheduled 825, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=434, frequency (Hz): min=489, max=18292
Sync err accum 76, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294910537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:52:02 [debug] Driver 0: pos -12125, 10060.2 steps/mm, standstill, SG min 0, mspos 472, reads 27183, writes 11 timeouts 1
2025-05-12 06:52:02 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 110, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36188/37170
2025-05-12 06:52:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8867, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4651, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:02 [info] ProbeTriggered: 0
2025-05-12 06:52:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:02 [info] PreTrigger: 0
2025-05-12 06:52:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:04 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:04 [info] currentZPosition:0.00566592
2025-05-12 06:52:04 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:04 [info] currentZPosition:0.00576532
2025-05-12 06:52:04 [info] tubeContactPos:0.00577 contactPositions:{0.00567,0.00577,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:52:04 [debug] Diagnostics for board 50:
2025-05-12 06:52:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:04 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:25 ago, cause: power up
2025-05-12 06:52:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:52:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:52:04 [debug] Moves scheduled 831, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=362, frequency (Hz): min=2180, max=18292
Sync err accum 69, peak jitter -3/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294914892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:52:04 [debug] Driver 0: pos -12136, 10060.2 steps/mm, standstill, SG min 0, mspos 648, reads 31910, writes 0 timeouts 0
2025-05-12 06:52:04 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 163, 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 290, adv 36283/37177
2025-05-12 06:52:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8923, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4651, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:04 [info] ProbeTriggered: 0
2025-05-12 06:52:04 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:05 [info] PreTrigger: 0
2025-05-12 06:52:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:06 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:06 [info] currentZPosition:0.00616293
2025-05-12 06:52:06 [info] tubeContactPos:0.00616 contactPositions:{0.00616,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:06 [debug] Diagnostics for board 50:
2025-05-12 06:52:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:06 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:27 ago, cause: power up
2025-05-12 06:52:06 [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
2025-05-12 06:52:06 [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
2025-05-12 06:52:06 [debug] Moves scheduled 835, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=384, frequency (Hz): min=2245, max=17857
Sync err accum 94, peak jitter 2/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294913509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:52:06 [debug] Driver 0: pos -12133, 10060.2 steps/mm, standstill, SG min 0, mspos 600, reads 26028, writes 0 timeouts 0
2025-05-12 06:52:06 [debug] Last sensors broadcast 0x00000000 found 0 82 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 292, adv 36170/37169
2025-05-12 06:52:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8907, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4651, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:06 [info] ProbeTriggered: 0
2025-05-12 06:52:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:07 [info] PreTrigger: 0
2025-05-12 06:52:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:08 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:08 [info] currentZPosition:0.00576532
2025-05-12 06:52:08 [info] tubeContactPos:0.00577 contactPositions:{0.00577,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:08 [debug] Diagnostics for board 50:
2025-05-12 06:52:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:08 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:29 ago, cause: power up
2025-05-12 06:52:08 [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
2025-05-12 06:52:08 [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
2025-05-12 06:52:08 [debug] Moves scheduled 839, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=269, frequency (Hz): min=2988, max=17857
Sync err accum 107, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294919035 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:52:08 [debug] Driver 0: pos -12137, 10060.2 steps/mm, standstill, SG min 0, mspos 664, reads 24681, writes 0 timeouts 0
2025-05-12 06:52:08 [debug] Last sensors broadcast 0x00000000 found 0 76 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 288, adv 36282/37172
2025-05-12 06:52:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:08 [info] ProbeTriggered: 0
2025-05-12 06:52:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:09 [info] PreTrigger: 1000
2025-05-12 06:52:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:10 [debug] Stopped at height 0.007 mm
2025-05-12 06:52:10 [info] currentZPosition:0.00685874
2025-05-12 06:52:10 [info] tubeContactPos:0.00686 contactPositions:{0.00686,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:10 [debug] Diagnostics for board 50:
2025-05-12 06:52:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:10 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:31 ago, cause: power up
2025-05-12 06:52:10 [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
2025-05-12 06:52:10 [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
2025-05-12 06:52:10 [debug] Moves scheduled 843, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=458, frequency (Hz): min=510, max=17857
Sync err accum 120, peak jitter 0/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294912022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:52:10 [debug] Driver 0: pos -12125, 10060.2 steps/mm, standstill, SG min 0, mspos 472, reads 24997, writes 11 timeouts 1
2025-05-12 06:52:10 [debug] Last sensors broadcast 0x00000000 found 0 121 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 285, adv 36185/37172
2025-05-12 06:52:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4647, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:10 [info] ProbeTriggered: 0
2025-05-12 06:52:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:11 [info] PreTrigger: 0
2025-05-12 06:52:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:12 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:12 [info] currentZPosition:0.00636173
2025-05-12 06:52:12 [info] tubeContactPos:0.00636 contactPositions:{0.00636,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:12 [debug] Diagnostics for board 50:
2025-05-12 06:52:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:12 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:33 ago, cause: power up
2025-05-12 06:52:12 [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
2025-05-12 06:52:12 [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
2025-05-12 06:52:12 [debug] Moves scheduled 847, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=357, frequency (Hz): min=2411, max=18292
Sync err accum 127, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294914978 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:52:12 [debug] Driver 0: pos -12129, 10060.2 steps/mm, standstill, SG min 0, mspos 536, reads 24745, writes 0 timeouts 0
2025-05-12 06:52:12 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36281/37174
2025-05-12 06:52:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8883, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:12 [info] ProbeTriggered: 0
2025-05-12 06:52:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:13 [info] PreTrigger: 1000
2025-05-12 06:52:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:14 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:14 [info] currentZPosition:0.00616293
2025-05-12 06:52:14 [info] tubeContactPos:0.00616 contactPositions:{0.00616,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:14 [debug] Diagnostics for board 50:
2025-05-12 06:52:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:14 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:35 ago, cause: power up
2025-05-12 06:52:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:52:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:52:14 [debug] Moves scheduled 851, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=442, frequency (Hz): min=2106, max=17441
Sync err accum 123, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294906844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:52:14 [debug] Driver 0: pos -12130, 10060.2 steps/mm, standstill, SG min 0, mspos 552, reads 26750, writes 0 timeouts 0
2025-05-12 06:52:14 [debug] Last sensors broadcast 0x00000000 found 0 47 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 295, adv 36184/37173
2025-05-12 06:52:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:15 [info] ProbeTriggered: 0
2025-05-12 06:52:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:15 [info] PreTrigger: 0
2025-05-12 06:52:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:16 [debug] Stopped at height 0.007 mm
2025-05-12 06:52:16 [info] currentZPosition:0.00715695
2025-05-12 06:52:16 [info] tubeContactPos:0.00716 contactPositions:{0.00716,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:16 [debug] Diagnostics for board 50:
2025-05-12 06:52:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:16 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:37 ago, cause: power up
2025-05-12 06:52:16 [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
2025-05-12 06:52:16 [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
2025-05-12 06:52:16 [debug] Moves scheduled 855, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=284, frequency (Hz): min=2604, max=17045
Sync err accum 112, peak jitter -2/-1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294917861 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:52:16 [debug] Driver 0: pos -12120, 10060.2 steps/mm, standstill, SG min 0, mspos 392, reads 22959, writes 0 timeouts 0
2025-05-12 06:52:16 [debug] Last sensors broadcast 0x00000000 found 0 151 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 283, adv 36284/37176
2025-05-12 06:52:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8840, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4652, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:16 [info] ProbeTriggered: 0
2025-05-12 06:52:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:17 [info] PreTrigger: 1000
2025-05-12 06:52:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:19 [debug] Stopped at height 0.007 mm
2025-05-12 06:52:19 [info] currentZPosition:0.00656054
2025-05-12 06:52:19 [info] tubeContactPos:0.00656 contactPositions:{0.00656,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:19 [debug] Diagnostics for board 50:
2025-05-12 06:52:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:19 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:39 ago, cause: power up
2025-05-12 06:52:19 [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
2025-05-12 06:52:19 [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
2025-05-12 06:52:19 [debug] Moves scheduled 859, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=340, frequency (Hz): min=1984, max=18292
Sync err accum 95, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294913444 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:52:19 [debug] Driver 0: pos -12126, 10060.2 steps/mm, standstill, SG min 0, mspos 488, reads 27349, writes 0 timeouts 0
2025-05-12 06:52:19 [debug] Last sensors broadcast 0x00000000 found 0 124 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 292, adv 36188/37171
2025-05-12 06:52:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4651, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:19 [info] ProbeTriggered: 0
2025-05-12 06:52:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:19 [info] PreTrigger: 0
2025-05-12 06:52:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:21 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:21 [info] currentZPosition:0.00576532
2025-05-12 06:52:21 [info] tubeContactPos:0.00577 contactPositions:{0.00577,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:21 [debug] Diagnostics for board 50:
2025-05-12 06:52:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:21 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:41 ago, cause: power up
2025-05-12 06:52:21 [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
2025-05-12 06:52:21 [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
2025-05-12 06:52:21 [debug] Moves scheduled 863, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=401, frequency (Hz): min=2212, max=17857
Sync err accum 74, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294910267 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:52:21 [debug] Driver 0: pos -12133, 10060.2 steps/mm, standstill, SG min 0, mspos 600, reads 25166, writes 0 timeouts 0
2025-05-12 06:52:21 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 284, adv 36284/37177
2025-05-12 06:52:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8911, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:21 [info] ProbeTriggered: 0
2025-05-12 06:52:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:21 [info] PreTrigger: 1000
2025-05-12 06:52:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:23 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:23 [info] currentZPosition:0.00596412
2025-05-12 06:52:23 [info] tubeContactPos:0.00596 contactPositions:{0.00596,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:23 [debug] Diagnostics for board 50:
2025-05-12 06:52:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:23 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:43 ago, cause: power up
2025-05-12 06:52:23 [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
2025-05-12 06:52:23 [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
2025-05-12 06:52:23 [debug] Moves scheduled 867, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=322, frequency (Hz): min=505, max=17857
Sync err accum 64, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294913551 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:52:23 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 26400, writes 22 timeouts 2
2025-05-12 06:52:23 [debug] Last sensors broadcast 0x00000000 found 0 69 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 289, adv 36174/37175
2025-05-12 06:52:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8894, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4651, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:23 [info] ProbeTriggered: 0
2025-05-12 06:52:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:23 [info] PreTrigger: 0
2025-05-12 06:52:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:25 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:25 [info] currentZPosition:0.00586472
2025-05-12 06:52:25 [info] tubeContactPos:0.00586 contactPositions:{0.00586,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:25 [debug] Diagnostics for board 50:
2025-05-12 06:52:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:25 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:45 ago, cause: power up
2025-05-12 06:52:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:52:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:52:25 [debug] Moves scheduled 871, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 49, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=417, frequency (Hz): min=2142, max=17857
Sync err accum 81, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294918384 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:52:25 [debug] Driver 0: pos -12132, 10060.2 steps/mm, standstill, SG min 0, mspos 584, reads 24230, writes 0 timeouts 0
2025-05-12 06:52:25 [debug] Last sensors broadcast 0x00000000 found 0 32 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 285, adv 36279/37172
2025-05-12 06:52:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4647, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:25 [info] ProbeTriggered: 0
2025-05-12 06:52:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:25 [info] PreTrigger: 1000
2025-05-12 06:52:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:27 [debug] Stopped at height 0.005 mm
2025-05-12 06:52:27 [info] currentZPosition:0.00526831
2025-05-12 06:52:27 [info] tubeContactPos:0.00527 contactPositions:{0.00527,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:27 [debug] Diagnostics for board 50:
2025-05-12 06:52:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:27 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:48 ago, cause: power up
2025-05-12 06:52:27 [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
2025-05-12 06:52:27 [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
2025-05-12 06:52:27 [debug] Moves scheduled 875, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=424, frequency (Hz): min=501, max=17857
Sync err accum 95, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294908393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:52:27 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 27314, writes 11 timeouts 1
2025-05-12 06:52:27 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 119, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36177/37172
2025-05-12 06:52:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:27 [info] ProbeTriggered: 0
2025-05-12 06:52:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:28 [info] PreTrigger: 0
2025-05-12 06:52:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:29 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:29 [info] currentZPosition:0.00616293
2025-05-12 06:52:29 [info] tubeContactPos:0.00616 contactPositions:{0.00616,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:29 [debug] Diagnostics for board 50:
2025-05-12 06:52:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:29 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:50 ago, cause: power up
2025-05-12 06:52:29 [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
2025-05-12 06:52:29 [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
2025-05-12 06:52:29 [debug] Moves scheduled 879, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=385, frequency (Hz): min=2300, max=17045
Sync err accum 103, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294918692 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:52:29 [debug] Driver 0: pos -12129, 10060.2 steps/mm, standstill, SG min 0, mspos 536, reads 23738, writes 0 timeouts 0
2025-05-12 06:52:29 [debug] Last sensors broadcast 0x00000000 found 0 186 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 285, adv 36197/37176
2025-05-12 06:52:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:29 [info] ProbeTriggered: 0
2025-05-12 06:52:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:30 [info] PreTrigger: 1000
2025-05-12 06:52:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:31 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:31 [info] currentZPosition:0.00596412
2025-05-12 06:52:31 [info] tubeContactPos:0.00596 contactPositions:{0.00596,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:31 [debug] Diagnostics for board 50:
2025-05-12 06:52:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:31 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:52 ago, cause: power up
2025-05-12 06:52:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:52:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:52:31 [debug] Moves scheduled 883, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=429, frequency (Hz): min=927, max=17045
Sync err accum 107, peak jitter 0/1, peak Rx delay 188, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294911622 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:52:31 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 26803, writes 11 timeouts 1
2025-05-12 06:52:31 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36161/37170
2025-05-12 06:52:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8897, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:31 [info] ProbeTriggered: 0
2025-05-12 06:52:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:31 [info] PreTrigger: 0
2025-05-12 06:52:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:33 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:33 [info] currentZPosition:0.00616293
2025-05-12 06:52:33 [info] tubeContactPos:0.00616 contactPositions:{0.00616,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:33 [debug] Diagnostics for board 50:
2025-05-12 06:52:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:33 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:54 ago, cause: power up
2025-05-12 06:52:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:52:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:52:33 [debug] Moves scheduled 887, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=286, frequency (Hz): min=887, max=17857
Sync err accum 111, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294908438 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:52:33 [debug] Driver 0: pos -12128, 10060.2 steps/mm, standstill, SG min 0, mspos 520, reads 23930, writes 11 timeouts 1
2025-05-12 06:52:33 [debug] Last sensors broadcast 0x00000000 found 0 57 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 286, adv 36280/37176
2025-05-12 06:52:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8879, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4650, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:33 [info] ProbeTriggered: 0
2025-05-12 06:52:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:34 [info] PreTrigger: 1000
2025-05-12 06:52:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:35 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:35 [info] currentZPosition:0.00596412
2025-05-12 06:52:35 [info] tubeContactPos:0.00596 contactPositions:{0.00596,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:35 [debug] Diagnostics for board 50:
2025-05-12 06:52:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:35 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:56 ago, cause: power up
2025-05-12 06:52:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:52:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:52:35 [debug] Moves scheduled 891, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=354, frequency (Hz): min=2279, max=17857
Sync err accum 107, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294908574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:52:35 [debug] Driver 0: pos -12130, 10060.2 steps/mm, standstill, SG min 0, mspos 552, reads 27266, writes 0 timeouts 0
2025-05-12 06:52:35 [debug] Last sensors broadcast 0x00000000 found 0 36 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 288, adv 36168/37173
2025-05-12 06:52:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4647, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:35 [info] ProbeTriggered: 0
2025-05-12 06:52:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:36 [info] PreTrigger: 0
2025-05-12 06:52:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:37 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:37 [info] currentZPosition:0.00566592
2025-05-12 06:52:37 [info] tubeContactPos:0.00567 contactPositions:{0.00567,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:37 [debug] Diagnostics for board 50:
2025-05-12 06:52:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:37 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:08:58 ago, cause: power up
2025-05-12 06:52:37 [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
2025-05-12 06:52:37 [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
2025-05-12 06:52:37 [debug] Moves scheduled 895, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=405, frequency (Hz): min=1898, max=17441
Sync err accum 99, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294910726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:52:37 [debug] Driver 0: pos -12132, 10060.2 steps/mm, standstill, SG min 0, mspos 584, reads 24559, writes 0 timeouts 0
2025-05-12 06:52:37 [debug] Last sensors broadcast 0x00000000 found 0 19 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 286, adv 36282/37175
2025-05-12 06:52:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:37 [info] ProbeTriggered: 0
2025-05-12 06:52:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:38 [info] PreTrigger: 0
2025-05-12 06:52:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:39 [debug] Stopped at height 0.005 mm
2025-05-12 06:52:39 [info] currentZPosition:0.00497010
2025-05-12 06:52:39 [info] tubeContactPos:0.00497 contactPositions:{0.00497,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:39 [debug] Diagnostics for board 50:
2025-05-12 06:52:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:39 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:00 ago, cause: power up
2025-05-12 06:52:39 [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
2025-05-12 06:52:39 [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
2025-05-12 06:52:39 [debug] Moves scheduled 899, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=329, frequency (Hz): min=490, max=18292
Sync err accum 88, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294909778 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:52:39 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 27349, writes 11 timeouts 1
2025-05-12 06:52:39 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 134, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36183/37169
2025-05-12 06:52:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:39 [info] ProbeTriggered: 0
2025-05-12 06:52:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:40 [info] PreTrigger: 0
2025-05-12 06:52:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:41 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:41 [info] currentZPosition:0.00596412
2025-05-12 06:52:41 [info] tubeContactPos:0.00596 contactPositions:{0.00596,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:41 [debug] Diagnostics for board 50:
2025-05-12 06:52:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:41 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:02 ago, cause: power up
2025-05-12 06:52:41 [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
2025-05-12 06:52:41 [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
2025-05-12 06:52:41 [debug] Moves scheduled 903, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=333, frequency (Hz): min=637, max=17857
Sync err accum 72, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294915254 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:52:41 [debug] Driver 0: pos -12128, 10060.2 steps/mm, standstill, SG min 0, mspos 520, reads 22758, writes 11 timeouts 1
2025-05-12 06:52:41 [debug] Last sensors broadcast 0x00000000 found 0 101 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 286, adv 36282/37174
2025-05-12 06:52:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8882, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4651, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:41 [info] ProbeTriggered: 0
2025-05-12 06:52:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:42 [info] PreTrigger: 1000
2025-05-12 06:52:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:43 [debug] Stopped at height 0.005 mm
2025-05-12 06:52:43 [info] currentZPosition:0.00546711
2025-05-12 06:52:43 [info] tubeContactPos:0.00547 contactPositions:{0.00547,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:43 [debug] Diagnostics for board 50:
2025-05-12 06:52:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:43 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:04 ago, cause: power up
2025-05-12 06:52:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:52:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:52:43 [debug] Moves scheduled 907, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=324, frequency (Hz): min=2483, max=17857
Sync err accum 63, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294913059 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:52:43 [debug] Driver 0: pos -12132, 10060.2 steps/mm, standstill, SG min 0, mspos 584, reads 27090, writes 0 timeouts 0
2025-05-12 06:52:43 [debug] Last sensors broadcast 0x00000000 found 0 55 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 285, adv 36187/37174
2025-05-12 06:52:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8898, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4647, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:44 [info] ProbeTriggered: 0
2025-05-12 06:52:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:44 [info] PreTrigger: 0
2025-05-12 06:52:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:45 [debug] Stopped at height 0.005 mm
2025-05-12 06:52:45 [info] currentZPosition:0.00546711
2025-05-12 06:52:45 [info] tubeContactPos:0.00547 contactPositions:{0.00547,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:45 [debug] Diagnostics for board 50:
2025-05-12 06:52:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:45 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:06 ago, cause: power up
2025-05-12 06:52:45 [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
2025-05-12 06:52:45 [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
2025-05-12 06:52:45 [debug] Moves scheduled 911, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=333, frequency (Hz): min=2380, max=17857
Sync err accum 88, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294907867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:52:45 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 24173, writes 0 timeouts 0
2025-05-12 06:52:45 [debug] Last sensors broadcast 0x00000000 found 0 10 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 286, adv 36278/37173
2025-05-12 06:52:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:45 [info] ProbeTriggered: 0
2025-05-12 06:52:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:46 [info] PreTrigger: 1000
2025-05-12 06:52:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:48 [debug] Stopped at height 0.005 mm
2025-05-12 06:52:48 [info] currentZPosition:0.00536771
2025-05-12 06:52:48 [info] tubeContactPos:0.00537 contactPositions:{0.00537,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:48 [debug] Diagnostics for board 50:
2025-05-12 06:52:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:48 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:08 ago, cause: power up
2025-05-12 06:52:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:52:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:52:48 [debug] Moves scheduled 915, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 128, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=361, frequency (Hz): min=2551, max=17857
Sync err accum 106, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294915741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:52:48 [debug] Driver 0: pos -12132, 10060.2 steps/mm, standstill, SG min 0, mspos 584, reads 26781, writes 0 timeouts 0
2025-05-12 06:52:48 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 114, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36169/37169
2025-05-12 06:52:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4647, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:48 [info] ProbeTriggered: 0
2025-05-12 06:52:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:48 [info] PreTrigger: 0
2025-05-12 06:52:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:50 [debug] Stopped at height 0.005 mm
2025-05-12 06:52:50 [info] currentZPosition:0.00536771
2025-05-12 06:52:50 [info] tubeContactPos:0.00537 contactPositions:{0.00537,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:50 [debug] Diagnostics for board 50:
2025-05-12 06:52:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:50 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:10 ago, cause: power up
2025-05-12 06:52:50 [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
2025-05-12 06:52:50 [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
2025-05-12 06:52:50 [debug] Moves scheduled 919, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=328, frequency (Hz): min=878, max=17857
Sync err accum 122, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294906977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:52:50 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 24089, writes 11 timeouts 1
2025-05-12 06:52:50 [debug] Last sensors broadcast 0x00000000 found 0 143 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 287, adv 36278/37174
2025-05-12 06:52:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8894, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4652, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:50 [info] ProbeTriggered: 0
2025-05-12 06:52:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:50 [info] PreTrigger: 1000
2025-05-12 06:52:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:52 [debug] Stopped at height 0.005 mm
2025-05-12 06:52:52 [info] currentZPosition:0.00506950
2025-05-12 06:52:52 [info] tubeContactPos:0.00507 contactPositions:{0.00507,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:52 [debug] Diagnostics for board 50:
2025-05-12 06:52:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:52 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:12 ago, cause: power up
2025-05-12 06:52:52 [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
2025-05-12 06:52:52 [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
2025-05-12 06:52:52 [debug] Moves scheduled 923, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=454, frequency (Hz): min=2071, max=18292
Sync err accum 121, peak jitter -3/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294907496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:52:52 [debug] Driver 0: pos -12133, 10060.2 steps/mm, standstill, SG min 0, mspos 600, reads 26954, writes 0 timeouts 0
2025-05-12 06:52:52 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 112, 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 287, adv 36176/37173
2025-05-12 06:52:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:52 [info] ProbeTriggered: 0
2025-05-12 06:52:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:52 [info] PreTrigger: 0
2025-05-12 06:52:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:54 [debug] Stopped at height 0.004 mm
2025-05-12 06:52:54 [info] currentZPosition:0.00447309
2025-05-12 06:52:54 [info] tubeContactPos:0.00447 contactPositions:{0.00447,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:54 [debug] Diagnostics for board 50:
2025-05-12 06:52:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:54 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:14 ago, cause: power up
2025-05-12 06:52:54 [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
2025-05-12 06:52:54 [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
2025-05-12 06:52:54 [debug] Moves scheduled 927, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=352, frequency (Hz): min=1847, max=17441
Sync err accum 100, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294913760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:52:54 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 24821, writes 0 timeouts 0
2025-05-12 06:52:54 [debug] Last sensors broadcast 0x00000000 found 0 95 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 286, adv 36284/37180
2025-05-12 06:52:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:54 [info] ProbeTriggered: 0
2025-05-12 06:52:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:54 [info] PreTrigger: 1000
2025-05-12 06:52:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:56 [debug] Stopped at height 0.005 mm
2025-05-12 06:52:56 [info] currentZPosition:0.00516891
2025-05-12 06:52:56 [info] tubeContactPos:0.00517 contactPositions:{0.00517,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:56 [debug] Diagnostics for board 50:
2025-05-12 06:52:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:56 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:17 ago, cause: power up
2025-05-12 06:52:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:52:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:52:56 [debug] Moves scheduled 931, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=418, frequency (Hz): min=1870, max=18292
Sync err accum 78, peak jitter -4/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294913891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:52:56 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 25665, writes 0 timeouts 0
2025-05-12 06:52:56 [debug] Last sensors broadcast 0x00000000 found 0 190 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 323, adv 36188/37169
2025-05-12 06:52:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:56 [info] ProbeTriggered: 0
2025-05-12 06:52:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:56 [info] PreTrigger: 0
2025-05-12 06:52:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:58 [debug] Stopped at height 0.006 mm
2025-05-12 06:52:58 [info] currentZPosition:0.00566592
2025-05-12 06:52:58 [info] tubeContactPos:0.00567 contactPositions:{0.00567,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:52:58 [debug] Diagnostics for board 50:
2025-05-12 06:52:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:52:58 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:18 ago, cause: power up
2025-05-12 06:52:58 [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
2025-05-12 06:52:58 [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
2025-05-12 06:52:58 [debug] Moves scheduled 935, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=358, frequency (Hz): min=2551, max=17857
Sync err accum 62, peak jitter -3/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294913034 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:52:58 [debug] Driver 0: pos -12125, 10060.2 steps/mm, standstill, SG min 0, mspos 472, reads 23488, writes 0 timeouts 0
2025-05-12 06:52:58 [debug] Last sensors broadcast 0x00000000 found 0 88 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 288, adv 36282/37177
2025-05-12 06:52:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4647, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:52:58 [info] ProbeTriggered: 0
2025-05-12 06:52:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:52:59 [info] PreTrigger: 0
2025-05-12 06:52:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:52:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:00 [debug] Stopped at height 0.005 mm
2025-05-12 06:53:00 [info] currentZPosition:0.00506950
2025-05-12 06:53:00 [info] tubeContactPos:0.00507 contactPositions:{0.00507,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:00 [debug] Diagnostics for board 50:
2025-05-12 06:53:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:00 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:21 ago, cause: power up
2025-05-12 06:53:00 [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
2025-05-12 06:53:00 [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
2025-05-12 06:53:00 [debug] Moves scheduled 939, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=445, frequency (Hz): min=543, max=17441
Sync err accum 75, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294911425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:53:00 [debug] Driver 0: pos -12130, 10060.2 steps/mm, standstill, SG min 0, mspos 552, reads 27214, writes 11 timeouts 1
2025-05-12 06:53:00 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36174/37171
2025-05-12 06:53:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:00 [info] ProbeTriggered: 0
2025-05-12 06:53:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:00 [info] PreTrigger: 0
2025-05-12 06:53:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:02 [debug] Stopped at height 0.006 mm
2025-05-12 06:53:02 [info] currentZPosition:0.00556652
2025-05-12 06:53:02 [info] tubeContactPos:0.00557 contactPositions:{0.00557,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:02 [debug] Diagnostics for board 50:
2025-05-12 06:53:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:02 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:23 ago, cause: power up
2025-05-12 06:53:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:53:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:53:02 [debug] Moves scheduled 943, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=369, frequency (Hz): min=2525, max=17045
Sync err accum 82, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294918261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:53:02 [debug] Driver 0: pos -12125, 10060.2 steps/mm, standstill, SG min 0, mspos 472, reads 23527, writes 0 timeouts 0
2025-05-12 06:53:02 [debug] Last sensors broadcast 0x00000000 found 0 209 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 288, adv 36279/37176
2025-05-12 06:53:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:02 [info] ProbeTriggered: 0
2025-05-12 06:53:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:03 [info] PreTrigger: 0
2025-05-12 06:53:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:04 [debug] Stopped at height 0.005 mm
2025-05-12 06:53:04 [info] currentZPosition:0.00536771
2025-05-12 06:53:04 [info] tubeContactPos:0.00537 contactPositions:{0.00537,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:04 [debug] Diagnostics for board 50:
2025-05-12 06:53:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:04 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:25 ago, cause: power up
2025-05-12 06:53:04 [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
2025-05-12 06:53:04 [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
2025-05-12 06:53:04 [debug] Moves scheduled 947, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=445, frequency (Hz): min=1953, max=17441
Sync err accum 87, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294912515 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:53:04 [debug] Driver 0: pos -12127, 10060.2 steps/mm, standstill, SG min 0, mspos 504, reads 26756, writes 0 timeouts 0
2025-05-12 06:53:04 [debug] Last sensors broadcast 0x00000000 found 0 145 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 290, adv 36182/37170
2025-05-12 06:53:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8876, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:04 [info] ProbeTriggered: 0
2025-05-12 06:53:04 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:05 [info] PreTrigger: 0
2025-05-12 06:53:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:06 [debug] Stopped at height 0.005 mm
2025-05-12 06:53:06 [info] currentZPosition:0.00497010
2025-05-12 06:53:06 [info] tubeContactPos:0.00497 contactPositions:{0.00497,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:06 [debug] Diagnostics for board 50:
2025-05-12 06:53:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:06 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:27 ago, cause: power up
2025-05-12 06:53:06 [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
2025-05-12 06:53:06 [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
2025-05-12 06:53:06 [debug] Moves scheduled 951, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=410, frequency (Hz): min=2205, max=17441
Sync err accum 86, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294838736 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:53:06 [debug] Driver 0: pos -12130, 10060.2 steps/mm, standstill, SG min 0, mspos 552, reads 25853, writes 0 timeouts 0
2025-05-12 06:53:06 [debug] Last sensors broadcast 0x00000000 found 0 234 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 290, adv 36280/37176
2025-05-12 06:53:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8892, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:06 [info] ProbeTriggered: 0
2025-05-12 06:53:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:07 [info] PreTrigger: 0
2025-05-12 06:53:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:08 [debug] Stopped at height 0.005 mm
2025-05-12 06:53:08 [info] currentZPosition:0.00457249
2025-05-12 06:53:08 [info] tubeContactPos:0.00457 contactPositions:{0.00457,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:08 [debug] Diagnostics for board 50:
2025-05-12 06:53:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:08 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:29 ago, cause: power up
2025-05-12 06:53:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:53:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:53:08 [debug] Moves scheduled 955, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=386, frequency (Hz): min=765, max=17857
Sync err accum 85, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294908688 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:53:08 [debug] Driver 0: pos -12133, 10060.2 steps/mm, standstill, SG min 0, mspos 600, reads 26886, writes 11 timeouts 1
2025-05-12 06:53:08 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 120, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36169/37170
2025-05-12 06:53:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8904, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:08 [info] ProbeTriggered: 0
2025-05-12 06:53:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:09 [info] PreTrigger: 0
2025-05-12 06:53:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:10 [debug] Stopped at height 0.004 mm
2025-05-12 06:53:10 [info] currentZPosition:0.00447309
2025-05-12 06:53:10 [info] tubeContactPos:0.00447 contactPositions:{0.00447,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:10 [debug] Diagnostics for board 50:
2025-05-12 06:53:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:10 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:31 ago, cause: power up
2025-05-12 06:53:10 [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
2025-05-12 06:53:10 [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
2025-05-12 06:53:10 [debug] Moves scheduled 959, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=444, frequency (Hz): min=2118, max=17857
Sync err accum 78, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294908677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:53:10 [debug] Driver 0: pos -12133, 10060.2 steps/mm, standstill, SG min 0, mspos 600, reads 24327, writes 0 timeouts 0
2025-05-12 06:53:10 [debug] Last sensors broadcast 0x00000000 found 0 152 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 287, adv 36280/37176
2025-05-12 06:53:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8909, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:10 [info] ProbeTriggered: 0
2025-05-12 06:53:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:11 [info] PreTrigger: 1000
2025-05-12 06:53:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:12 [debug] Stopped at height 0.005 mm
2025-05-12 06:53:12 [info] currentZPosition:0.00457249
2025-05-12 06:53:12 [info] tubeContactPos:0.00457 contactPositions:{0.00457,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:12 [debug] Diagnostics for board 50:
2025-05-12 06:53:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:12 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:33 ago, cause: power up
2025-05-12 06:53:12 [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
2025-05-12 06:53:12 [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
2025-05-12 06:53:12 [debug] Moves scheduled 963, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=564, frequency (Hz): min=1605, max=17857
Sync err accum 70, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294914185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:53:12 [debug] Driver 0: pos -12132, 10060.2 steps/mm, standstill, SG min 0, mspos 584, reads 26363, writes 0 timeouts 0
2025-05-12 06:53:12 [debug] Last sensors broadcast 0x00000000 found 0 55 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 292, adv 36185/37172
2025-05-12 06:53:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4647, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:13 [info] ProbeTriggered: 0
2025-05-12 06:53:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:13 [info] PreTrigger: 0
2025-05-12 06:53:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:14 [debug] Stopped at height 0.005 mm
2025-05-12 06:53:14 [info] currentZPosition:0.00506950
2025-05-12 06:53:14 [info] tubeContactPos:0.00507 contactPositions:{0.00507,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:14 [debug] Diagnostics for board 50:
2025-05-12 06:53:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:14 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:35 ago, cause: power up
2025-05-12 06:53:14 [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
2025-05-12 06:53:14 [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
2025-05-12 06:53:14 [debug] Moves scheduled 967, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=313, frequency (Hz): min=2631, max=17045
Sync err accum 66, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294909936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:53:14 [debug] Driver 0: pos -12126, 10060.2 steps/mm, standstill, SG min 0, mspos 488, reads 23616, writes 0 timeouts 0
2025-05-12 06:53:14 [debug] Last sensors broadcast 0x00000000 found 0 208 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 288, adv 36282/37178
2025-05-12 06:53:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:14 [info] ProbeTriggered: 0
2025-05-12 06:53:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:15 [info] PreTrigger: 0
2025-05-12 06:53:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:17 [debug] Stopped at height 0.004 mm
2025-05-12 06:53:17 [info] currentZPosition:0.00437369
2025-05-12 06:53:17 [info] tubeContactPos:0.00437 contactPositions:{0.00437,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:17 [debug] Diagnostics for board 50:
2025-05-12 06:53:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:17 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:37 ago, cause: power up
2025-05-12 06:53:17 [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
2025-05-12 06:53:17 [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
2025-05-12 06:53:17 [debug] Moves scheduled 971, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=372, frequency (Hz): min=2083, max=17857
Sync err accum 76, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294910188 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:53:17 [debug] Driver 0: pos -12132, 10060.2 steps/mm, standstill, SG min 0, mspos 584, reads 27351, writes 0 timeouts 0
2025-05-12 06:53:17 [debug] Last sensors broadcast 0x00000000 found 0 186 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 285, adv 36184/37172
2025-05-12 06:53:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4652, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:17 [info] ProbeTriggered: 0
2025-05-12 06:53:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 411d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:17 [info] PreTrigger: 0
2025-05-12 06:53:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:19 [debug] Stopped at height 0.003 mm
2025-05-12 06:53:19 [info] currentZPosition:0.00258445
2025-05-12 06:53:19 [debug] Stopped at height 0.003 mm
2025-05-12 06:53:19 [info] currentZPosition:0.00347907
2025-05-12 06:53:19 [info] tubeContactPos:0.00348 contactPositions:{0.00258,0.00348,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:53:19 [debug] Diagnostics for board 50:
2025-05-12 06:53:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:19 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:40 ago, cause: power up
2025-05-12 06:53:19 [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
2025-05-12 06:53:19 [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
2025-05-12 06:53:19 [debug] Moves scheduled 977, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=437, frequency (Hz): min=2038, max=17857
Sync err accum 84, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294921685 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:53:19 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 31410, writes 0 timeouts 0
2025-05-12 06:53:19 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 176, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36283/37176
2025-05-12 06:53:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4644, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:19 [info] ProbeTriggered: 0
2025-05-12 06:53:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:20 [info] PreTrigger: 1000
2025-05-12 06:53:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:21 [debug] Stopped at height 0.005 mm
2025-05-12 06:53:21 [info] currentZPosition:0.00497010
2025-05-12 06:53:22 [debug] Stopped at height 0.005 mm
2025-05-12 06:53:22 [info] currentZPosition:0.00467190
2025-05-12 06:53:22 [info] tubeContactPos:0.00467 contactPositions:{0.00497,0.00467,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:53:22 [debug] Diagnostics for board 50:
2025-05-12 06:53:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:22 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:42 ago, cause: power up
2025-05-12 06:53:22 [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
2025-05-12 06:53:22 [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
2025-05-12 06:53:22 [debug] Moves scheduled 983, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=438, frequency (Hz): min=896, max=18292
Sync err accum 87, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294918971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, current
2025-05-12 06:53:22 [debug] Driver 0: pos -12129, 10060.2 steps/mm, standstill, SG min 0, mspos 536, reads 31253, writes 11 timeouts 1
2025-05-12 06:53:22 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 123, 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 291, adv 36181/37174
2025-05-12 06:53:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8883, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:22 [info] ProbeTriggered: 0
2025-05-12 06:53:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:22 [info] PreTrigger: 0
2025-05-12 06:53:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:24 [debug] Stopped at height 0.004 mm
2025-05-12 06:53:24 [info] currentZPosition:0.00357847
2025-05-12 06:53:24 [info] tubeContactPos:0.00358 contactPositions:{0.00358,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:24 [debug] Diagnostics for board 50:
2025-05-12 06:53:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:24 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:44 ago, cause: power up
2025-05-12 06:53:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:53:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:53:24 [debug] Moves scheduled 987, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=473, frequency (Hz): min=834, max=17441
Sync err accum 82, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294914754 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:53:24 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 25467, writes 11 timeouts 1
2025-05-12 06:53:24 [debug] Last sensors broadcast 0x00000000 found 0 96 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 284, adv 36286/37174
2025-05-12 06:53:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:24 [info] ProbeTriggered: 0
2025-05-12 06:53:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:24 [info] PreTrigger: 1000
2025-05-12 06:53:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:26 [debug] Stopped at height 0.005 mm
2025-05-12 06:53:26 [info] currentZPosition:0.00457249
2025-05-12 06:53:26 [info] tubeContactPos:0.00457 contactPositions:{0.00457,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:26 [debug] Diagnostics for board 50:
2025-05-12 06:53:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:26 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:47 ago, cause: power up
2025-05-12 06:53:26 [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
2025-05-12 06:53:26 [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
2025-05-12 06:53:26 [debug] Moves scheduled 991, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=453, frequency (Hz): min=663, max=18292
Sync err accum 76, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294916568 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:53:26 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 25185, writes 11 timeouts 1
2025-05-12 06:53:26 [debug] Last sensors broadcast 0x00000000 found 0 161 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 290, adv 36161/37174
2025-05-12 06:53:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8896, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:26 [info] ProbeTriggered: 0
2025-05-12 06:53:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:26 [info] PreTrigger: 0
2025-05-12 06:53:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:28 [debug] Stopped at height 0.004 mm
2025-05-12 06:53:28 [info] currentZPosition:0.00357847
2025-05-12 06:53:28 [info] tubeContactPos:0.00358 contactPositions:{0.00358,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:28 [debug] Diagnostics for board 50:
2025-05-12 06:53:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:28 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:49 ago, cause: power up
2025-05-12 06:53:28 [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
2025-05-12 06:53:28 [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
2025-05-12 06:53:28 [debug] Moves scheduled 995, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=362, frequency (Hz): min=1760, max=17441
Sync err accum 66, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294908469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:53:28 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 25309, writes 0 timeouts 0
2025-05-12 06:53:28 [debug] Last sensors broadcast 0x00000000 found 0 210 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 285, adv 36285/37176
2025-05-12 06:53:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:28 [info] ProbeTriggered: 0
2025-05-12 06:53:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:29 [info] PreTrigger: 1000
2025-05-12 06:53:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:30 [debug] Stopped at height 0.005 mm
2025-05-12 06:53:30 [info] currentZPosition:0.00467190
2025-05-12 06:53:30 [info] tubeContactPos:0.00467 contactPositions:{0.00467,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:30 [debug] Diagnostics for board 50:
2025-05-12 06:53:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:30 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:51 ago, cause: power up
2025-05-12 06:53:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:53:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:53:30 [debug] Moves scheduled 999, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=429, frequency (Hz): min=1856, max=17857
Sync err accum 71, peak jitter -2/2, peak Rx delay 210, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294912105 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:53:30 [debug] Driver 0: pos -12128, 10060.2 steps/mm, standstill, SG min 0, mspos 520, reads 24950, writes 0 timeouts 0
2025-05-12 06:53:30 [debug] Last sensors broadcast 0x00000000 found 0 9 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 288, adv 36182/37174
2025-05-12 06:53:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4652, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:30 [info] ProbeTriggered: 0
2025-05-12 06:53:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:30 [info] PreTrigger: 0
2025-05-12 06:53:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:31 [debug] Stopped at height 0.008 mm
2025-05-12 06:53:31 [info] currentZPosition:0.00815097
2025-05-12 06:53:32 [debug] Stopped at height 0.006 mm
2025-05-12 06:53:32 [info] currentZPosition:0.00566592
2025-05-12 06:53:32 [info] tubeContactPos:0.00567 contactPositions:{0.00815,0.00567,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:53:32 [debug] Diagnostics for board 50:
2025-05-12 06:53:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:32 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:53 ago, cause: power up
2025-05-12 06:53:32 [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
2025-05-12 06:53:32 [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
2025-05-12 06:53:32 [debug] Moves scheduled 1005, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=348, frequency (Hz): min=2659, max=17857
Sync err accum 82, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294918245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:53:32 [debug] Driver 0: pos -12116, 10060.2 steps/mm, standstill, SG min 0, mspos 328, reads 29224, writes 0 timeouts 0
2025-05-12 06:53:32 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, 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 291, adv 36278/37173
2025-05-12 06:53:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -365
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65173
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:32 [info] ProbeTriggered: 0
2025-05-12 06:53:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:33 [info] PreTrigger: 1000
2025-05-12 06:53:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:35 [debug] Stopped at height 0.004 mm
2025-05-12 06:53:35 [info] currentZPosition:0.00357847
2025-05-12 06:53:35 [debug] Stopped at height 0.004 mm
2025-05-12 06:53:35 [info] currentZPosition:0.00427429
2025-05-12 06:53:35 [info] tubeContactPos:0.003926381 contactPositions:{0.00358,0.00427,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:53:35 [debug] Diagnostics for board 50:
2025-05-12 06:53:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:35 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:56 ago, cause: power up
2025-05-12 06:53:35 [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
2025-05-12 06:53:35 [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
2025-05-12 06:53:35 [debug] Moves scheduled 1011, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=382, frequency (Hz): min=2365, max=17857
Sync err accum 88, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294912880 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:53:35 [debug] Driver 0: pos -12129, 10060.2 steps/mm, standstill, SG min 0, mspos 536, reads 34517, writes 0 timeouts 0
2025-05-12 06:53:35 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 120, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36183/37174
2025-05-12 06:53:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8885, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:35 [info] ProbeTriggered: 0
2025-05-12 06:53:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:36 [info] PreTrigger: 0
2025-05-12 06:53:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:37 [debug] Stopped at height 0.003 mm
2025-05-12 06:53:37 [info] currentZPosition:0.00347907
2025-05-12 06:53:37 [info] tubeContactPos:0.00348 contactPositions:{0.00348,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:37 [debug] Diagnostics for board 50:
2025-05-12 06:53:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:37 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:09:58 ago, cause: power up
2025-05-12 06:53:37 [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
2025-05-12 06:53:37 [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
2025-05-12 06:53:37 [debug] Moves scheduled 1015, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=304, frequency (Hz): min=2640, max=17857
Sync err accum 89, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294914098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:53:37 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 24712, writes 0 timeouts 0
2025-05-12 06:53:37 [debug] Last sensors broadcast 0x00000000 found 0 162 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 312, adv 36278/37172
2025-05-12 06:53:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8935, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:37 [info] ProbeTriggered: 0
2025-05-12 06:53:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:38 [info] PreTrigger: 1000
2025-05-12 06:53:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:39 [debug] Stopped at height 0.004 mm
2025-05-12 06:53:39 [info] currentZPosition:0.00387668
2025-05-12 06:53:39 [info] tubeContactPos:0.00388 contactPositions:{0.00388,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:39 [debug] Diagnostics for board 50:
2025-05-12 06:53:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:39 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:00 ago, cause: power up
2025-05-12 06:53:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:53:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:53:39 [debug] Moves scheduled 1019, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=472, frequency (Hz): min=1978, max=17441
Sync err accum 86, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294909875 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:53:39 [debug] Driver 0: pos -12133, 10060.2 steps/mm, standstill, SG min 0, mspos 600, reads 25970, writes 0 timeouts 0
2025-05-12 06:53:39 [debug] Last sensors broadcast 0x00000000 found 0 33 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 288, adv 36181/37174
2025-05-12 06:53:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8904, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4644, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:39 [info] ProbeTriggered: 0
2025-05-12 06:53:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:40 [info] PreTrigger: 0
2025-05-12 06:53:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:41 [debug] Stopped at height 0.004 mm
2025-05-12 06:53:41 [info] currentZPosition:0.00377728
2025-05-12 06:53:41 [info] tubeContactPos:0.00378 contactPositions:{0.00378,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:41 [debug] Diagnostics for board 50:
2025-05-12 06:53:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:41 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:02 ago, cause: power up
2025-05-12 06:53:41 [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
2025-05-12 06:53:41 [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
2025-05-12 06:53:41 [debug] Moves scheduled 1023, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=380, frequency (Hz): min=2265, max=17441
Sync err accum 83, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294915304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:53:41 [debug] Driver 0: pos -12134, 10060.2 steps/mm, standstill, SG min 0, mspos 616, reads 24306, writes 0 timeouts 0
2025-05-12 06:53:41 [debug] Last sensors broadcast 0x00000000 found 0 247 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 289, adv 36284/37177
2025-05-12 06:53:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:41 [info] ProbeTriggered: 0
2025-05-12 06:53:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:42 [info] PreTrigger: 1000
2025-05-12 06:53:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:43 [debug] Stopped at height 0.004 mm
2025-05-12 06:53:43 [info] currentZPosition:0.00417489
2025-05-12 06:53:43 [info] tubeContactPos:0.00417 contactPositions:{0.00417,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:43 [debug] Diagnostics for board 50:
2025-05-12 06:53:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:43 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:04 ago, cause: power up
2025-05-12 06:53:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:53:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:53:43 [debug] Moves scheduled 1027, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=408, frequency (Hz): min=558, max=17441
Sync err accum 71, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294911793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:53:43 [debug] Driver 0: pos -12129, 10060.2 steps/mm, standstill, SG min 0, mspos 536, reads 25927, writes 11 timeouts 1
2025-05-12 06:53:43 [debug] Last sensors broadcast 0x00000000 found 0 114 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 289, adv 36160/37174
2025-05-12 06:53:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:43 [info] ProbeTriggered: 0
2025-05-12 06:53:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:44 [info] PreTrigger: 0
2025-05-12 06:53:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:45 [debug] Stopped at height 0.003 mm
2025-05-12 06:53:45 [info] currentZPosition:0.00347907
2025-05-12 06:53:45 [info] tubeContactPos:0.00348 contactPositions:{0.00348,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:45 [debug] Diagnostics for board 50:
2025-05-12 06:53:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:45 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:06 ago, cause: power up
2025-05-12 06:53:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:53:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:53:45 [debug] Moves scheduled 1031, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=376, frequency (Hz): min=2199, max=17857
Sync err accum 64, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294914732 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:53:45 [debug] Driver 0: pos -12136, 10060.2 steps/mm, standstill, SG min 0, mspos 648, reads 25032, writes 0 timeouts 0
2025-05-12 06:53:45 [debug] Last sensors broadcast 0x00000000 found 0 136 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 306, adv 36283/37174
2025-05-12 06:53:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8925, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:45 [info] ProbeTriggered: 0
2025-05-12 06:53:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:46 [info] PreTrigger: 1000
2025-05-12 06:53:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:47 [debug] Stopped at height 0.003 mm
2025-05-12 06:53:47 [info] currentZPosition:0.00288266
2025-05-12 06:53:47 [info] tubeContactPos:0.00288 contactPositions:{0.00288,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:48 [debug] Diagnostics for board 50:
2025-05-12 06:53:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:48 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:08 ago, cause: power up
2025-05-12 06:53:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:53:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:53:48 [debug] Moves scheduled 1035, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=325, frequency (Hz): min=2218, max=17045
Sync err accum 66, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294913528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:53:48 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 27116, writes 0 timeouts 0
2025-05-12 06:53:48 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36164/37172
2025-05-12 06:53:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:48 [info] ProbeTriggered: 0
2025-05-12 06:53:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:48 [info] PreTrigger: 0
2025-05-12 06:53:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:49 [debug] Stopped at height 0.004 mm
2025-05-12 06:53:49 [info] currentZPosition:0.00437369
2025-05-12 06:53:50 [debug] Stopped at height 0.004 mm
2025-05-12 06:53:50 [info] currentZPosition:0.00447309
2025-05-12 06:53:50 [info] tubeContactPos:0.004423392 contactPositions:{0.00437,0.00447,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:53:50 [debug] Diagnostics for board 50:
2025-05-12 06:53:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:50 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:10 ago, cause: power up
2025-05-12 06:53:50 [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
2025-05-12 06:53:50 [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
2025-05-12 06:53:50 [debug] Moves scheduled 1041, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=378, frequency (Hz): min=2307, max=17441
Sync err accum 68, peak jitter -1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294917788 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:53:50 [debug] Driver 0: pos -12123, 10060.2 steps/mm, standstill, SG min 0, mspos 440, reads 28437, writes 0 timeouts 0
2025-05-12 06:53:50 [debug] Last sensors broadcast 0x00000000 found 0 144 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 286, adv 36281/37176
2025-05-12 06:53:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -362
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:50 [info] ProbeTriggered: 0
2025-05-12 06:53:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:50 [info] PreTrigger: 1000
2025-05-12 06:53:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:52 [debug] Stopped at height 0.003 mm
2025-05-12 06:53:52 [info] currentZPosition:0.00268386
2025-05-12 06:53:53 [debug] Stopped at height 0.003 mm
2025-05-12 06:53:53 [info] currentZPosition:0.00278326
2025-05-12 06:53:53 [info] tubeContactPos:0.002733557 contactPositions:{0.00268,0.00278,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:53:53 [debug] Diagnostics for board 50:
2025-05-12 06:53:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:53 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:13 ago, cause: power up
2025-05-12 06:53:53 [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
2025-05-12 06:53:53 [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
2025-05-12 06:53:53 [debug] Moves scheduled 1047, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=354, frequency (Hz): min=509, max=17857
Sync err accum 84, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294920002 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:53:53 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 34637, writes 22 timeouts 2
2025-05-12 06:53:53 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 136, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36179/37174
2025-05-12 06:53:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:53 [info] ProbeTriggered: 0
2025-05-12 06:53:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:53 [info] PreTrigger: 0
2025-05-12 06:53:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:54 [debug] Stopped at height 0.004 mm
2025-05-12 06:53:54 [info] currentZPosition:0.00367788
2025-05-12 06:53:54 [info] tubeContactPos:0.00368 contactPositions:{0.00368,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:54 [debug] Diagnostics for board 50:
2025-05-12 06:53:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:54 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:15 ago, cause: power up
2025-05-12 06:53:54 [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
2025-05-12 06:53:54 [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
2025-05-12 06:53:54 [debug] Moves scheduled 1051, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=361, frequency (Hz): min=2403, max=18292
Sync err accum 87, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294912892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:53:54 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 22860, writes 0 timeouts 0
2025-05-12 06:53:54 [debug] Last sensors broadcast 0x00000000 found 0 60 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 287, adv 36282/37175
2025-05-12 06:53:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8897, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:55 [info] ProbeTriggered: 0
2025-05-12 06:53:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:55 [info] PreTrigger: 1000
2025-05-12 06:53:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:57 [debug] Stopped at height 0.004 mm
2025-05-12 06:53:57 [info] currentZPosition:0.00367788
2025-05-12 06:53:57 [info] tubeContactPos:0.00368 contactPositions:{0.00368,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:57 [debug] Diagnostics for board 50:
2025-05-12 06:53:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:57 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:17 ago, cause: power up
2025-05-12 06:53:57 [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
2025-05-12 06:53:57 [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
2025-05-12 06:53:57 [debug] Moves scheduled 1055, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=386, frequency (Hz): min=2089, max=17857
Sync err accum 93, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294910462 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:53:57 [debug] Driver 0: pos -12130, 10060.2 steps/mm, standstill, SG min 0, mspos 552, reads 26467, writes 0 timeouts 0
2025-05-12 06:53:57 [debug] Last sensors broadcast 0x00000000 found 0 227 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 285, adv 36189/37173
2025-05-12 06:53:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8888, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4644, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:57 [info] ProbeTriggered: 0
2025-05-12 06:53:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:57 [info] PreTrigger: 0
2025-05-12 06:53:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:59 [debug] Stopped at height 0.003 mm
2025-05-12 06:53:59 [info] currentZPosition:0.00308146
2025-05-12 06:53:59 [info] tubeContactPos:0.00308 contactPositions:{0.00308,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:53:59 [debug] Diagnostics for board 50:
2025-05-12 06:53:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:53:59 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:19 ago, cause: power up
2025-05-12 06:53:59 [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
2025-05-12 06:53:59 [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
2025-05-12 06:53:59 [debug] Moves scheduled 1059, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=344, frequency (Hz): min=2300, max=17857
Sync err accum 92, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294909390 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:53:59 [debug] Driver 0: pos -12135, 10060.2 steps/mm, standstill, SG min 0, mspos 632, reads 24843, writes 0 timeouts 0
2025-05-12 06:53:59 [debug] Last sensors broadcast 0x00000000 found 0 235 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 294, adv 36270/37174
2025-05-12 06:53:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8920, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:53:59 [info] ProbeTriggered: 0
2025-05-12 06:53:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:53:59 [info] PreTrigger: 1000
2025-05-12 06:53:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:53:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:01 [debug] Stopped at height 0.003 mm
2025-05-12 06:54:01 [info] currentZPosition:0.00318087
2025-05-12 06:54:01 [info] tubeContactPos:0.00318 contactPositions:{0.00318,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:01 [debug] Diagnostics for board 50:
2025-05-12 06:54:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:01 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:21 ago, cause: power up
2025-05-12 06:54:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:54:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:54:01 [debug] Moves scheduled 1063, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=450, frequency (Hz): min=747, max=18292
Sync err accum 87, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294909180 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:01 [debug] Driver 0: pos -12133, 10060.2 steps/mm, standstill, SG min 0, mspos 600, reads 26196, writes 22 timeouts 2
2025-05-12 06:54:01 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 121, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36187/37175
2025-05-12 06:54:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8904, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:01 [info] ProbeTriggered: 0
2025-05-12 06:54:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:01 [info] PreTrigger: 0
2025-05-12 06:54:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:03 [debug] Stopped at height 0.003 mm
2025-05-12 06:54:03 [info] currentZPosition:0.00278326
2025-05-12 06:54:03 [info] tubeContactPos:0.00278 contactPositions:{0.00278,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:03 [debug] Diagnostics for board 50:
2025-05-12 06:54:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:03 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:23 ago, cause: power up
2025-05-12 06:54:03 [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
2025-05-12 06:54:03 [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
2025-05-12 06:54:03 [debug] Moves scheduled 1067, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=518, frequency (Hz): min=1833, max=18292
Sync err accum 78, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294911938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:54:03 [debug] Driver 0: pos -12136, 10060.2 steps/mm, standstill, SG min 0, mspos 648, reads 24605, writes 0 timeouts 0
2025-05-12 06:54:03 [debug] Last sensors broadcast 0x00000000 found 0 126 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 288, adv 36281/37173
2025-05-12 06:54:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8923, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4644, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:03 [info] ProbeTriggered: 0
2025-05-12 06:54:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:03 [info] PreTrigger: 1000
2025-05-12 06:54:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:05 [debug] Stopped at height 0.002 mm
2025-05-12 06:54:05 [info] currentZPosition:0.00218685
2025-05-12 06:54:05 [info] tubeContactPos:0.00219 contactPositions:{0.00219,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:05 [debug] Diagnostics for board 50:
2025-05-12 06:54:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:05 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:26 ago, cause: power up
2025-05-12 06:54:05 [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
2025-05-12 06:54:05 [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
2025-05-12 06:54:05 [debug] Moves scheduled 1071, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=393, frequency (Hz): min=2148, max=17857
Sync err accum 65, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294914975 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:54:05 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 27080, writes 0 timeouts 0
2025-05-12 06:54:05 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 124, 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 293, adv 36176/37175
2025-05-12 06:54:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8954, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:05 [info] ProbeTriggered: 0
2025-05-12 06:54:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:06 [info] PreTrigger: 0
2025-05-12 06:54:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:07 [debug] Stopped at height 0.004 mm
2025-05-12 06:54:07 [info] currentZPosition:0.00377728
2025-05-12 06:54:07 [debug] Stopped at height 0.004 mm
2025-05-12 06:54:07 [info] currentZPosition:0.00357847
2025-05-12 06:54:07 [info] tubeContactPos:0.003677876 contactPositions:{0.00378,0.00358,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:54:07 [debug] Diagnostics for board 50:
2025-05-12 06:54:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:07 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:28 ago, cause: power up
2025-05-12 06:54:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:54:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:54:07 [debug] Moves scheduled 1077, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=396, frequency (Hz): min=764, max=18292
Sync err accum 64, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916195 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:07 [debug] Driver 0: pos -12128, 10060.2 steps/mm, standstill, SG min 0, mspos 520, reads 29389, writes 11 timeouts 1
2025-05-12 06:54:07 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 117, 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 291, adv 36175/37174
2025-05-12 06:54:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:07 [info] ProbeTriggered: 0
2025-05-12 06:54:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:08 [info] PreTrigger: 1000
2025-05-12 06:54:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:10 [debug] Stopped at height 0.003 mm
2025-05-12 06:54:10 [info] currentZPosition:0.00258445
2025-05-12 06:54:10 [info] tubeContactPos:0.00258 contactPositions:{0.00258,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:10 [debug] Diagnostics for board 50:
2025-05-12 06:54:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:10 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:30 ago, cause: power up
2025-05-12 06:54:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:54:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:54:10 [debug] Moves scheduled 1081, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=482, frequency (Hz): min=1963, max=17857
Sync err accum 63, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294911896 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:10 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 27864, writes 0 timeouts 0
2025-05-12 06:54:10 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 107, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36161/37173
2025-05-12 06:54:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8934, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:10 [info] ProbeTriggered: 0
2025-05-12 06:54:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:10 [info] PreTrigger: 0
2025-05-12 06:54:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:12 [debug] Stopped at height 0.003 mm
2025-05-12 06:54:12 [info] currentZPosition:0.00278326
2025-05-12 06:54:12 [info] tubeContactPos:0.00278 contactPositions:{0.00278,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:12 [debug] Diagnostics for board 50:
2025-05-12 06:54:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:12 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:32 ago, cause: power up
2025-05-12 06:54:12 [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
2025-05-12 06:54:12 [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
2025-05-12 06:54:12 [debug] Moves scheduled 1085, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=408, frequency (Hz): min=2180, max=17857
Sync err accum 68, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294909593 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:54:12 [debug] Driver 0: pos -12135, 10060.2 steps/mm, standstill, SG min 0, mspos 632, reads 23788, writes 0 timeouts 0
2025-05-12 06:54:12 [debug] Last sensors broadcast 0x00000000 found 0 181 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 285, adv 36281/37173
2025-05-12 06:54:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8918, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:12 [info] ProbeTriggered: 0
2025-05-12 06:54:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:12 [info] PreTrigger: 1000
2025-05-12 06:54:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:14 [debug] Stopped at height 0.004 mm
2025-05-12 06:54:14 [info] currentZPosition:0.00387668
2025-05-12 06:54:14 [info] tubeContactPos:0.00388 contactPositions:{0.00388,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:14 [debug] Diagnostics for board 50:
2025-05-12 06:54:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:14 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:34 ago, cause: power up
2025-05-12 06:54:14 [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
2025-05-12 06:54:14 [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
2025-05-12 06:54:14 [debug] Moves scheduled 1089, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=510, frequency (Hz): min=1851, max=17441
Sync err accum 67, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294916712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:14 [debug] Driver 0: pos -12124, 10060.2 steps/mm, standstill, SG min 0, mspos 456, reads 25124, writes 0 timeouts 0
2025-05-12 06:54:14 [debug] Last sensors broadcast 0x00000000 found 0 239 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 286, adv 36176/37173
2025-05-12 06:54:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8860, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:14 [info] ProbeTriggered: 0
2025-05-12 06:54:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:14 [info] PreTrigger: 0
2025-05-12 06:54:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:16 [debug] Stopped at height 0.002 mm
2025-05-12 06:54:16 [info] currentZPosition:0.00208744
2025-05-12 06:54:16 [debug] Stopped at height 0.002 mm
2025-05-12 06:54:16 [info] currentZPosition:0.00168983
2025-05-12 06:54:16 [info] tubeContactPos:0.001888639 contactPositions:{0.00209,0.00169,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:54:16 [debug] Diagnostics for board 50:
2025-05-12 06:54:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:16 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,0.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:37 ago, cause: power up
2025-05-12 06:54:16 [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
2025-05-12 06:54:16 [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
2025-05-12 06:54:16 [debug] Moves scheduled 1095, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=257, frequency (Hz): min=2697, max=17857
Sync err accum 70, peak jitter -1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294916631 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:16 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 33062, writes 0 timeouts 0
2025-05-12 06:54:16 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 129, 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 288, adv 36283/37174
2025-05-12 06:54:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:16 [info] ProbeTriggered: 0
2025-05-12 06:54:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:17 [info] PreTrigger: 1000
2025-05-12 06:54:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:18 [debug] Stopped at height 0.002 mm
2025-05-12 06:54:18 [info] currentZPosition:0.00248505
2025-05-12 06:54:18 [info] tubeContactPos:0.00249 contactPositions:{0.00249,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:18 [debug] Diagnostics for board 50:
2025-05-12 06:54:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:18 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:39 ago, cause: power up
2025-05-12 06:54:18 [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
2025-05-12 06:54:18 [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
2025-05-12 06:54:18 [debug] Moves scheduled 1099, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=388, frequency (Hz): min=2118, max=17857
Sync err accum 79, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294914560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:18 [debug] Driver 0: pos -12137, 10060.2 steps/mm, standstill, SG min 0, mspos 664, reads 25719, writes 0 timeouts 0
2025-05-12 06:54:18 [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 291, adv 36182/37171
2025-05-12 06:54:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:18 [info] ProbeTriggered: 0
2025-05-12 06:54:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:19 [info] PreTrigger: 0
2025-05-12 06:54:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:20 [debug] Stopped at height 0.002 mm
2025-05-12 06:54:20 [info] currentZPosition:0.00228625
2025-05-12 06:54:20 [info] tubeContactPos:0.00229 contactPositions:{0.00229,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:20 [debug] Diagnostics for board 50:
2025-05-12 06:54:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:20 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:41 ago, cause: power up
2025-05-12 06:54:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:54:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:54:20 [debug] Moves scheduled 1103, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=357, frequency (Hz): min=2427, max=17441
Sync err accum 90, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294913780 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:20 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 24351, writes 0 timeouts 0
2025-05-12 06:54:20 [debug] Last sensors broadcast 0x00000000 found 0 227 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 284, adv 36284/37174
2025-05-12 06:54:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8934, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:20 [info] ProbeTriggered: 0
2025-05-12 06:54:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:21 [info] PreTrigger: 1000
2025-05-12 06:54:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:22 [debug] Stopped at height 0.003 mm
2025-05-12 06:54:22 [info] currentZPosition:0.00268386
2025-05-12 06:54:22 [info] tubeContactPos:0.00268 contactPositions:{0.00268,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:23 [debug] Diagnostics for board 50:
2025-05-12 06:54:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:23 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:43 ago, cause: power up
2025-05-12 06:54:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:54:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:54:23 [debug] Moves scheduled 1107, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=398, frequency (Hz): min=2336, max=17441
Sync err accum 95, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294909440 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:23 [debug] Driver 0: pos -12133, 10060.2 steps/mm, standstill, SG min 0, mspos 600, reads 25980, writes 0 timeouts 0
2025-05-12 06:54:23 [debug] Last sensors broadcast 0x00000000 found 0 98 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 288, adv 36184/37172
2025-05-12 06:54:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8908, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4647, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:23 [info] ProbeTriggered: 0
2025-05-12 06:54:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:23 [info] PreTrigger: 0
2025-05-12 06:54:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:24 [debug] Stopped at height 0.003 mm
2025-05-12 06:54:24 [info] currentZPosition:0.00298206
2025-05-12 06:54:24 [info] tubeContactPos:0.00298 contactPositions:{0.00298,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:24 [debug] Diagnostics for board 50:
2025-05-12 06:54:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:24 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:45 ago, cause: power up
2025-05-12 06:54:24 [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
2025-05-12 06:54:24 [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
2025-05-12 06:54:24 [debug] Moves scheduled 1111, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=357, frequency (Hz): min=2586, max=17441
Sync err accum 96, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294912673 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:54:24 [debug] Driver 0: pos -12129, 10060.2 steps/mm, standstill, SG min 0, mspos 536, reads 23660, writes 0 timeouts 0
2025-05-12 06:54:24 [debug] Last sensors broadcast 0x00000000 found 0 16 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 288, adv 36279/37176
2025-05-12 06:54:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -363
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4650, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:25 [info] ProbeTriggered: 0
2025-05-12 06:54:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:25 [info] PreTrigger: 1000
2025-05-12 06:54:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:27 [debug] Stopped at height 0.002 mm
2025-05-12 06:54:27 [info] currentZPosition:0.00208744
2025-05-12 06:54:27 [info] tubeContactPos:0.00209 contactPositions:{0.00209,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:27 [debug] Diagnostics for board 50:
2025-05-12 06:54:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:27 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:47 ago, cause: power up
2025-05-12 06:54:27 [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
2025-05-12 06:54:27 [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
2025-05-12 06:54:27 [debug] Moves scheduled 1115, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=362, frequency (Hz): min=2442, max=17857
Sync err accum 92, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294908694 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:27 [debug] Driver 0: pos -12137, 10060.2 steps/mm, standstill, SG min 0, mspos 664, reads 27647, writes 0 timeouts 0
2025-05-12 06:54:27 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 123, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36170/37173
2025-05-12 06:54:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:27 [info] ProbeTriggered: 0
2025-05-12 06:54:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:27 [info] PreTrigger: 0
2025-05-12 06:54:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:29 [debug] Stopped at height 0.002 mm
2025-05-12 06:54:29 [info] currentZPosition:0.00198804
2025-05-12 06:54:29 [info] tubeContactPos:0.00199 contactPositions:{0.00199,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:29 [debug] Diagnostics for board 50:
2025-05-12 06:54:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:29 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:49 ago, cause: power up
2025-05-12 06:54:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:54:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:54:29 [debug] Moves scheduled 1119, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=264, frequency (Hz): min=524, max=17857
Sync err accum 84, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294914523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:29 [debug] Driver 0: pos -12137, 10060.2 steps/mm, standstill, SG min 0, mspos 664, reads 24143, writes 22 timeouts 2
2025-05-12 06:54:29 [debug] Last sensors broadcast 0x00000000 found 0 232 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 288, adv 36280/37176
2025-05-12 06:54:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:29 [info] ProbeTriggered: 0
2025-05-12 06:54:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:29 [info] PreTrigger: 0
2025-05-12 06:54:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:31 [debug] Stopped at height 0.002 mm
2025-05-12 06:54:31 [info] currentZPosition:0.00198804
2025-05-12 06:54:31 [info] tubeContactPos:0.00199 contactPositions:{0.00199,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:31 [debug] Diagnostics for board 50:
2025-05-12 06:54:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:31 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:51 ago, cause: power up
2025-05-12 06:54:31 [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
2025-05-12 06:54:31 [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
2025-05-12 06:54:31 [debug] Moves scheduled 1123, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=381, frequency (Hz): min=2186, max=18292
Sync err accum 74, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294913707 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:54:31 [debug] Driver 0: pos -12136, 10060.2 steps/mm, standstill, SG min 0, mspos 648, reads 26306, writes 0 timeouts 0
2025-05-12 06:54:31 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 129, 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 314, adv 36174/37172
2025-05-12 06:54:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8925, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:31 [info] ProbeTriggered: 0
2025-05-12 06:54:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:31 [info] PreTrigger: 0
2025-05-12 06:54:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:33 [debug] Stopped at height 0.001 mm
2025-05-12 06:54:33 [info] currentZPosition:0.00119282
2025-05-12 06:54:33 [info] tubeContactPos:0.00119 contactPositions:{0.00119,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:33 [debug] Diagnostics for board 50:
2025-05-12 06:54:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:33 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:54 ago, cause: power up
2025-05-12 06:54:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:54:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:54:33 [debug] Moves scheduled 1127, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=456, frequency (Hz): min=2066, max=17045
Sync err accum 63, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294913100 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:33 [debug] Driver 0: pos -12143, 10060.2 steps/mm, standstill, SG min 0, mspos 760, reads 25014, writes 0 timeouts 0
2025-05-12 06:54:33 [debug] Last sensors broadcast 0x00000000 found 0 169 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 285, adv 36283/37177
2025-05-12 06:54:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:33 [info] ProbeTriggered: 0
2025-05-12 06:54:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:33 [info] PreTrigger: 1000
2025-05-12 06:54:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:35 [debug] Stopped at height 0.001 mm
2025-05-12 06:54:35 [info] currentZPosition:0.00109342
2025-05-12 06:54:35 [info] tubeContactPos:0.00109 contactPositions:{0.00109,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:35 [debug] Diagnostics for board 50:
2025-05-12 06:54:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:35 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:56 ago, cause: power up
2025-05-12 06:54:35 [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
2025-05-12 06:54:35 [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
2025-05-12 06:54:35 [debug] Moves scheduled 1131, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=458, frequency (Hz): min=580, max=18292
Sync err accum 74, peak jitter 0/2, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294914130 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:54:35 [debug] Driver 0: pos -12143, 10060.2 steps/mm, standstill, SG min 0, mspos 760, reads 26572, writes 11 timeouts 1
2025-05-12 06:54:35 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 135, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36185/37171
2025-05-12 06:54:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:35 [info] ProbeTriggered: 0
2025-05-12 06:54:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:35 [info] PreTrigger: 0
2025-05-12 06:54:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:37 [debug] Stopped at height 0.001 mm
2025-05-12 06:54:37 [info] currentZPosition:0.00149103
2025-05-12 06:54:37 [info] tubeContactPos:0.00149 contactPositions:{0.00149,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:37 [debug] Diagnostics for board 50:
2025-05-12 06:54:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:37 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:10:58 ago, cause: power up
2025-05-12 06:54:37 [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
2025-05-12 06:54:37 [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
2025-05-12 06:54:37 [debug] Moves scheduled 1135, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=553, frequency (Hz): min=1716, max=17441
Sync err accum 81, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294907930 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:37 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 23699, writes 0 timeouts 0
2025-05-12 06:54:37 [debug] Last sensors broadcast 0x00000000 found 0 12 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 285, adv 36264/37174
2025-05-12 06:54:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:37 [info] ProbeTriggered: 0
2025-05-12 06:54:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:38 [info] PreTrigger: 1000
2025-05-12 06:54:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:39 [debug] Stopped at height 0.001 mm
2025-05-12 06:54:39 [info] currentZPosition:0.00129223
2025-05-12 06:54:39 [info] tubeContactPos:0.00129 contactPositions:{0.00129,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:39 [debug] Diagnostics for board 50:
2025-05-12 06:54:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:39 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:00 ago, cause: power up
2025-05-12 06:54:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:54:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:54:39 [debug] Moves scheduled 1139, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=430, frequency (Hz): min=2186, max=18292
Sync err accum 83, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294908688 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:39 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 26744, writes 0 timeouts 0
2025-05-12 06:54:39 [debug] Last sensors broadcast 0x00000000 found 0 195 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 285, adv 36182/37171
2025-05-12 06:54:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:39 [info] ProbeTriggered: 0
2025-05-12 06:54:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:40 [info] PreTrigger: 0
2025-05-12 06:54:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:41 [debug] Stopped at height 0.003 mm
2025-05-12 06:54:41 [info] currentZPosition:0.00278326
2025-05-12 06:54:41 [debug] Stopped at height 0.002 mm
2025-05-12 06:54:41 [info] currentZPosition:0.00208744
2025-05-12 06:54:41 [info] tubeContactPos:0.00209 contactPositions:{0.00278,0.00209,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:54:41 [debug] Diagnostics for board 50:
2025-05-12 06:54:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:41 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,33.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:02 ago, cause: power up
2025-05-12 06:54:41 [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
2025-05-12 06:54:41 [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
2025-05-12 06:54:41 [debug] Moves scheduled 1145, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=396, frequency (Hz): min=2060, max=17441
Sync err accum 81, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294920429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:41 [debug] Driver 0: pos -12131, 10060.2 steps/mm, standstill, SG min 0, mspos 568, reads 29490, writes 0 timeouts 0
2025-05-12 06:54:41 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 111, 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 291, adv 36278/37175
2025-05-12 06:54:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8898, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:42 [info] ProbeTriggered: 0
2025-05-12 06:54:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:42 [info] PreTrigger: 1000
2025-05-12 06:54:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:44 [debug] Stopped at height 0.001 mm
2025-05-12 06:54:44 [info] currentZPosition:0.00139163
2025-05-12 06:54:44 [info] tubeContactPos:0.00139 contactPositions:{0.00139,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:44 [debug] Diagnostics for board 50:
2025-05-12 06:54:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:44 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:04 ago, cause: power up
2025-05-12 06:54:44 [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
2025-05-12 06:54:44 [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
2025-05-12 06:54:44 [debug] Moves scheduled 1149, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=381, frequency (Hz): min=860, max=17857
Sync err accum 76, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294913914 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:44 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 27339, writes 11 timeouts 1
2025-05-12 06:54:44 [debug] Last sensors broadcast 0x00000000 found 0 60 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 285, adv 36186/37172
2025-05-12 06:54:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:44 [info] ProbeTriggered: 0
2025-05-12 06:54:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:44 [info] PreTrigger: 0
2025-05-12 06:54:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:46 [debug] Stopped at height 0.002 mm
2025-05-12 06:54:46 [info] currentZPosition:0.00168983
2025-05-12 06:54:46 [info] tubeContactPos:0.00169 contactPositions:{0.00169,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:46 [debug] Diagnostics for board 50:
2025-05-12 06:54:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:46 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:06 ago, cause: power up
2025-05-12 06:54:46 [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
2025-05-12 06:54:46 [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
2025-05-12 06:54:46 [debug] Moves scheduled 1153, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=450, frequency (Hz): min=2066, max=17441
Sync err accum 70, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294913741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:54:46 [debug] Driver 0: pos -12135, 10060.2 steps/mm, standstill, SG min 0, mspos 632, reads 23863, writes 0 timeouts 0
2025-05-12 06:54:46 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35981/37176
2025-05-12 06:54:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8916, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:46 [info] ProbeTriggered: 0
2025-05-12 06:54:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:46 [info] PreTrigger: 1000
2025-05-12 06:54:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:48 [debug] Stopped at height 0.002 mm
2025-05-12 06:54:48 [info] currentZPosition:0.00228625
2025-05-12 06:54:48 [info] tubeContactPos:0.00229 contactPositions:{0.00229,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:48 [debug] Diagnostics for board 50:
2025-05-12 06:54:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:48 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:08 ago, cause: power up
2025-05-12 06:54:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:54:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:54:48 [debug] Moves scheduled 1157, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=394, frequency (Hz): min=669, max=18292
Sync err accum 68, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294909086 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:48 [debug] Driver 0: pos -12128, 10060.2 steps/mm, standstill, SG min 0, mspos 520, reads 25599, writes 11 timeouts 1
2025-05-12 06:54:48 [debug] Last sensors broadcast 0x00000000 found 0 82 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 295, adv 35732/37168
2025-05-12 06:54:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8882, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4647, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:48 [info] ProbeTriggered: 0
2025-05-12 06:54:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:48 [info] PreTrigger: 0
2025-05-12 06:54:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:50 [debug] Stopped at height 0.001 mm
2025-05-12 06:54:50 [info] currentZPosition:0.00119282
2025-05-12 06:54:50 [info] tubeContactPos:0.00119 contactPositions:{0.00119,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:50 [debug] Diagnostics for board 50:
2025-05-12 06:54:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:50 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:11 ago, cause: power up
2025-05-12 06:54:50 [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
2025-05-12 06:54:50 [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
2025-05-12 06:54:50 [debug] Moves scheduled 1161, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=460, frequency (Hz): min=1712, max=17857
Sync err accum 86, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294913931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:50 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 25771, writes 0 timeouts 0
2025-05-12 06:54:50 [debug] Last sensors broadcast 0x00000000 found 0 169 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 287, adv 35853/37173
2025-05-12 06:54:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8934, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:50 [info] ProbeTriggered: 0
2025-05-12 06:54:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:50 [info] PreTrigger: 1000
2025-05-12 06:54:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:52 [debug] Stopped at height 0.001 mm
2025-05-12 06:54:52 [info] currentZPosition:9.940205e-4
2025-05-12 06:54:52 [info] tubeContactPos:9.940e-4 contactPositions:{9.940e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:52 [debug] Diagnostics for board 50:
2025-05-12 06:54:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:52 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.4%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:13 ago, cause: power up
2025-05-12 06:54:52 [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
2025-05-12 06:54:52 [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
2025-05-12 06:54:52 [debug] Moves scheduled 1165, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=392, frequency (Hz): min=936, max=18292
Sync err accum 100, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294913115 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:52 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 26281, writes 11 timeouts 1
2025-05-12 06:54:52 [debug] Last sensors broadcast 0x00000000 found 0 61 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 294, adv 35849/37176
2025-05-12 06:54:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:52 [info] ProbeTriggered: 0
2025-05-12 06:54:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:52 [info] PreTrigger: 0
2025-05-12 06:54:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:54 [debug] Stopped at height 0.001 mm
2025-05-12 06:54:54 [info] currentZPosition:0.00139163
2025-05-12 06:54:54 [info] tubeContactPos:0.00139 contactPositions:{0.00139,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:54 [debug] Diagnostics for board 50:
2025-05-12 06:54:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:54 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:15 ago, cause: power up
2025-05-12 06:54:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:54:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:54:54 [debug] Moves scheduled 1169, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=332, frequency (Hz): min=2631, max=18292
Sync err accum 108, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294911470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:54:54 [debug] Driver 0: pos -12134, 10060.2 steps/mm, standstill, SG min 0, mspos 616, reads 24147, writes 0 timeouts 0
2025-05-12 06:54:54 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 298, adv 35734/37174
2025-05-12 06:54:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8909, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:54 [info] ProbeTriggered: 0
2025-05-12 06:54:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:55 [info] PreTrigger: 1000
2025-05-12 06:54:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:56 [debug] Stopped at height 0.001 mm
2025-05-12 06:54:56 [info] currentZPosition:6.958144e-4
2025-05-12 06:54:56 [info] tubeContactPos:6.958e-4 contactPositions:{6.958e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:56 [debug] Diagnostics for board 50:
2025-05-12 06:54:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:56 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:17 ago, cause: power up
2025-05-12 06:54:56 [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
2025-05-12 06:54:56 [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
2025-05-12 06:54:56 [debug] Moves scheduled 1173, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=454, frequency (Hz): min=1948, max=17857
Sync err accum 115, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294914138 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:54:56 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 26744, writes 0 timeouts 0
2025-05-12 06:54:56 [debug] Last sensors broadcast 0x00000000 found 0 206 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 282, adv 35988/37177
2025-05-12 06:54:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:56 [info] ProbeTriggered: 0
2025-05-12 06:54:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:57 [info] PreTrigger: 0
2025-05-12 06:54:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:58 [debug] Stopped at height 0.001 mm
2025-05-12 06:54:58 [info] currentZPosition:0.00129223
2025-05-12 06:54:58 [info] tubeContactPos:0.00129 contactPositions:{0.00129,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:54:58 [debug] Diagnostics for board 50:
2025-05-12 06:54:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:54:58 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:19 ago, cause: power up
2025-05-12 06:54:58 [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
2025-05-12 06:54:58 [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
2025-05-12 06:54:58 [debug] Moves scheduled 1177, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=316, frequency (Hz): min=2918, max=17857
Sync err accum 114, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294916564 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:54:58 [debug] Driver 0: pos -12134, 10060.2 steps/mm, standstill, SG min 0, mspos 616, reads 24051, writes 0 timeouts 0
2025-05-12 06:54:58 [debug] Last sensors broadcast 0x00000000 found 0 160 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 288, adv 36205/37176
2025-05-12 06:54:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:54:58 [info] ProbeTriggered: 0
2025-05-12 06:54:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:54:59 [info] PreTrigger: 0
2025-05-12 06:54:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:54:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:00 [debug] Stopped at height 0.001 mm
2025-05-12 06:55:00 [info] currentZPosition:0.00119282
2025-05-12 06:55:00 [info] tubeContactPos:0.00119 contactPositions:{0.00119,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:00 [debug] Diagnostics for board 50:
2025-05-12 06:55:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:00 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:21 ago, cause: power up
2025-05-12 06:55:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:55:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:55:00 [debug] Moves scheduled 1181, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=394, frequency (Hz): min=2218, max=18292
Sync err accum 111, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294909913 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 06:55:00 [debug] Driver 0: pos -12134, 10060.2 steps/mm, standstill, SG min 0, mspos 616, reads 25718, writes 0 timeouts 0
2025-05-12 06:55:00 [debug] Last sensors broadcast 0x00000000 found 0 13 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 284, adv 36259/37177
2025-05-12 06:55:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:00 [info] ProbeTriggered: 0
2025-05-12 06:55:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:01 [info] PreTrigger: 0
2025-05-12 06:55:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:02 [debug] Stopped at height 0.000 mm
2025-05-12 06:55:02 [info] currentZPosition:2.982062e-4
2025-05-12 06:55:02 [info] tubeContactPos:2.982e-4 contactPositions:{2.982e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:02 [debug] Diagnostics for board 50:
2025-05-12 06:55:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:02 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:23 ago, cause: power up
2025-05-12 06:55:02 [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
2025-05-12 06:55:02 [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
2025-05-12 06:55:02 [debug] Moves scheduled 1185, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=372, frequency (Hz): min=829, max=17441
Sync err accum 103, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294917567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:55:02 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 26184, writes 11 timeouts 1
2025-05-12 06:55:02 [debug] Last sensors broadcast 0x00000000 found 0 135 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 291, adv 36100/37174
2025-05-12 06:55:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8954, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4647, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:02 [info] ProbeTriggered: 0
2025-05-12 06:55:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:03 [info] PreTrigger: 1000
2025-05-12 06:55:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:04 [debug] Stopped at height 0.000 mm
2025-05-12 06:55:04 [info] currentZPosition:3.976082e-4
2025-05-12 06:55:04 [info] tubeContactPos:3.976e-4 contactPositions:{3.976e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:04 [debug] Diagnostics for board 50:
2025-05-12 06:55:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:04 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:25 ago, cause: power up
2025-05-12 06:55:04 [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
2025-05-12 06:55:04 [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
2025-05-12 06:55:04 [debug] Moves scheduled 1189, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=410, frequency (Hz): min=2112, max=18292
Sync err accum 93, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294910185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:55:04 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 25245, writes 0 timeouts 0
2025-05-12 06:55:04 [debug] Last sensors broadcast 0x00000000 found 0 201 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 291, adv 36338/37178
2025-05-12 06:55:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:04 [info] ProbeTriggered: 0
2025-05-12 06:55:04 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:05 [info] PreTrigger: 0
2025-05-12 06:55:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:06 [debug] Stopped at height -0.000 mm
2025-05-12 06:55:06 [info] currentZPosition:-2.982062e-4
2025-05-12 06:55:06 [info] tubeContactPos:-2.982e-4 contactPositions:{-2.982e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:06 [debug] Diagnostics for board 50:
2025-05-12 06:55:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:06 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:27 ago, cause: power up
2025-05-12 06:55:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:55:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:55:06 [debug] Moves scheduled 1193, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=386, frequency (Hz): min=2419, max=18292
Sync err accum 79, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294913867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:55:06 [debug] Driver 0: pos -12146, 10060.2 steps/mm, standstill, SG min 0, mspos 808, reads 26239, writes 0 timeouts 0
2025-05-12 06:55:06 [debug] Last sensors broadcast 0x00000000 found 0 82 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 285, adv 36119/37177
2025-05-12 06:55:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:07 [info] ProbeTriggered: 0
2025-05-12 06:55:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:07 [info] PreTrigger: 0
2025-05-12 06:55:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:08 [debug] Stopped at height 0.000 mm
2025-05-12 06:55:08 [info] currentZPosition:3.976082e-4
2025-05-12 06:55:08 [info] tubeContactPos:3.976e-4 contactPositions:{3.976e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:08 [debug] Diagnostics for board 50:
2025-05-12 06:55:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:08 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:29 ago, cause: power up
2025-05-12 06:55:08 [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
2025-05-12 06:55:08 [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
2025-05-12 06:55:08 [debug] Moves scheduled 1197, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=369, frequency (Hz): min=2358, max=18292
Sync err accum 64, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294907319 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:55:08 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 24437, writes 0 timeouts 0
2025-05-12 06:55:08 [debug] Last sensors broadcast 0x00000000 found 0 72 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 290, adv 36335/37177
2025-05-12 06:55:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8934, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:09 [info] ProbeTriggered: 0
2025-05-12 06:55:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:09 [info] PreTrigger: 1000
2025-05-12 06:55:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:11 [debug] Stopped at height 0.000 mm
2025-05-12 06:55:11 [info] currentZPosition:4.970102e-4
2025-05-12 06:55:11 [info] tubeContactPos:4.970e-4 contactPositions:{4.970e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:11 [debug] Diagnostics for board 50:
2025-05-12 06:55:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:11 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:31 ago, cause: power up
2025-05-12 06:55:11 [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
2025-05-12 06:55:11 [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
2025-05-12 06:55:11 [debug] Moves scheduled 1201, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=510, frequency (Hz): min=773, max=17857
Sync err accum 73, peak jitter -2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294914134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:55:11 [debug] Driver 0: pos -12137, 10060.2 steps/mm, standstill, SG min 0, mspos 664, reads 25610, writes 11 timeouts 1
2025-05-12 06:55:11 [debug] Last sensors broadcast 0x00000000 found 0 150 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 290, adv 35808/37170
2025-05-12 06:55:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:11 [info] ProbeTriggered: 0
2025-05-12 06:55:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:11 [info] PreTrigger: 1000
2025-05-12 06:55:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:13 [debug] Stopped at height 0.000 mm
2025-05-12 06:55:13 [info] currentZPosition:2.982062e-4
2025-05-12 06:55:13 [info] tubeContactPos:2.982e-4 contactPositions:{2.982e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:13 [debug] Diagnostics for board 50:
2025-05-12 06:55:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:13 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:33 ago, cause: power up
2025-05-12 06:55:13 [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
2025-05-12 06:55:13 [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
2025-05-12 06:55:13 [debug] Moves scheduled 1205, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=544, frequency (Hz): min=1752, max=17857
Sync err accum 102, peak jitter 2/3, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294913621 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:55:13 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 25212, writes 0 timeouts 0
2025-05-12 06:55:13 [debug] Last sensors broadcast 0x00000000 found 0 205 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 291, adv 35903/37171
2025-05-12 06:55:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4644, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:13 [info] ProbeTriggered: 0
2025-05-12 06:55:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:13 [info] PreTrigger: 1000
2025-05-12 06:55:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:15 [debug] Stopped at height 0.001 mm
2025-05-12 06:55:15 [info] currentZPosition:8.946185e-4
2025-05-12 06:55:15 [info] tubeContactPos:8.946e-4 contactPositions:{8.946e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:15 [debug] Diagnostics for board 50:
2025-05-12 06:55:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:15 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:35 ago, cause: power up
2025-05-12 06:55:15 [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
2025-05-12 06:55:15 [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
2025-05-12 06:55:15 [debug] Moves scheduled 1209, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=421, frequency (Hz): min=2083, max=17857
Sync err accum 126, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294916757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:55:15 [debug] Driver 0: pos -12133, 10060.2 steps/mm, standstill, SG min 0, mspos 600, reads 25370, writes 0 timeouts 0
2025-05-12 06:55:15 [debug] Last sensors broadcast 0x00000000 found 0 13 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 288, adv 36328/37174
2025-05-12 06:55:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8908, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:15 [info] ProbeTriggered: 0
2025-05-12 06:55:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:15 [info] PreTrigger: 0
2025-05-12 06:55:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:17 [debug] Stopped at height 0.001 mm
2025-05-12 06:55:17 [info] currentZPosition:7.952164e-4
2025-05-12 06:55:17 [info] tubeContactPos:7.952e-4 contactPositions:{7.952e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:17 [debug] Diagnostics for board 50:
2025-05-12 06:55:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:17 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:37 ago, cause: power up
2025-05-12 06:55:17 [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
2025-05-12 06:55:17 [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
2025-05-12 06:55:17 [debug] Moves scheduled 1213, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=416, frequency (Hz): min=2218, max=17857
Sync err accum 118, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294913024 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:55:17 [debug] Driver 0: pos -12134, 10060.2 steps/mm, standstill, SG min 0, mspos 616, reads 24709, writes 0 timeouts 0
2025-05-12 06:55:17 [debug] Last sensors broadcast 0x00000000 found 0 24 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 291, adv 36131/37176
2025-05-12 06:55:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8911, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:17 [info] ProbeTriggered: 0
2025-05-12 06:55:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:17 [info] PreTrigger: 0
2025-05-12 06:55:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:19 [debug] Stopped at height 0.001 mm
2025-05-12 06:55:19 [info] currentZPosition:5.964123e-4
2025-05-12 06:55:19 [info] tubeContactPos:5.964e-4 contactPositions:{5.964e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:19 [debug] Diagnostics for board 50:
2025-05-12 06:55:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:19 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:40 ago, cause: power up
2025-05-12 06:55:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:55:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:55:19 [debug] Moves scheduled 1217, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=378, frequency (Hz): min=2060, max=18292
Sync err accum 93, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294910935 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:55:19 [debug] Driver 0: pos -12135, 10060.2 steps/mm, standstill, SG min 0, mspos 632, reads 26645, writes 0 timeouts 0
2025-05-12 06:55:19 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35882/37179
2025-05-12 06:55:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8919, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:19 [info] ProbeTriggered: 0
2025-05-12 06:55:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:19 [info] PreTrigger: 0
2025-05-12 06:55:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:21 [debug] Stopped at height -0.000 mm
2025-05-12 06:55:21 [info] currentZPosition:-1.988041e-4
2025-05-12 06:55:21 [info] tubeContactPos:-1.988e-4 contactPositions:{-1.988e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:21 [debug] Diagnostics for board 50:
2025-05-12 06:55:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:21 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:42 ago, cause: power up
2025-05-12 06:55:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:55:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:55:21 [debug] Moves scheduled 1221, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=434, frequency (Hz): min=841, max=18292
Sync err accum 69, peak jitter -4/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294911338 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:55:21 [debug] Driver 0: pos -12143, 10060.2 steps/mm, standstill, SG min 0, mspos 760, reads 25287, writes 11 timeouts 1
2025-05-12 06:55:21 [debug] Last sensors broadcast 0x00000000 found 0 247 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 288, adv 35830/37178
2025-05-12 06:55:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:21 [info] ProbeTriggered: 0
2025-05-12 06:55:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:21 [info] PreTrigger: 1000
2025-05-12 06:55:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:23 [debug] Stopped at height 0.000 mm
2025-05-12 06:55:23 [info] currentZPosition:9.940205e-5
2025-05-12 06:55:23 [info] tubeContactPos:9.940e-5 contactPositions:{9.940e-5,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:23 [debug] Diagnostics for board 50:
2025-05-12 06:55:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:23 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:44 ago, cause: power up
2025-05-12 06:55:23 [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
2025-05-12 06:55:23 [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
2025-05-12 06:55:23 [debug] Moves scheduled 1225, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=398, frequency (Hz): min=2161, max=17857
Sync err accum 70, peak jitter -2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294910488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:55:23 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 26305, writes 0 timeouts 0
2025-05-12 06:55:23 [debug] Last sensors broadcast 0x00000000 found 0 138 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 287, adv 36080/37153
2025-05-12 06:55:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:23 [info] ProbeTriggered: 0
2025-05-12 06:55:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:24 [info] PreTrigger: 0
2025-05-12 06:55:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:25 [debug] Stopped at height -0.001 mm
2025-05-12 06:55:25 [info] currentZPosition:-7.952164e-4
2025-05-12 06:55:25 [info] tubeContactPos:-7.952e-4 contactPositions:{-7.952e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:25 [debug] Diagnostics for board 50:
2025-05-12 06:55:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:25 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:46 ago, cause: power up
2025-05-12 06:55:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:55:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:55:25 [debug] Moves scheduled 1229, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 79, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=346, frequency (Hz): min=2089, max=18292
Sync err accum 87, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294909733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:55:25 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 25372, writes 0 timeouts 0
2025-05-12 06:55:25 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 138, 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 312, adv 36376/37167
2025-05-12 06:55:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:25 [info] ProbeTriggered: 0
2025-05-12 06:55:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:26 [info] PreTrigger: 0
2025-05-12 06:55:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:27 [debug] Stopped at height -0.000 mm
2025-05-12 06:55:27 [info] currentZPosition:-9.940205e-5
2025-05-12 06:55:27 [info] tubeContactPos:-9.940e-5 contactPositions:{-9.940e-5,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:27 [debug] Diagnostics for board 50:
2025-05-12 06:55:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:27 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:48 ago, cause: power up
2025-05-12 06:55:27 [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
2025-05-12 06:55:27 [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
2025-05-12 06:55:27 [debug] Moves scheduled 1233, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=389, frequency (Hz): min=2000, max=17857
Sync err accum 102, peak jitter 1/2, peak Rx delay 225, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294911585 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:55:27 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 25818, writes 0 timeouts 0
2025-05-12 06:55:27 [debug] Last sensors broadcast 0x00000000 found 0 52 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 285, adv 36055/37174
2025-05-12 06:55:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:27 [info] ProbeTriggered: 0
2025-05-12 06:55:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:28 [info] PreTrigger: 0
2025-05-12 06:55:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:29 [debug] Stopped at height -0.000 mm
2025-05-12 06:55:29 [info] currentZPosition:-2.982062e-4
2025-05-12 06:55:29 [info] tubeContactPos:-2.982e-4 contactPositions:{-2.982e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:29 [debug] Diagnostics for board 50:
2025-05-12 06:55:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:29 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:50 ago, cause: power up
2025-05-12 06:55:29 [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
2025-05-12 06:55:29 [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
2025-05-12 06:55:29 [debug] Moves scheduled 1237, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=376, frequency (Hz): min=2186, max=18292
Sync err accum 109, peak jitter 0/2, peak Rx delay 193, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294908996 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:55:29 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 24122, writes 0 timeouts 0
2025-05-12 06:55:29 [debug] Last sensors broadcast 0x00000000 found 0 12 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 293, adv 35770/37176
2025-05-12 06:55:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:29 [info] ProbeTriggered: 0
2025-05-12 06:55:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:30 [info] PreTrigger: 0
2025-05-12 06:55:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:31 [debug] Stopped at height 0.000 mm
2025-05-12 06:55:31 [info] currentZPosition:3.976082e-4
2025-05-12 06:55:31 [info] tubeContactPos:3.976e-4 contactPositions:{3.976e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:31 [debug] Diagnostics for board 50:
2025-05-12 06:55:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:31 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:52 ago, cause: power up
2025-05-12 06:55:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:55:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:55:31 [debug] Moves scheduled 1241, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=544, frequency (Hz): min=1644, max=17857
Sync err accum 117, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294915564 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:55:31 [debug] Driver 0: pos -12133, 10060.2 steps/mm, standstill, SG min 0, mspos 600, reads 26173, writes 0 timeouts 0
2025-05-12 06:55:31 [debug] Last sensors broadcast 0x00000000 found 0 135 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 290, adv 35936/37172
2025-05-12 06:55:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8906, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:31 [info] ProbeTriggered: 1000
2025-05-12 06:55:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:32 [info] PreTrigger: 0
2025-05-12 06:55:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:33 [debug] Stopped at height 0.000 mm
2025-05-12 06:55:33 [info] currentZPosition:3.976082e-4
2025-05-12 06:55:33 [info] tubeContactPos:3.976e-4 contactPositions:{3.976e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:33 [debug] Diagnostics for board 50:
2025-05-12 06:55:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:33 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:54 ago, cause: power up
2025-05-12 06:55:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:55:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:55:33 [debug] Moves scheduled 1245, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=410, frequency (Hz): min=628, max=17441
Sync err accum 124, peak jitter -1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294914916 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:55:33 [debug] Driver 0: pos -12132, 10060.2 steps/mm, standstill, SG min 0, mspos 584, reads 23871, writes 11 timeouts 1
2025-05-12 06:55:33 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35938/37174
2025-05-12 06:55:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:33 [info] ProbeTriggered: 0
2025-05-12 06:55:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:34 [info] PreTrigger: 1000
2025-05-12 06:55:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:35 [debug] Stopped at height -0.001 mm
2025-05-12 06:55:35 [info] currentZPosition:-5.964123e-4
2025-05-12 06:55:35 [info] tubeContactPos:-5.964e-4 contactPositions:{-5.964e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:36 [debug] Diagnostics for board 50:
2025-05-12 06:55:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:36 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:56 ago, cause: power up
2025-05-12 06:55:36 [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
2025-05-12 06:55:36 [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
2025-05-12 06:55:36 [debug] Moves scheduled 1249, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=397, frequency (Hz): min=1913, max=17857
Sync err accum 124, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294911292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 06:55:36 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 28069, writes 0 timeouts 0
2025-05-12 06:55:36 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 111, 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 290, adv 35855/37171
2025-05-12 06:55:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8945, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4644, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:36 [info] ProbeTriggered: 0
2025-05-12 06:55:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:36 [info] PreTrigger: 0
2025-05-12 06:55:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:37 [debug] Stopped at height -0.001 mm
2025-05-12 06:55:37 [info] currentZPosition:-9.940205e-4
2025-05-12 06:55:37 [info] tubeContactPos:-9.940e-4 contactPositions:{-9.940e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:37 [debug] Diagnostics for board 50:
2025-05-12 06:55:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:37 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:11:58 ago, cause: power up
2025-05-12 06:55:37 [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
2025-05-12 06:55:37 [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
2025-05-12 06:55:37 [debug] Moves scheduled 1253, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=426, frequency (Hz): min=2118, max=17045
Sync err accum 119, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294905644 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:55:37 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 24472, writes 0 timeouts 0
2025-05-12 06:55:37 [debug] Last sensors broadcast 0x00000000 found 0 85 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 289, adv 36143/37172
2025-05-12 06:55:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:38 [info] ProbeTriggered: 0
2025-05-12 06:55:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:38 [info] PreTrigger: 1000
2025-05-12 06:55:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:40 [debug] Stopped at height -0.001 mm
2025-05-12 06:55:40 [info] currentZPosition:-7.952164e-4
2025-05-12 06:55:40 [info] tubeContactPos:-7.952e-4 contactPositions:{-7.952e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:40 [debug] Diagnostics for board 50:
2025-05-12 06:55:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:40 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:00 ago, cause: power up
2025-05-12 06:55:40 [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
2025-05-12 06:55:40 [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
2025-05-12 06:55:40 [debug] Moves scheduled 1257, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=378, frequency (Hz): min=2049, max=17857
Sync err accum 114, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294911224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:55:40 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 26426, writes 0 timeouts 0
2025-05-12 06:55:40 [debug] Last sensors broadcast 0x00000000 found 0 231 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 286, adv 35721/37173
2025-05-12 06:55:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:40 [info] ProbeTriggered: 0
2025-05-12 06:55:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:40 [info] PreTrigger: 1000
2025-05-12 06:55:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:42 [debug] Stopped at height -0.000 mm
2025-05-12 06:55:42 [info] currentZPosition:-4.970102e-4
2025-05-12 06:55:42 [info] tubeContactPos:-4.970e-4 contactPositions:{-4.970e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:42 [debug] Diagnostics for board 50:
2025-05-12 06:55:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:42 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:02 ago, cause: power up
2025-05-12 06:55:42 [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
2025-05-12 06:55:42 [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
2025-05-12 06:55:42 [debug] Moves scheduled 1261, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=346, frequency (Hz): min=2010, max=18292
Sync err accum 105, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294911802 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 06:55:42 [debug] Driver 0: pos -12137, 10060.2 steps/mm, standstill, SG min 0, mspos 664, reads 23589, writes 0 timeouts 0
2025-05-12 06:55:42 [debug] Last sensors broadcast 0x00000000 found 0 145 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 288, adv 36332/37173
2025-05-12 06:55:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:42 [info] ProbeTriggered: 0
2025-05-12 06:55:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:42 [info] PreTrigger: 1000
2025-05-12 06:55:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:44 [debug] Stopped at height -0.001 mm
2025-05-12 06:55:44 [info] currentZPosition:-6.958144e-4
2025-05-12 06:55:44 [info] tubeContactPos:-6.958e-4 contactPositions:{-6.958e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:44 [debug] Diagnostics for board 50:
2025-05-12 06:55:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:44 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:04 ago, cause: power up
2025-05-12 06:55:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:55:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:55:44 [debug] Moves scheduled 1265, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=390, frequency (Hz): min=2314, max=18292
Sync err accum 93, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294914904 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:55:44 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 27050, writes 0 timeouts 0
2025-05-12 06:55:44 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 287, adv 36377/37176
2025-05-12 06:55:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:44 [info] ProbeTriggered: 0
2025-05-12 06:55:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:44 [info] PreTrigger: 0
2025-05-12 06:55:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:46 [debug] Stopped at height -0.001 mm
2025-05-12 06:55:46 [info] currentZPosition:-8.946185e-4
2025-05-12 06:55:46 [info] tubeContactPos:-8.946e-4 contactPositions:{-8.946e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:46 [debug] Diagnostics for board 50:
2025-05-12 06:55:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:46 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:06 ago, cause: power up
2025-05-12 06:55:46 [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
2025-05-12 06:55:46 [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
2025-05-12 06:55:46 [debug] Moves scheduled 1269, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=362, frequency (Hz): min=2279, max=17045
Sync err accum 82, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294913219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:55:46 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 24188, writes 0 timeouts 0
2025-05-12 06:55:46 [debug] Last sensors broadcast 0x00000000 found 0 53 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 288, adv 35732/37172
2025-05-12 06:55:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:46 [info] ProbeTriggered: 0
2025-05-12 06:55:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:46 [info] PreTrigger: 0
2025-05-12 06:55:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:48 [debug] Stopped at height -0.000 mm
2025-05-12 06:55:48 [info] currentZPosition:-3.976082e-4
2025-05-12 06:55:48 [info] tubeContactPos:-3.976e-4 contactPositions:{-3.976e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:48 [debug] Diagnostics for board 50:
2025-05-12 06:55:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:48 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:09 ago, cause: power up
2025-05-12 06:55:48 [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
2025-05-12 06:55:48 [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
2025-05-12 06:55:48 [debug] Moves scheduled 1273, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=482, frequency (Hz): min=641, max=17857
Sync err accum 68, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294908290 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:55:48 [debug] Driver 0: pos -12134, 10060.2 steps/mm, standstill, SG min 0, mspos 616, reads 26017, writes 11 timeouts 1
2025-05-12 06:55:48 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36261/37175
2025-05-12 06:55:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:48 [info] ProbeTriggered: 0
2025-05-12 06:55:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:48 [info] PreTrigger: 1000
2025-05-12 06:55:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:50 [debug] Stopped at height -0.001 mm
2025-05-12 06:55:50 [info] currentZPosition:-7.952164e-4
2025-05-12 06:55:50 [info] tubeContactPos:-7.952e-4 contactPositions:{-7.952e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:50 [debug] Diagnostics for board 50:
2025-05-12 06:55:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:50 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:11 ago, cause: power up
2025-05-12 06:55:50 [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
2025-05-12 06:55:50 [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
2025-05-12 06:55:50 [debug] Moves scheduled 1277, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=444, frequency (Hz): min=2106, max=17857
Sync err accum 69, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294916959 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:55:50 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 24475, writes 0 timeouts 0
2025-05-12 06:55:50 [debug] Last sensors broadcast 0x00000000 found 0 156 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 289, adv 35969/37177
2025-05-12 06:55:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8934, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:50 [info] ProbeTriggered: 0
2025-05-12 06:55:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:50 [info] PreTrigger: 1000
2025-05-12 06:55:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:52 [debug] Stopped at height -0.001 mm
2025-05-12 06:55:52 [info] currentZPosition:-6.958144e-4
2025-05-12 06:55:52 [info] tubeContactPos:-6.958e-4 contactPositions:{-6.958e-4,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:52 [debug] Diagnostics for board 50:
2025-05-12 06:55:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:52 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:13 ago, cause: power up
2025-05-12 06:55:52 [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
2025-05-12 06:55:52 [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
2025-05-12 06:55:52 [debug] Moves scheduled 1281, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=377, frequency (Hz): min=2300, max=17857
Sync err accum 74, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294905301 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:55:52 [debug] Driver 0: pos -12136, 10060.2 steps/mm, standstill, SG min 0, mspos 648, reads 26592, writes 0 timeouts 0
2025-05-12 06:55:52 [debug] Last sensors broadcast 0x00000000 found 0 66 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 291, adv 36124/37177
2025-05-12 06:55:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8923, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:52 [info] ProbeTriggered: 0
2025-05-12 06:55:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:53 [info] PreTrigger: 1000
2025-05-12 06:55:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:54 [debug] Stopped at height -0.001 mm
2025-05-12 06:55:54 [info] currentZPosition:-0.00109342
2025-05-12 06:55:54 [info] tubeContactPos:-0.00109 contactPositions:{-0.00109,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:54 [debug] Diagnostics for board 50:
2025-05-12 06:55:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:54 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:15 ago, cause: power up
2025-05-12 06:55:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:55:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:55:54 [debug] Moves scheduled 1285, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=506, frequency (Hz): min=1879, max=17441
Sync err accum 76, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294912842 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:55:54 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 24359, writes 0 timeouts 0
2025-05-12 06:55:54 [debug] Last sensors broadcast 0x00000000 found 0 45 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 287, adv 36146/37173
2025-05-12 06:55:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:54 [info] ProbeTriggered: 0
2025-05-12 06:55:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:54 [info] PreTrigger: 1000
2025-05-12 06:55:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:56 [debug] Stopped at height -0.001 mm
2025-05-12 06:55:56 [info] currentZPosition:-0.00109342
2025-05-12 06:55:56 [info] tubeContactPos:-0.00109 contactPositions:{-0.00109,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:56 [debug] Diagnostics for board 50:
2025-05-12 06:55:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:56 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:17 ago, cause: power up
2025-05-12 06:55:56 [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
2025-05-12 06:55:56 [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
2025-05-12 06:55:56 [debug] Moves scheduled 1289, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=485, frequency (Hz): min=527, max=17857
Sync err accum 79, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294910232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:55:56 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 26637, writes 11 timeouts 1
2025-05-12 06:55:56 [debug] Last sensors broadcast 0x00000000 found 0 209 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 285, adv 36019/37175
2025-05-12 06:55:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8935, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:56 [info] ProbeTriggered: 0
2025-05-12 06:55:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:57 [info] PreTrigger: 1000
2025-05-12 06:55:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:58 [debug] Stopped at height -0.001 mm
2025-05-12 06:55:58 [info] currentZPosition:-0.00149103
2025-05-12 06:55:58 [info] tubeContactPos:-0.00149 contactPositions:{-0.00149,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:55:58 [debug] Diagnostics for board 50:
2025-05-12 06:55:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:55:58 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:19 ago, cause: power up
2025-05-12 06:55:58 [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
2025-05-12 06:55:58 [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
2025-05-12 06:55:58 [debug] Moves scheduled 1293, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=429, frequency (Hz): min=2192, max=17441
Sync err accum 76, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294908228 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:55:58 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 24431, writes 0 timeouts 0
2025-05-12 06:55:58 [debug] Last sensors broadcast 0x00000000 found 0 193 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 288, adv 36345/37174
2025-05-12 06:55:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:55:58 [info] ProbeTriggered: 0
2025-05-12 06:55:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:55:59 [info] PreTrigger: 1000
2025-05-12 06:55:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:55:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:00 [debug] Stopped at height -0.001 mm
2025-05-12 06:56:00 [info] currentZPosition:-0.00149103
2025-05-12 06:56:00 [info] tubeContactPos:-0.00149 contactPositions:{-0.00149,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:00 [debug] Diagnostics for board 50:
2025-05-12 06:56:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:00 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:21 ago, cause: power up
2025-05-12 06:56:00 [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
2025-05-12 06:56:00 [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
2025-05-12 06:56:00 [debug] Moves scheduled 1297, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=524, frequency (Hz): min=1798, max=18292
Sync err accum 73, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294915263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:00 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 26595, writes 0 timeouts 0
2025-05-12 06:56:00 [debug] Last sensors broadcast 0x00000000 found 0 104 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 291, adv 35911/37173
2025-05-12 06:56:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8945, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:00 [info] ProbeTriggered: 0
2025-05-12 06:56:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:01 [info] PreTrigger: 1000
2025-05-12 06:56:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:02 [debug] Stopped at height -0.001 mm
2025-05-12 06:56:02 [info] currentZPosition:-0.00139163
2025-05-12 06:56:02 [info] tubeContactPos:-0.00139 contactPositions:{-0.00139,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:02 [debug] Diagnostics for board 50:
2025-05-12 06:56:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:02 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:23 ago, cause: power up
2025-05-12 06:56:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:56:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:56:02 [debug] Moves scheduled 1301, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=500, frequency (Hz): min=1815, max=17857
Sync err accum 68, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916400 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:56:02 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 23776, writes 0 timeouts 0
2025-05-12 06:56:02 [debug] Last sensors broadcast 0x00000000 found 0 40 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 284, adv 35831/37175
2025-05-12 06:56:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:02 [info] ProbeTriggered: 0
2025-05-12 06:56:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:03 [info] PreTrigger: 1000
2025-05-12 06:56:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:04 [debug] Stopped at height -0.002 mm
2025-05-12 06:56:04 [info] currentZPosition:-0.00228625
2025-05-12 06:56:04 [info] tubeContactPos:-0.00229 contactPositions:{-0.00229,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:04 [debug] Diagnostics for board 50:
2025-05-12 06:56:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:04 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:25 ago, cause: power up
2025-05-12 06:56:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:56:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:56:04 [debug] Moves scheduled 1305, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=346, frequency (Hz): min=488, max=18292
Sync err accum 68, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294910342 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:04 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 27872, writes 11 timeouts 1
2025-05-12 06:56:04 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 128, 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 286, adv 35782/37175
2025-05-12 06:56:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4646, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:05 [info] ProbeTriggered: 0
2025-05-12 06:56:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:05 [info] PreTrigger: 1000
2025-05-12 06:56:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:06 [debug] Stopped at height -0.001 mm
2025-05-12 06:56:06 [info] currentZPosition:-0.00149103
2025-05-12 06:56:06 [info] tubeContactPos:-0.00149 contactPositions:{-0.00149,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:06 [debug] Diagnostics for board 50:
2025-05-12 06:56:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:06 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:27 ago, cause: power up
2025-05-12 06:56:06 [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
2025-05-12 06:56:06 [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
2025-05-12 06:56:06 [debug] Moves scheduled 1309, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=304, frequency (Hz): min=517, max=18292
Sync err accum 71, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294914492 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:56:06 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 22844, writes 11 timeouts 1
2025-05-12 06:56:06 [debug] Last sensors broadcast 0x00000000 found 0 158 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 286, adv 36014/37176
2025-05-12 06:56:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:06 [info] ProbeTriggered: 0
2025-05-12 06:56:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:07 [info] PreTrigger: 1000
2025-05-12 06:56:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:08 [debug] Stopped at height -0.002 mm
2025-05-12 06:56:08 [info] currentZPosition:-0.00159043
2025-05-12 06:56:08 [info] tubeContactPos:-0.00159 contactPositions:{-0.00159,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:09 [debug] Diagnostics for board 50:
2025-05-12 06:56:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:09 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:29 ago, cause: power up
2025-05-12 06:56:09 [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
2025-05-12 06:56:09 [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
2025-05-12 06:56:09 [debug] Moves scheduled 1313, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=393, frequency (Hz): min=1932, max=17857
Sync err accum 77, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294911739 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:56:09 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 26937, writes 0 timeouts 0
2025-05-12 06:56:09 [debug] Last sensors broadcast 0x00000000 found 0 92 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 289, adv 36402/37176
2025-05-12 06:56:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:09 [info] ProbeTriggered: 0
2025-05-12 06:56:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:09 [info] PreTrigger: 1000
2025-05-12 06:56:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:10 [debug] Stopped at height -0.002 mm
2025-05-12 06:56:10 [info] currentZPosition:-0.00208744
2025-05-12 06:56:10 [info] tubeContactPos:-0.00209 contactPositions:{-0.00209,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:11 [debug] Diagnostics for board 50:
2025-05-12 06:56:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:11 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:31 ago, cause: power up
2025-05-12 06:56:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:56:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:56:11 [debug] Moves scheduled 1317, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=410, frequency (Hz): min=637, max=17857
Sync err accum 81, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294904573 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:56:11 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 24572, writes 22 timeouts 2
2025-05-12 06:56:11 [debug] Last sensors broadcast 0x00000000 found 0 90 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 290, adv 36231/37177
2025-05-12 06:56:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:11 [info] ProbeTriggered: 0
2025-05-12 06:56:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:11 [info] PreTrigger: 1000
2025-05-12 06:56:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:13 [debug] Stopped at height -0.002 mm
2025-05-12 06:56:13 [info] currentZPosition:-0.00178924
2025-05-12 06:56:13 [info] tubeContactPos:-0.00179 contactPositions:{-0.00179,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:13 [debug] Diagnostics for board 50:
2025-05-12 06:56:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:13 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:33 ago, cause: power up
2025-05-12 06:56:13 [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
2025-05-12 06:56:13 [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
2025-05-12 06:56:13 [debug] Moves scheduled 1321, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=480, frequency (Hz): min=821, max=17857
Sync err accum 79, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294915170 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:13 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 26207, writes 11 timeouts 1
2025-05-12 06:56:13 [debug] Last sensors broadcast 0x00000000 found 0 222 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 283, adv 36271/37177
2025-05-12 06:56:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8934, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4647, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:13 [info] ProbeTriggered: 0
2025-05-12 06:56:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:13 [info] PreTrigger: 1000
2025-05-12 06:56:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:15 [debug] Stopped at height -0.002 mm
2025-05-12 06:56:15 [info] currentZPosition:-0.00208744
2025-05-12 06:56:15 [info] tubeContactPos:-0.00209 contactPositions:{-0.00209,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:15 [debug] Diagnostics for board 50:
2025-05-12 06:56:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:15 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:35 ago, cause: power up
2025-05-12 06:56:15 [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
2025-05-12 06:56:15 [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
2025-05-12 06:56:15 [debug] Moves scheduled 1325, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=394, frequency (Hz): min=547, max=17857
Sync err accum 77, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294915256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:56:15 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 24239, writes 11 timeouts 1
2025-05-12 06:56:15 [debug] Last sensors broadcast 0x00000000 found 0 197 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 286, adv 35715/37180
2025-05-12 06:56:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8951, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:15 [info] ProbeTriggered: 0
2025-05-12 06:56:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:15 [info] PreTrigger: 1000
2025-05-12 06:56:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:17 [debug] Stopped at height -0.002 mm
2025-05-12 06:56:17 [info] currentZPosition:-0.00188864
2025-05-12 06:56:17 [info] tubeContactPos:-0.00189 contactPositions:{-0.00189,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:17 [debug] Diagnostics for board 50:
2025-05-12 06:56:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:17 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:37 ago, cause: power up
2025-05-12 06:56:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:56:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:56:17 [debug] Moves scheduled 1329, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=378, frequency (Hz): min=782, max=17441
Sync err accum 70, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294912245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:17 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 26478, writes 11 timeouts 1
2025-05-12 06:56:17 [debug] Last sensors broadcast 0x00000000 found 0 99 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 287, adv 36130/37173
2025-05-12 06:56:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:17 [info] ProbeTriggered: 0
2025-05-12 06:56:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:17 [info] PreTrigger: 1000
2025-05-12 06:56:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:19 [debug] Stopped at height -0.002 mm
2025-05-12 06:56:19 [info] currentZPosition:-0.00188864
2025-05-12 06:56:19 [info] tubeContactPos:-0.00189 contactPositions:{-0.00189,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:19 [debug] Diagnostics for board 50:
2025-05-12 06:56:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:19 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.3%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:39 ago, cause: power up
2025-05-12 06:56:19 [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
2025-05-12 06:56:19 [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
2025-05-12 06:56:19 [debug] Moves scheduled 1333, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=366, frequency (Hz): min=2106, max=17045
Sync err accum 64, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294914404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:19 [debug] Driver 0: pos -12137, 10060.2 steps/mm, standstill, SG min 0, mspos 664, reads 23962, writes 0 timeouts 0
2025-05-12 06:56:19 [debug] Last sensors broadcast 0x00000000 found 0 38 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 285, adv 35882/37179
2025-05-12 06:56:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:19 [info] ProbeTriggered: 0
2025-05-12 06:56:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:19 [info] PreTrigger: 1000
2025-05-12 06:56:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:21 [debug] Stopped at height -0.002 mm
2025-05-12 06:56:21 [info] currentZPosition:-0.00248505
2025-05-12 06:56:21 [info] tubeContactPos:-0.00249 contactPositions:{-0.00249,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:21 [debug] Diagnostics for board 50:
2025-05-12 06:56:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:21 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:42 ago, cause: power up
2025-05-12 06:56:21 [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
2025-05-12 06:56:21 [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
2025-05-12 06:56:21 [debug] Moves scheduled 1337, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=334, frequency (Hz): min=2595, max=18292
Sync err accum 63, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294911054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:21 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 27572, writes 0 timeouts 0
2025-05-12 06:56:21 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 288, adv 36005/37176
2025-05-12 06:56:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8954, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:21 [info] ProbeTriggered: 0
2025-05-12 06:56:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:21 [info] PreTrigger: 1000
2025-05-12 06:56:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:23 [debug] Stopped at height -0.002 mm
2025-05-12 06:56:23 [info] currentZPosition:-0.00248505
2025-05-12 06:56:23 [info] tubeContactPos:-0.00249 contactPositions:{-0.00249,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:23 [debug] Diagnostics for board 50:
2025-05-12 06:56:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:23 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:44 ago, cause: power up
2025-05-12 06:56:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:56:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:56:23 [debug] Moves scheduled 1341, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=433, frequency (Hz): min=2043, max=17045
Sync err accum 66, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294908905 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:23 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 23979, writes 0 timeouts 0
2025-05-12 06:56:23 [debug] Last sensors broadcast 0x00000000 found 0 212 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 282, adv 36106/37178
2025-05-12 06:56:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8951, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:23 [info] ProbeTriggered: 0
2025-05-12 06:56:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:23 [info] PreTrigger: 1000
2025-05-12 06:56:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:25 [debug] Stopped at height -0.002 mm
2025-05-12 06:56:25 [info] currentZPosition:-0.00188864
2025-05-12 06:56:25 [info] tubeContactPos:-0.00189 contactPositions:{-0.00189,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:25 [debug] Diagnostics for board 50:
2025-05-12 06:56:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:25 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:46 ago, cause: power up
2025-05-12 06:56:25 [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
2025-05-12 06:56:25 [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
2025-05-12 06:56:25 [debug] Moves scheduled 1345, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=348, frequency (Hz): min=2136, max=17857
Sync err accum 67, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294910910 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:56:25 [debug] Driver 0: pos -12134, 10060.2 steps/mm, standstill, SG min 0, mspos 616, reads 25997, writes 0 timeouts 0
2025-05-12 06:56:25 [debug] Last sensors broadcast 0x00000000 found 0 67 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 285, adv 35892/37174
2025-05-12 06:56:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8910, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:25 [info] ProbeTriggered: 0
2025-05-12 06:56:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:26 [info] PreTrigger: 1000
2025-05-12 06:56:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:27 [debug] Stopped at height -0.004 mm
2025-05-12 06:56:27 [info] currentZPosition:-0.00357847
2025-05-12 06:56:28 [debug] Stopped at height -0.003 mm
2025-05-12 06:56:28 [info] currentZPosition:-0.00308146
2025-05-12 06:56:28 [info] tubeContactPos:-0.00308 contactPositions:{-0.00358,-0.00308,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:56:28 [debug] Diagnostics for board 50:
2025-05-12 06:56:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:28 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:48 ago, cause: power up
2025-05-12 06:56:28 [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
2025-05-12 06:56:28 [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
2025-05-12 06:56:28 [debug] Moves scheduled 1351, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=377, frequency (Hz): min=1978, max=17045
Sync err accum 63, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294912330 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:28 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 31673, writes 0 timeouts 0
2025-05-12 06:56:28 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 158, send timeouts 0, received 36, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36313/37174
2025-05-12 06:56:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:28 [info] ProbeTriggered: 0
2025-05-12 06:56:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:28 [info] PreTrigger: 1000
2025-05-12 06:56:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:30 [debug] Stopped at height -0.002 mm
2025-05-12 06:56:30 [info] currentZPosition:-0.00208744
2025-05-12 06:56:30 [info] tubeContactPos:-0.00209 contactPositions:{-0.00209,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:30 [debug] Diagnostics for board 50:
2025-05-12 06:56:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:30 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:50 ago, cause: power up
2025-05-12 06:56:30 [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
2025-05-12 06:56:30 [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
2025-05-12 06:56:30 [debug] Moves scheduled 1355, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=469, frequency (Hz): min=1802, max=17045
Sync err accum 69, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294917114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:56:30 [debug] Driver 0: pos -12135, 10060.2 steps/mm, standstill, SG min 0, mspos 632, reads 25529, writes 0 timeouts 0
2025-05-12 06:56:30 [debug] Last sensors broadcast 0x00000000 found 0 207 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 286, adv 35782/37175
2025-05-12 06:56:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8918, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:30 [info] ProbeTriggered: 0
2025-05-12 06:56:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:30 [info] PreTrigger: 0
2025-05-12 06:56:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:32 [debug] Stopped at height -0.002 mm
2025-05-12 06:56:32 [info] currentZPosition:-0.00238565
2025-05-12 06:56:32 [info] tubeContactPos:-0.00239 contactPositions:{-0.00239,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:32 [debug] Diagnostics for board 50:
2025-05-12 06:56:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:32 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:52 ago, cause: power up
2025-05-12 06:56:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:56:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:56:32 [debug] Moves scheduled 1359, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=489, frequency (Hz): min=1789, max=18292
Sync err accum 70, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294905912 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:32 [debug] Driver 0: pos -12137, 10060.2 steps/mm, standstill, SG min 0, mspos 664, reads 24354, writes 0 timeouts 0
2025-05-12 06:56:32 [debug] Last sensors broadcast 0x00000000 found 0 183 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 289, adv 35712/37172
2025-05-12 06:56:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:32 [info] ProbeTriggered: 0
2025-05-12 06:56:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:32 [info] PreTrigger: 1000
2025-05-12 06:56:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:34 [debug] Stopped at height -0.003 mm
2025-05-12 06:56:34 [info] currentZPosition:-0.00268386
2025-05-12 06:56:34 [info] tubeContactPos:-0.00268 contactPositions:{-0.00268,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:34 [debug] Diagnostics for board 50:
2025-05-12 06:56:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:34 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:54 ago, cause: power up
2025-05-12 06:56:34 [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
2025-05-12 06:56:34 [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
2025-05-12 06:56:34 [debug] Moves scheduled 1363, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=380, frequency (Hz): min=2265, max=17857
Sync err accum 70, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294918885 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:56:34 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 27088, writes 0 timeouts 0
2025-05-12 06:56:34 [debug] Last sensors broadcast 0x00000000 found 0 129 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 284, adv 35682/37178
2025-05-12 06:56:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:34 [info] ProbeTriggered: 0
2025-05-12 06:56:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:34 [info] PreTrigger: 0
2025-05-12 06:56:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:36 [debug] Stopped at height -0.003 mm
2025-05-12 06:56:36 [info] currentZPosition:-0.00258445
2025-05-12 06:56:36 [info] tubeContactPos:-0.00258 contactPositions:{-0.00258,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:36 [debug] Diagnostics for board 50:
2025-05-12 06:56:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:36 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:56 ago, cause: power up
2025-05-12 06:56:36 [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
2025-05-12 06:56:36 [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
2025-05-12 06:56:36 [debug] Moves scheduled 1367, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=356, frequency (Hz): min=2225, max=18292
Sync err accum 67, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294914475 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:56:36 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 23690, writes 0 timeouts 0
2025-05-12 06:56:36 [debug] Last sensors broadcast 0x00000000 found 0 56 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 288, adv 35926/37177
2025-05-12 06:56:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:36 [info] ProbeTriggered: 0
2025-05-12 06:56:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:36 [info] PreTrigger: 0
2025-05-12 06:56:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:38 [debug] Stopped at height -0.003 mm
2025-05-12 06:56:38 [info] currentZPosition:-0.00268386
2025-05-12 06:56:38 [info] tubeContactPos:-0.00268 contactPositions:{-0.00268,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:38 [debug] Diagnostics for board 50:
2025-05-12 06:56:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:38 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:12:59 ago, cause: power up
2025-05-12 06:56:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:56:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:56:38 [debug] Moves scheduled 1371, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=521, frequency (Hz): min=1781, max=17857
Sync err accum 66, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294911975 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:38 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 26727, writes 0 timeouts 0
2025-05-12 06:56:38 [debug] Last sensors broadcast 0x00000000 found 0 230 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 290, adv 36234/37176
2025-05-12 06:56:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:38 [info] ProbeTriggered: 0
2025-05-12 06:56:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:38 [info] PreTrigger: 0
2025-05-12 06:56:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:40 [debug] Stopped at height -0.003 mm
2025-05-12 06:56:40 [info] currentZPosition:-0.00318087
2025-05-12 06:56:40 [info] tubeContactPos:-0.00318 contactPositions:{-0.00318,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:40 [debug] Diagnostics for board 50:
2025-05-12 06:56:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:40 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:01 ago, cause: power up
2025-05-12 06:56:40 [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
2025-05-12 06:56:40 [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
2025-05-12 06:56:40 [debug] Moves scheduled 1375, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=458, frequency (Hz): min=2049, max=18292
Sync err accum 67, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294911704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:56:40 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 24468, writes 0 timeouts 0
2025-05-12 06:56:40 [debug] Last sensors broadcast 0x00000000 found 0 219 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 286, adv 36092/37174
2025-05-12 06:56:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:40 [info] ProbeTriggered: 0
2025-05-12 06:56:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:40 [info] PreTrigger: 0
2025-05-12 06:56:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:42 [debug] Stopped at height -0.003 mm
2025-05-12 06:56:42 [info] currentZPosition:-0.00298206
2025-05-12 06:56:42 [info] tubeContactPos:-0.00298 contactPositions:{-0.00298,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:42 [debug] Diagnostics for board 50:
2025-05-12 06:56:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:42 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:03 ago, cause: power up
2025-05-12 06:56:42 [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
2025-05-12 06:56:42 [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
2025-05-12 06:56:42 [debug] Moves scheduled 1379, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=344, frequency (Hz): min=2252, max=17857
Sync err accum 65, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294906647 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:42 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 26439, writes 0 timeouts 0
2025-05-12 06:56:42 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 114, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36210/37177
2025-05-12 06:56:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:42 [info] ProbeTriggered: 0
2025-05-12 06:56:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:43 [info] PreTrigger: 0
2025-05-12 06:56:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:44 [debug] Stopped at height -0.003 mm
2025-05-12 06:56:44 [info] currentZPosition:-0.00347907
2025-05-12 06:56:44 [info] tubeContactPos:-0.00348 contactPositions:{-0.00348,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:44 [debug] Diagnostics for board 50:
2025-05-12 06:56:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:44 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:05 ago, cause: power up
2025-05-12 06:56:44 [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
2025-05-12 06:56:44 [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
2025-05-12 06:56:44 [debug] Moves scheduled 1383, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=433, frequency (Hz): min=506, max=17441
Sync err accum 67, peak jitter -1/1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294908363 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:44 [debug] Driver 0: pos -12143, 10060.2 steps/mm, standstill, SG min 0, mspos 760, reads 24905, writes 11 timeouts 1
2025-05-12 06:56:44 [debug] Last sensors broadcast 0x00000000 found 0 149 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 297, adv 35880/37173
2025-05-12 06:56:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:44 [info] ProbeTriggered: 0
2025-05-12 06:56:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:45 [info] PreTrigger: 1000
2025-05-12 06:56:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:46 [debug] Stopped at height -0.003 mm
2025-05-12 06:56:46 [info] currentZPosition:-0.00268386
2025-05-12 06:56:46 [info] tubeContactPos:-0.00268 contactPositions:{-0.00268,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:46 [debug] Diagnostics for board 50:
2025-05-12 06:56:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:46 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:07 ago, cause: power up
2025-05-12 06:56:46 [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
2025-05-12 06:56:46 [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
2025-05-12 06:56:46 [debug] Moves scheduled 1387, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=372, frequency (Hz): min=2167, max=17857
Sync err accum 67, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294912702 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:46 [debug] Driver 0: pos -12134, 10060.2 steps/mm, standstill, SG min 0, mspos 616, reads 25675, writes 0 timeouts 0
2025-05-12 06:56:46 [debug] Last sensors broadcast 0x00000000 found 0 234 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 288, adv 36110/37175
2025-05-12 06:56:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:46 [info] ProbeTriggered: 0
2025-05-12 06:56:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:47 [info] PreTrigger: 0
2025-05-12 06:56:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:48 [debug] Stopped at height -0.004 mm
2025-05-12 06:56:48 [info] currentZPosition:-0.00417489
2025-05-12 06:56:49 [debug] Stopped at height -0.004 mm
2025-05-12 06:56:49 [info] currentZPosition:-0.00417489
2025-05-12 06:56:49 [info] tubeContactPos:-0.004174886 contactPositions:{-0.00417,-0.00417,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:56:49 [debug] Diagnostics for board 50:
2025-05-12 06:56:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:49 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:09 ago, cause: power up
2025-05-12 06:56:49 [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
2025-05-12 06:56:49 [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
2025-05-12 06:56:49 [debug] Moves scheduled 1393, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=332, frequency (Hz): min=2100, max=17441
Sync err accum 65, peak jitter -1/1, peak Rx delay 195, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294918932 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:49 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 31905, writes 0 timeouts 0
2025-05-12 06:56:49 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 148, 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 282, adv 36376/37178
2025-05-12 06:56:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4644, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:49 [info] ProbeTriggered: 0
2025-05-12 06:56:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:49 [info] PreTrigger: 1000
2025-05-12 06:56:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:51 [debug] Stopped at height -0.003 mm
2025-05-12 06:56:51 [info] currentZPosition:-0.00328027
2025-05-12 06:56:51 [info] tubeContactPos:-0.00328 contactPositions:{-0.00328,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:51 [debug] Diagnostics for board 50:
2025-05-12 06:56:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:51 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:11 ago, cause: power up
2025-05-12 06:56:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:56:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:56:51 [debug] Moves scheduled 1397, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=390, frequency (Hz): min=2388, max=18292
Sync err accum 68, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294914927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:56:51 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 25489, writes 0 timeouts 0
2025-05-12 06:56:51 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35983/37168
2025-05-12 06:56:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:51 [info] ProbeTriggered: 0
2025-05-12 06:56:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:51 [info] PreTrigger: 1000
2025-05-12 06:56:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:53 [debug] Stopped at height -0.003 mm
2025-05-12 06:56:53 [info] currentZPosition:-0.00337967
2025-05-12 06:56:53 [info] tubeContactPos:-0.00338 contactPositions:{-0.00338,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:53 [debug] Diagnostics for board 50:
2025-05-12 06:56:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:53 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:13 ago, cause: power up
2025-05-12 06:56:53 [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
2025-05-12 06:56:53 [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
2025-05-12 06:56:53 [debug] Moves scheduled 1401, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=598, frequency (Hz): min=1540, max=18292
Sync err accum 69, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294910846 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:53 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 24136, writes 0 timeouts 0
2025-05-12 06:56:53 [debug] Last sensors broadcast 0x00000000 found 0 101 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 287, adv 35811/37170
2025-05-12 06:56:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8936, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:53 [info] ProbeTriggered: 0
2025-05-12 06:56:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:53 [info] PreTrigger: 1000
2025-05-12 06:56:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:55 [debug] Stopped at height -0.004 mm
2025-05-12 06:56:55 [info] currentZPosition:-0.00357847
2025-05-12 06:56:55 [info] tubeContactPos:-0.00358 contactPositions:{-0.00358,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:55 [debug] Diagnostics for board 50:
2025-05-12 06:56:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:55 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:16 ago, cause: power up
2025-05-12 06:56:55 [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
2025-05-12 06:56:55 [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
2025-05-12 06:56:55 [debug] Moves scheduled 1405, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=485, frequency (Hz): min=1824, max=17441
Sync err accum 70, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294914332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:55 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 26818, writes 0 timeouts 0
2025-05-12 06:56:55 [debug] Last sensors broadcast 0x00000000 found 0 30 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 287, adv 35881/37172
2025-05-12 06:56:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:55 [info] ProbeTriggered: 0
2025-05-12 06:56:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:55 [info] PreTrigger: 0
2025-05-12 06:56:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:57 [debug] Stopped at height -0.004 mm
2025-05-12 06:56:57 [info] currentZPosition:-0.00397608
2025-05-12 06:56:57 [info] tubeContactPos:-0.00398 contactPositions:{-0.00398,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:57 [debug] Diagnostics for board 50:
2025-05-12 06:56:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:57 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:18 ago, cause: power up
2025-05-12 06:56:57 [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
2025-05-12 06:56:57 [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
2025-05-12 06:56:57 [debug] Moves scheduled 1409, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=377, frequency (Hz): min=631, max=18292
Sync err accum 69, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294908021 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:57 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 24504, writes 11 timeouts 1
2025-05-12 06:56:57 [debug] Last sensors broadcast 0x00000000 found 0 23 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 290, adv 35981/37173
2025-05-12 06:56:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:57 [info] ProbeTriggered: 0
2025-05-12 06:56:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:57 [info] PreTrigger: 0
2025-05-12 06:56:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:56:59 [debug] Stopped at height -0.004 mm
2025-05-12 06:56:59 [info] currentZPosition:-0.00427429
2025-05-12 06:56:59 [info] tubeContactPos:-0.00427 contactPositions:{-0.00427,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:56:59 [debug] Diagnostics for board 50:
2025-05-12 06:56:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:56:59 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:20 ago, cause: power up
2025-05-12 06:56:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:56:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:56:59 [debug] Moves scheduled 1413, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=360, frequency (Hz): min=782, max=18292
Sync err accum 69, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294909475 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:56:59 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 27029, writes 11 timeouts 1
2025-05-12 06:56:59 [debug] Last sensors broadcast 0x00000000 found 0 218 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 290, adv 35756/37174
2025-05-12 06:56:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:56:59 [info] ProbeTriggered: 0
2025-05-12 06:56:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:56:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:00 [info] PreTrigger: 0
2025-05-12 06:57:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:01 [debug] Stopped at height -0.004 mm
2025-05-12 06:57:01 [info] currentZPosition:-0.00357847
2025-05-12 06:57:01 [info] tubeContactPos:-0.00358 contactPositions:{-0.00358,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:01 [debug] Diagnostics for board 50:
2025-05-12 06:57:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:01 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:22 ago, cause: power up
2025-05-12 06:57:01 [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
2025-05-12 06:57:01 [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
2025-05-12 06:57:01 [debug] Moves scheduled 1417, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=564, frequency (Hz): min=1521, max=17857
Sync err accum 78, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294907793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:57:01 [debug] Driver 0: pos -12136, 10060.2 steps/mm, standstill, SG min 0, mspos 648, reads 23155, writes 0 timeouts 0
2025-05-12 06:57:01 [debug] Last sensors broadcast 0x00000000 found 0 102 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 287, adv 36157/37178
2025-05-12 06:57:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8923, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:01 [info] ProbeTriggered: 0
2025-05-12 06:57:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:02 [info] PreTrigger: 1000
2025-05-12 06:57:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:03 [debug] Stopped at height -0.004 mm
2025-05-12 06:57:03 [info] currentZPosition:-0.00377728
2025-05-12 06:57:03 [info] tubeContactPos:-0.00378 contactPositions:{-0.00378,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:03 [debug] Diagnostics for board 50:
2025-05-12 06:57:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:03 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:24 ago, cause: power up
2025-05-12 06:57:03 [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
2025-05-12 06:57:03 [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
2025-05-12 06:57:03 [debug] Moves scheduled 1421, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=377, frequency (Hz): min=2066, max=17857
Sync err accum 88, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294909408 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:57:03 [debug] Driver 0: pos -12137, 10060.2 steps/mm, standstill, SG min 0, mspos 664, reads 26811, writes 0 timeouts 0
2025-05-12 06:57:03 [debug] Last sensors broadcast 0x00000000 found 0 32 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 289, adv 36405/37173
2025-05-12 06:57:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:03 [info] ProbeTriggered: 0
2025-05-12 06:57:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:04 [info] PreTrigger: 1000
2025-05-12 06:57:04 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:05 [debug] Stopped at height -0.005 mm
2025-05-12 06:57:05 [info] currentZPosition:-0.00467190
2025-05-12 06:57:05 [info] tubeContactPos:-0.00467 contactPositions:{-0.00467,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:05 [debug] Diagnostics for board 50:
2025-05-12 06:57:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:05 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:26 ago, cause: power up
2025-05-12 06:57:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:57:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:57:05 [debug] Moves scheduled 1425, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=457, frequency (Hz): min=1829, max=17441
Sync err accum 94, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294911674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:57:05 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 25102, writes 0 timeouts 0
2025-05-12 06:57:05 [debug] Last sensors broadcast 0x00000000 found 0 73 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 285, adv 36331/37175
2025-05-12 06:57:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:05 [info] ProbeTriggered: 0
2025-05-12 06:57:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:06 [info] PreTrigger: 1000
2025-05-12 06:57:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:07 [debug] Stopped at height -0.005 mm
2025-05-12 06:57:07 [info] currentZPosition:-0.00467190
2025-05-12 06:57:07 [info] tubeContactPos:-0.00467 contactPositions:{-0.00467,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:07 [debug] Diagnostics for board 50:
2025-05-12 06:57:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:07 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:28 ago, cause: power up
2025-05-12 06:57:07 [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
2025-05-12 06:57:07 [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
2025-05-12 06:57:07 [debug] Moves scheduled 1429, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=356, frequency (Hz): min=2265, max=18292
Sync err accum 97, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294907404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:57:07 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 26671, writes 0 timeouts 0
2025-05-12 06:57:07 [debug] Last sensors broadcast 0x00000000 found 0 241 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 288, adv 36302/37173
2025-05-12 06:57:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:07 [info] ProbeTriggered: 0
2025-05-12 06:57:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:08 [info] PreTrigger: 1000
2025-05-12 06:57:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:09 [debug] Stopped at height -0.004 mm
2025-05-12 06:57:09 [info] currentZPosition:-0.00397608
2025-05-12 06:57:09 [info] tubeContactPos:-0.00398 contactPositions:{-0.00398,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:09 [debug] Diagnostics for board 50:
2025-05-12 06:57:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:09 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:30 ago, cause: power up
2025-05-12 06:57:09 [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
2025-05-12 06:57:09 [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
2025-05-12 06:57:09 [debug] Moves scheduled 1433, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=393, frequency (Hz): min=2186, max=18292
Sync err accum 95, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4294967250 ticks, enabled, next step interrupt due in 4294918047 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22
2025-05-12 06:57:09 [debug] Driver 0: pos -12136, 10060.2 steps/mm, standstill, SG min 0, mspos 648, reads 23025, writes 0 timeouts 0
2025-05-12 06:57:09 [debug] Last sensors broadcast 0x00000000 found 0 117 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 291, adv 35789/37175
2025-05-12 06:57:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8922, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:09 [info] ProbeTriggered: 0
2025-05-12 06:57:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:10 [info] PreTrigger: 1000
2025-05-12 06:57:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:11 [debug] Stopped at height -0.005 mm
2025-05-12 06:57:11 [info] currentZPosition:-0.00467190
2025-05-12 06:57:11 [info] tubeContactPos:-0.00467 contactPositions:{-0.00467,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:11 [debug] Diagnostics for board 50:
2025-05-12 06:57:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:11 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:32 ago, cause: power up
2025-05-12 06:57:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:57:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:57:11 [debug] Moves scheduled 1437, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=398, frequency (Hz): min=2300, max=17857
Sync err accum 91, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294915358 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:57:11 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 27270, writes 0 timeouts 0
2025-05-12 06:57:11 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36169/37174
2025-05-12 06:57:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:12 [info] ProbeTriggered: 0
2025-05-12 06:57:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:12 [info] PreTrigger: 1000
2025-05-12 06:57:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:13 [debug] Stopped at height -0.005 mm
2025-05-12 06:57:13 [info] currentZPosition:-0.00457249
2025-05-12 06:57:13 [info] tubeContactPos:-0.00457 contactPositions:{-0.00457,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:13 [debug] Diagnostics for board 50:
2025-05-12 06:57:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:13 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:34 ago, cause: power up
2025-05-12 06:57:13 [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
2025-05-12 06:57:13 [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
2025-05-12 06:57:13 [debug] Moves scheduled 1441, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=454, frequency (Hz): min=1685, max=17441
Sync err accum 84, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 15 ticks, enabled, next step interrupt due in 4294913890 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:57:13 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 23761, writes 0 timeouts 0
2025-05-12 06:57:13 [debug] Last sensors broadcast 0x00000000 found 0 23 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 290, adv 35930/37176
2025-05-12 06:57:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:14 [info] ProbeTriggered: 0
2025-05-12 06:57:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:14 [info] PreTrigger: 1000
2025-05-12 06:57:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:16 [debug] Stopped at height -0.004 mm
2025-05-12 06:57:16 [info] currentZPosition:-0.00417489
2025-05-12 06:57:16 [info] tubeContactPos:-0.00417 contactPositions:{-0.00417,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:16 [debug] Diagnostics for board 50:
2025-05-12 06:57:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:16 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:36 ago, cause: power up
2025-05-12 06:57:16 [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
2025-05-12 06:57:16 [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
2025-05-12 06:57:16 [debug] Moves scheduled 1445, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=374, frequency (Hz): min=2259, max=17857
Sync err accum 69, peak jitter -2/-1, peak Rx delay 191, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294916318 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:57:16 [debug] Driver 0: pos -12135, 10060.2 steps/mm, standstill, SG min 0, mspos 632, reads 25939, writes 0 timeouts 0
2025-05-12 06:57:16 [debug] Last sensors broadcast 0x00000000 found 0 132 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 285, adv 36086/37174
2025-05-12 06:57:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8917, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:16 [info] ProbeTriggered: 0
2025-05-12 06:57:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:16 [info] PreTrigger: 0
2025-05-12 06:57:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:18 [debug] Stopped at height -0.005 mm
2025-05-12 06:57:18 [info] currentZPosition:-0.00497010
2025-05-12 06:57:18 [info] tubeContactPos:-0.00497 contactPositions:{-0.00497,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:18 [debug] Diagnostics for board 50:
2025-05-12 06:57:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:18 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:38 ago, cause: power up
2025-05-12 06:57:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:57:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:57:18 [debug] Moves scheduled 1449, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=357, frequency (Hz): min=2419, max=18292
Sync err accum 66, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294915482 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:57:18 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 24890, writes 0 timeouts 0
2025-05-12 06:57:18 [debug] Last sensors broadcast 0x00000000 found 0 156 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 283, adv 36149/37179
2025-05-12 06:57:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:18 [info] ProbeTriggered: 0
2025-05-12 06:57:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:18 [info] PreTrigger: 1000
2025-05-12 06:57:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:20 [debug] Stopped at height -0.005 mm
2025-05-12 06:57:20 [info] currentZPosition:-0.00477130
2025-05-12 06:57:20 [info] tubeContactPos:-0.00477 contactPositions:{-0.00477,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:20 [debug] Diagnostics for board 50:
2025-05-12 06:57:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:20 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:40 ago, cause: power up
2025-05-12 06:57:20 [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
2025-05-12 06:57:20 [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
2025-05-12 06:57:20 [debug] Moves scheduled 1453, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=344, frequency (Hz): min=2467, max=17857
Sync err accum 68, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294907978 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:57:20 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 26497, writes 0 timeouts 0
2025-05-12 06:57:20 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35957/37171
2025-05-12 06:57:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:20 [info] ProbeTriggered: 0
2025-05-12 06:57:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:20 [info] PreTrigger: 0
2025-05-12 06:57:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:22 [debug] Stopped at height -0.005 mm
2025-05-12 06:57:22 [info] currentZPosition:-0.00497010
2025-05-12 06:57:22 [info] tubeContactPos:-0.00497 contactPositions:{-0.00497,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:22 [debug] Diagnostics for board 50:
2025-05-12 06:57:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:22 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:42 ago, cause: power up
2025-05-12 06:57:22 [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
2025-05-12 06:57:22 [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
2025-05-12 06:57:22 [debug] Moves scheduled 1457, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=366, frequency (Hz): min=514, max=17441
Sync err accum 72, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294913117 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:57:22 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 24163, writes 11 timeouts 1
2025-05-12 06:57:22 [debug] Last sensors broadcast 0x00000000 found 0 23 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 291, adv 36287/37173
2025-05-12 06:57:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:22 [info] ProbeTriggered: 0
2025-05-12 06:57:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:22 [info] PreTrigger: 1000
2025-05-12 06:57:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:24 [debug] Stopped at height -0.005 mm
2025-05-12 06:57:24 [info] currentZPosition:-0.00516891
2025-05-12 06:57:24 [info] tubeContactPos:-0.00517 contactPositions:{-0.00517,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:24 [debug] Diagnostics for board 50:
2025-05-12 06:57:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:24 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:45 ago, cause: power up
2025-05-12 06:57:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:57:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:57:24 [debug] Moves scheduled 1461, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=301, frequency (Hz): min=2475, max=17857
Sync err accum 66, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294911183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:57:24 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 26860, writes 0 timeouts 0
2025-05-12 06:57:24 [debug] Last sensors broadcast 0x00000000 found 0 205 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 290, adv 35853/37171
2025-05-12 06:57:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4644, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:24 [info] ProbeTriggered: 0
2025-05-12 06:57:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:24 [info] PreTrigger: 0
2025-05-12 06:57:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:26 [debug] Stopped at height -0.005 mm
2025-05-12 06:57:26 [info] currentZPosition:-0.00546711
2025-05-12 06:57:26 [info] tubeContactPos:-0.00547 contactPositions:{-0.00547,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:26 [debug] Diagnostics for board 50:
2025-05-12 06:57:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:26 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:47 ago, cause: power up
2025-05-12 06:57:26 [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
2025-05-12 06:57:26 [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
2025-05-12 06:57:26 [debug] Moves scheduled 1465, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=405, frequency (Hz): min=2307, max=17857
Sync err accum 63, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294915454 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:57:26 [debug] Driver 0: pos -12143, 10060.2 steps/mm, standstill, SG min 0, mspos 760, reads 24163, writes 0 timeouts 0
2025-05-12 06:57:26 [debug] Last sensors broadcast 0x00000000 found 0 176 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 289, adv 35706/37176
2025-05-12 06:57:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:26 [info] ProbeTriggered: 0
2025-05-12 06:57:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:26 [info] PreTrigger: 1000
2025-05-12 06:57:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:28 [debug] Stopped at height -0.005 mm
2025-05-12 06:57:28 [info] currentZPosition:-0.00506950
2025-05-12 06:57:28 [info] tubeContactPos:-0.00507 contactPositions:{-0.00507,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:28 [debug] Diagnostics for board 50:
2025-05-12 06:57:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:28 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:49 ago, cause: power up
2025-05-12 06:57:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:57:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:57:28 [debug] Moves scheduled 1469, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=341, frequency (Hz): min=2427, max=17857
Sync err accum 71, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294918269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:57:28 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 25979, writes 0 timeouts 0
2025-05-12 06:57:28 [debug] Last sensors broadcast 0x00000000 found 0 39 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 288, adv 35727/37175
2025-05-12 06:57:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:28 [info] ProbeTriggered: 0
2025-05-12 06:57:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:29 [info] PreTrigger: 1000
2025-05-12 06:57:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:30 [debug] Stopped at height -0.006 mm
2025-05-12 06:57:30 [info] currentZPosition:-0.00596412
2025-05-12 06:57:30 [info] tubeContactPos:-0.00596 contactPositions:{-0.00596,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:30 [debug] Diagnostics for board 50:
2025-05-12 06:57:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:30 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:51 ago, cause: power up
2025-05-12 06:57:30 [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
2025-05-12 06:57:30 [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
2025-05-12 06:57:30 [debug] Moves scheduled 1473, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=337, frequency (Hz): min=1963, max=17857
Sync err accum 80, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294907538 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:57:30 [debug] Driver 0: pos -12146, 10060.2 steps/mm, standstill, SG min 0, mspos 808, reads 25157, writes 0 timeouts 0
2025-05-12 06:57:30 [debug] Last sensors broadcast 0x00000000 found 0 84 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 288, adv 35895/37170
2025-05-12 06:57:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:30 [info] ProbeTriggered: 0
2025-05-12 06:57:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:31 [info] PreTrigger: 1000
2025-05-12 06:57:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:32 [debug] Stopped at height -0.006 mm
2025-05-12 06:57:32 [info] currentZPosition:-0.00556652
2025-05-12 06:57:32 [info] tubeContactPos:-0.00557 contactPositions:{-0.00557,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:32 [debug] Diagnostics for board 50:
2025-05-12 06:57:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:32 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:53 ago, cause: power up
2025-05-12 06:57:32 [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
2025-05-12 06:57:32 [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
2025-05-12 06:57:32 [debug] Moves scheduled 1477, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=289, frequency (Hz): min=2533, max=18292
Sync err accum 85, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294918457 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:57:32 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 25923, writes 0 timeouts 0
2025-05-12 06:57:32 [debug] Last sensors broadcast 0x00000000 found 0 198 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 288, adv 36372/37176
2025-05-12 06:57:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8951, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4649, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:32 [info] ProbeTriggered: 0
2025-05-12 06:57:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:33 [info] PreTrigger: 1000
2025-05-12 06:57:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:34 [debug] Stopped at height -0.005 mm
2025-05-12 06:57:34 [info] currentZPosition:-0.00536771
2025-05-12 06:57:34 [info] tubeContactPos:-0.00537 contactPositions:{-0.00537,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:34 [debug] Diagnostics for board 50:
2025-05-12 06:57:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:34 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:55 ago, cause: power up
2025-05-12 06:57:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:57:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:57:34 [debug] Moves scheduled 1481, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=376, frequency (Hz): min=932, max=17857
Sync err accum 90, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294909813 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:57:34 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 23739, writes 11 timeouts 1
2025-05-12 06:57:34 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36064/37176
2025-05-12 06:57:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:34 [info] ProbeTriggered: 0
2025-05-12 06:57:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:35 [info] PreTrigger: 1000
2025-05-12 06:57:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:36 [debug] Stopped at height -0.005 mm
2025-05-12 06:57:36 [info] currentZPosition:-0.00536771
2025-05-12 06:57:36 [info] tubeContactPos:-0.00537 contactPositions:{-0.00537,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:36 [debug] Diagnostics for board 50:
2025-05-12 06:57:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:36 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:57 ago, cause: power up
2025-05-12 06:57:36 [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
2025-05-12 06:57:36 [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
2025-05-12 06:57:36 [debug] Moves scheduled 1485, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=372, frequency (Hz): min=2016, max=17441
Sync err accum 91, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294913911 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:57:36 [debug] Driver 0: pos -12137, 10060.2 steps/mm, standstill, SG min 0, mspos 664, reads 26548, writes 0 timeouts 0
2025-05-12 06:57:36 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36270/37175
2025-05-12 06:57:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:36 [info] ProbeTriggered: 0
2025-05-12 06:57:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:37 [info] PreTrigger: 1000
2025-05-12 06:57:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:38 [debug] Stopped at height -0.006 mm
2025-05-12 06:57:38 [info] currentZPosition:-0.00626233
2025-05-12 06:57:38 [info] tubeContactPos:-0.00626 contactPositions:{-0.00626,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:38 [debug] Diagnostics for board 50:
2025-05-12 06:57:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:38 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:13:59 ago, cause: power up
2025-05-12 06:57:38 [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
2025-05-12 06:57:38 [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
2025-05-12 06:57:38 [debug] Moves scheduled 1489, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=414, frequency (Hz): min=1847, max=17857
Sync err accum 88, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294913221 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:57:38 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 25027, writes 0 timeouts 0
2025-05-12 06:57:38 [debug] Last sensors broadcast 0x00000000 found 0 63 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 283, adv 36242/37174
2025-05-12 06:57:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:38 [info] ProbeTriggered: 0
2025-05-12 06:57:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:39 [info] PreTrigger: 1000
2025-05-12 06:57:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:40 [debug] Stopped at height -0.005 mm
2025-05-12 06:57:40 [info] currentZPosition:-0.00546711
2025-05-12 06:57:40 [info] tubeContactPos:-0.00547 contactPositions:{-0.00547,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:40 [debug] Diagnostics for board 50:
2025-05-12 06:57:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:40 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:01 ago, cause: power up
2025-05-12 06:57:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:57:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:57:40 [debug] Moves scheduled 1493, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=432, frequency (Hz): min=2180, max=18292
Sync err accum 82, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294911365 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:57:40 [debug] Driver 0: pos -12137, 10060.2 steps/mm, standstill, SG min 0, mspos 664, reads 25695, writes 0 timeouts 0
2025-05-12 06:57:40 [debug] Last sensors broadcast 0x00000000 found 0 153 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 284, adv 36157/37176
2025-05-12 06:57:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:40 [info] ProbeTriggered: 0
2025-05-12 06:57:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:41 [info] PreTrigger: 0
2025-05-12 06:57:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:42 [debug] Stopped at height -0.006 mm
2025-05-12 06:57:42 [info] currentZPosition:-0.00566592
2025-05-12 06:57:42 [info] tubeContactPos:-0.00567 contactPositions:{-0.00567,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:42 [debug] Diagnostics for board 50:
2025-05-12 06:57:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:42 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:03 ago, cause: power up
2025-05-12 06:57:42 [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
2025-05-12 06:57:42 [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
2025-05-12 06:57:42 [debug] Moves scheduled 1497, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=388, frequency (Hz): min=669, max=17857
Sync err accum 72, peak jitter -1/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294907046 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:57:42 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 24366, writes 11 timeouts 1
2025-05-12 06:57:42 [debug] Last sensors broadcast 0x00000000 found 0 139 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 287, adv 35682/37175
2025-05-12 06:57:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:42 [info] ProbeTriggered: 0
2025-05-12 06:57:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:43 [info] PreTrigger: 1000
2025-05-12 06:57:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:45 [debug] Stopped at height -0.006 mm
2025-05-12 06:57:45 [info] currentZPosition:-0.00636173
2025-05-12 06:57:45 [info] tubeContactPos:-0.00636 contactPositions:{-0.00636,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:45 [debug] Diagnostics for board 50:
2025-05-12 06:57:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:45 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:05 ago, cause: power up
2025-05-12 06:57:45 [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
2025-05-12 06:57:45 [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
2025-05-12 06:57:45 [debug] Moves scheduled 1501, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=348, frequency (Hz): min=2351, max=18292
Sync err accum 62, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294910516 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:57:45 [debug] Driver 0: pos -12146, 10060.2 steps/mm, standstill, SG min 0, mspos 808, reads 27597, writes 0 timeouts 0
2025-05-12 06:57:45 [debug] Last sensors broadcast 0x00000000 found 0 127 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 283, adv 36060/37177
2025-05-12 06:57:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:45 [info] ProbeTriggered: 0
2025-05-12 06:57:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:45 [info] PreTrigger: 1000
2025-05-12 06:57:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:46 [debug] Stopped at height -0.005 mm
2025-05-12 06:57:46 [info] currentZPosition:-0.00516891
2025-05-12 06:57:46 [info] tubeContactPos:-0.00517 contactPositions:{-0.00517,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:46 [debug] Diagnostics for board 50:
2025-05-12 06:57:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:46 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:07 ago, cause: power up
2025-05-12 06:57:46 [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
2025-05-12 06:57:46 [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
2025-05-12 06:57:46 [debug] Moves scheduled 1505, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=426, frequency (Hz): min=1994, max=17857
Sync err accum 75, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294912619 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:57:46 [debug] Driver 0: pos -12134, 10060.2 steps/mm, standstill, SG min 0, mspos 616, reads 22677, writes 0 timeouts 0
2025-05-12 06:57:46 [debug] Last sensors broadcast 0x00000000 found 0 221 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 288, adv 35848/37170
2025-05-12 06:57:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8908, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:46 [info] ProbeTriggered: 0
2025-05-12 06:57:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:47 [info] PreTrigger: 1000
2025-05-12 06:57:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:49 [debug] Stopped at height -0.006 mm
2025-05-12 06:57:49 [info] currentZPosition:-0.00596412
2025-05-12 06:57:49 [info] tubeContactPos:-0.00596 contactPositions:{-0.00596,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:49 [debug] Diagnostics for board 50:
2025-05-12 06:57:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:49 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:09 ago, cause: power up
2025-05-12 06:57:49 [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
2025-05-12 06:57:49 [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
2025-05-12 06:57:49 [debug] Moves scheduled 1509, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=480, frequency (Hz): min=527, max=17857
Sync err accum 91, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294909816 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 06:57:49 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 27616, writes 22 timeouts 2
2025-05-12 06:57:49 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35958/37174
2025-05-12 06:57:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:49 [info] ProbeTriggered: 0
2025-05-12 06:57:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:49 [info] PreTrigger: 0
2025-05-12 06:57:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:51 [debug] Stopped at height -0.007 mm
2025-05-12 06:57:51 [info] currentZPosition:-0.00656054
2025-05-12 06:57:51 [info] tubeContactPos:-0.00656 contactPositions:{-0.00656,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:51 [debug] Diagnostics for board 50:
2025-05-12 06:57:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:51 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:11 ago, cause: power up
2025-05-12 06:57:51 [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
2025-05-12 06:57:51 [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
2025-05-12 06:57:51 [debug] Moves scheduled 1513, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=410, frequency (Hz): min=606, max=17857
Sync err accum 100, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294910887 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:57:51 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 24793, writes 11 timeouts 1
2025-05-12 06:57:51 [debug] Last sensors broadcast 0x00000000 found 0 238 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 310, adv 36021/37173
2025-05-12 06:57:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:51 [info] ProbeTriggered: 0
2025-05-12 06:57:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:51 [info] PreTrigger: 0
2025-05-12 06:57:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:53 [debug] Stopped at height -0.006 mm
2025-05-12 06:57:53 [info] currentZPosition:-0.00566592
2025-05-12 06:57:53 [info] tubeContactPos:-0.00567 contactPositions:{-0.00567,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:53 [debug] Diagnostics for board 50:
2025-05-12 06:57:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:53 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:13 ago, cause: power up
2025-05-12 06:57:53 [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
2025-05-12 06:57:53 [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
2025-05-12 06:57:53 [debug] Moves scheduled 1517, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=405, frequency (Hz): min=533, max=17857
Sync err accum 107, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294915270 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:57:53 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 25371, writes 11 timeouts 1
2025-05-12 06:57:53 [debug] Last sensors broadcast 0x00000000 found 0 57 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 290, adv 35827/37174
2025-05-12 06:57:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:53 [info] ProbeTriggered: 0
2025-05-12 06:57:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:53 [info] PreTrigger: 1000
2025-05-12 06:57:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:55 [debug] Stopped at height -0.006 mm
2025-05-12 06:57:55 [info] currentZPosition:-0.00626233
2025-05-12 06:57:55 [info] tubeContactPos:-0.00626 contactPositions:{-0.00626,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:55 [debug] Diagnostics for board 50:
2025-05-12 06:57:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:55 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:15 ago, cause: power up
2025-05-12 06:57:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:57:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:57:55 [debug] Moves scheduled 1521, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=492, frequency (Hz): min=1659, max=18292
Sync err accum 109, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294915148 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:57:55 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 24846, writes 0 timeouts 0
2025-05-12 06:57:55 [debug] Last sensors broadcast 0x00000000 found 0 75 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 294, adv 36165/37171
2025-05-12 06:57:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:55 [info] ProbeTriggered: 0
2025-05-12 06:57:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:55 [info] PreTrigger: 0
2025-05-12 06:57:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:57 [debug] Stopped at height -0.006 mm
2025-05-12 06:57:57 [info] currentZPosition:-0.00566592
2025-05-12 06:57:57 [info] tubeContactPos:-0.00567 contactPositions:{-0.00567,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:57 [debug] Diagnostics for board 50:
2025-05-12 06:57:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:57 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:18 ago, cause: power up
2025-05-12 06:57:57 [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
2025-05-12 06:57:57 [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
2025-05-12 06:57:57 [debug] Moves scheduled 1525, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=336, frequency (Hz): min=2500, max=17857
Sync err accum 114, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294911953 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:57:57 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 25934, writes 0 timeouts 0
2025-05-12 06:57:57 [debug] Last sensors broadcast 0x00000000 found 0 185 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 284, adv 35734/37176
2025-05-12 06:57:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:57 [info] ProbeTriggered: 0
2025-05-12 06:57:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:57 [info] PreTrigger: 0
2025-05-12 06:57:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:59 [debug] Stopped at height -0.006 mm
2025-05-12 06:57:59 [info] currentZPosition:-0.00626233
2025-05-12 06:57:59 [info] tubeContactPos:-0.00626 contactPositions:{-0.00626,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:57:59 [debug] Diagnostics for board 50:
2025-05-12 06:57:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:57:59 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:20 ago, cause: power up
2025-05-12 06:57:59 [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
2025-05-12 06:57:59 [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
2025-05-12 06:57:59 [debug] Moves scheduled 1529, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=360, frequency (Hz): min=1943, max=17857
Sync err accum 112, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294912641 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:57:59 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 24858, writes 0 timeouts 0
2025-05-12 06:57:59 [debug] Last sensors broadcast 0x00000000 found 0 211 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 291, adv 36335/37177
2025-05-12 06:57:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:57:59 [info] ProbeTriggered: 0
2025-05-12 06:57:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:57:59 [info] PreTrigger: 1000
2025-05-12 06:57:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:57:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:01 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:01 [info] currentZPosition:-0.00646113
2025-05-12 06:58:01 [info] tubeContactPos:-0.00646 contactPositions:{-0.00646,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:01 [debug] Diagnostics for board 50:
2025-05-12 06:58:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:01 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:22 ago, cause: power up
2025-05-12 06:58:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:58:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:58:01 [debug] Moves scheduled 1533, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=421, frequency (Hz): min=1789, max=18292
Sync err accum 107, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294915745 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:58:01 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 26920, writes 0 timeouts 0
2025-05-12 06:58:01 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 292, adv 36366/37176
2025-05-12 06:58:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:01 [info] ProbeTriggered: 0
2025-05-12 06:58:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:02 [info] PreTrigger: 0
2025-05-12 06:58:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:03 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:03 [info] currentZPosition:-0.00576532
2025-05-12 06:58:03 [info] tubeContactPos:-0.00577 contactPositions:{-0.00577,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:03 [debug] Diagnostics for board 50:
2025-05-12 06:58:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:03 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:24 ago, cause: power up
2025-05-12 06:58:03 [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
2025-05-12 06:58:03 [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
2025-05-12 06:58:03 [debug] Moves scheduled 1537, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=389, frequency (Hz): min=2130, max=18292
Sync err accum 98, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294912325 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:58:03 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 23186, writes 0 timeouts 0
2025-05-12 06:58:03 [debug] Last sensors broadcast 0x00000000 found 0 29 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 293, adv 36279/37176
2025-05-12 06:58:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8945, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:03 [info] ProbeTriggered: 0
2025-05-12 06:58:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:03 [info] PreTrigger: 1000
2025-05-12 06:58:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:05 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:05 [info] currentZPosition:-0.00606353
2025-05-12 06:58:05 [info] tubeContactPos:-0.00606 contactPositions:{-0.00606,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:05 [debug] Diagnostics for board 50:
2025-05-12 06:58:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:05 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:26 ago, cause: power up
2025-05-12 06:58:05 [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
2025-05-12 06:58:05 [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
2025-05-12 06:58:05 [debug] Moves scheduled 1541, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=432, frequency (Hz): min=602, max=18292
Sync err accum 90, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294911674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:58:05 [debug] Driver 0: pos -12143, 10060.2 steps/mm, standstill, SG min 0, mspos 760, reads 27014, writes 11 timeouts 1
2025-05-12 06:58:05 [debug] Last sensors broadcast 0x00000000 found 0 222 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 285, adv 36258/37174
2025-05-12 06:58:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:05 [info] ProbeTriggered: 0
2025-05-12 06:58:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:06 [info] PreTrigger: 0
2025-05-12 06:58:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:07 [debug] Stopped at height -0.007 mm
2025-05-12 06:58:07 [info] currentZPosition:-0.00665994
2025-05-12 06:58:07 [info] tubeContactPos:-0.00666 contactPositions:{-0.00666,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:07 [debug] Diagnostics for board 50:
2025-05-12 06:58:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:07 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:28 ago, cause: power up
2025-05-12 06:58:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:58:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:58:07 [debug] Moves scheduled 1545, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=356, frequency (Hz): min=1875, max=17857
Sync err accum 77, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294914609 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:58:07 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 24712, writes 0 timeouts 0
2025-05-12 06:58:07 [debug] Last sensors broadcast 0x00000000 found 0 235 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 290, adv 36203/37179
2025-05-12 06:58:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:07 [info] ProbeTriggered: 0
2025-05-12 06:58:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:08 [info] PreTrigger: 0
2025-05-12 06:58:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:09 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:09 [info] currentZPosition:-0.00556652
2025-05-12 06:58:09 [info] tubeContactPos:-0.00557 contactPositions:{-0.00557,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:09 [debug] Diagnostics for board 50:
2025-05-12 06:58:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:09 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:30 ago, cause: power up
2025-05-12 06:58:09 [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
2025-05-12 06:58:09 [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
2025-05-12 06:58:09 [debug] Moves scheduled 1549, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=456, frequency (Hz): min=804, max=17857
Sync err accum 63, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294910824 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:58:09 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 25373, writes 22 timeouts 2
2025-05-12 06:58:09 [debug] Last sensors broadcast 0x00000000 found 0 47 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 284, adv 36161/37177
2025-05-12 06:58:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:09 [info] ProbeTriggered: 0
2025-05-12 06:58:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:10 [info] PreTrigger: 0
2025-05-12 06:58:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:11 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:11 [info] currentZPosition:-0.00626233
2025-05-12 06:58:11 [info] tubeContactPos:-0.00626 contactPositions:{-0.00626,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:11 [debug] Diagnostics for board 50:
2025-05-12 06:58:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:11 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:32 ago, cause: power up
2025-05-12 06:58:11 [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
2025-05-12 06:58:11 [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
2025-05-12 06:58:11 [debug] Moves scheduled 1553, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=470, frequency (Hz): min=2000, max=17857
Sync err accum 80, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294909692 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:58:11 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 24905, writes 0 timeouts 0
2025-05-12 06:58:11 [debug] Last sensors broadcast 0x00000000 found 0 73 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 285, adv 37153/37176
2025-05-12 06:58:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4644, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:11 [info] ProbeTriggered: 0
2025-05-12 06:58:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:12 [info] PreTrigger: 1000
2025-05-12 06:58:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:13 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:13 [info] currentZPosition:-0.00566592
2025-05-12 06:58:13 [info] tubeContactPos:-0.00567 contactPositions:{-0.00567,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:13 [debug] Diagnostics for board 50:
2025-05-12 06:58:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:13 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:34 ago, cause: power up
2025-05-12 06:58:13 [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
2025-05-12 06:58:13 [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
2025-05-12 06:58:13 [debug] Moves scheduled 1557, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=390, frequency (Hz): min=2071, max=18292
Sync err accum 99, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294914248 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:58:13 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 25910, writes 0 timeouts 0
2025-05-12 06:58:13 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 299, adv 36057/37168
2025-05-12 06:58:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:13 [info] ProbeTriggered: 1000
2025-05-12 06:58:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:14 [info] PreTrigger: 1000
2025-05-12 06:58:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:15 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:15 [info] currentZPosition:-0.00616293
2025-05-12 06:58:15 [info] tubeContactPos:-0.00616 contactPositions:{-0.00616,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:15 [debug] Diagnostics for board 50:
2025-05-12 06:58:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:15 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:36 ago, cause: power up
2025-05-12 06:58:15 [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
2025-05-12 06:58:15 [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
2025-05-12 06:58:15 [debug] Moves scheduled 1561, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=397, frequency (Hz): min=2314, max=17857
Sync err accum 112, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294911910 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:58:15 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 24594, writes 0 timeouts 0
2025-05-12 06:58:15 [debug] Last sensors broadcast 0x00000000 found 0 181 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 291, adv 35823/37169
2025-05-12 06:58:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:15 [info] ProbeTriggered: 0
2025-05-12 06:58:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:16 [info] PreTrigger: 0
2025-05-12 06:58:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:18 [debug] Stopped at height -0.007 mm
2025-05-12 06:58:18 [info] currentZPosition:-0.00685874
2025-05-12 06:58:18 [info] tubeContactPos:-0.00686 contactPositions:{-0.00686,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:18 [debug] Diagnostics for board 50:
2025-05-12 06:58:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:18 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:38 ago, cause: power up
2025-05-12 06:58:18 [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
2025-05-12 06:58:18 [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
2025-05-12 06:58:18 [debug] Moves scheduled 1565, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=524, frequency (Hz): min=1674, max=18292
Sync err accum 127, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294906596 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:58:18 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 27597, writes 0 timeouts 0
2025-05-12 06:58:18 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 109, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35930/37177
2025-05-12 06:58:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:18 [info] ProbeTriggered: 0
2025-05-12 06:58:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:18 [info] PreTrigger: 1000
2025-05-12 06:58:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:20 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:20 [info] currentZPosition:-0.00646113
2025-05-12 06:58:20 [info] tubeContactPos:-0.00646 contactPositions:{-0.00646,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:20 [debug] Diagnostics for board 50:
2025-05-12 06:58:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:20 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:40 ago, cause: power up
2025-05-12 06:58:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:58:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:58:20 [debug] Moves scheduled 1569, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=298, frequency (Hz): min=2442, max=17857
Sync err accum 125, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294909492 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 06:58:20 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 23909, writes 0 timeouts 0
2025-05-12 06:58:20 [debug] Last sensors broadcast 0x00000000 found 0 121 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 282, adv 35992/37179
2025-05-12 06:58:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:20 [info] ProbeTriggered: 0
2025-05-12 06:58:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:20 [info] PreTrigger: 0
2025-05-12 06:58:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:22 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:22 [info] currentZPosition:-0.00576532
2025-05-12 06:58:22 [info] tubeContactPos:-0.00577 contactPositions:{-0.00577,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:22 [debug] Diagnostics for board 50:
2025-05-12 06:58:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:22 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:42 ago, cause: power up
2025-05-12 06:58:22 [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
2025-05-12 06:58:22 [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
2025-05-12 06:58:22 [debug] Moves scheduled 1573, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=341, frequency (Hz): min=2467, max=17857
Sync err accum 122, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294915265 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:58:22 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 25802, writes 0 timeouts 0
2025-05-12 06:58:22 [debug] Last sensors broadcast 0x00000000 found 0 216 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 285, adv 35737/37177
2025-05-12 06:58:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:22 [info] ProbeTriggered: 0
2025-05-12 06:58:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:22 [info] PreTrigger: 1000
2025-05-12 06:58:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:24 [debug] Stopped at height -0.007 mm
2025-05-12 06:58:24 [info] currentZPosition:-0.00685874
2025-05-12 06:58:24 [info] tubeContactPos:-0.00686 contactPositions:{-0.00686,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:24 [debug] Diagnostics for board 50:
2025-05-12 06:58:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:24 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:44 ago, cause: power up
2025-05-12 06:58:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:58:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:58:24 [debug] Moves scheduled 1577, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=434, frequency (Hz): min=504, max=17857
Sync err accum 119, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294911677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:58:24 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 25239, writes 11 timeouts 1
2025-05-12 06:58:24 [debug] Last sensors broadcast 0x00000000 found 0 26 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 289, adv 36180/37179
2025-05-12 06:58:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:24 [info] ProbeTriggered: 0
2025-05-12 06:58:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:24 [info] PreTrigger: 1000
2025-05-12 06:58:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:26 [debug] Stopped at height -0.005 mm
2025-05-12 06:58:26 [info] currentZPosition:-0.00536771
2025-05-12 06:58:26 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:26 [info] currentZPosition:-0.00586472
2025-05-12 06:58:26 [info] tubeContactPos:-0.00586 contactPositions:{-0.00537,-0.00586,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:58:26 [debug] Diagnostics for board 50:
2025-05-12 06:58:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:26 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:47 ago, cause: power up
2025-05-12 06:58:26 [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
2025-05-12 06:58:26 [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
2025-05-12 06:58:26 [debug] Moves scheduled 1583, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=437, frequency (Hz): min=1833, max=17857
Sync err accum 107, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294915134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:58:26 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 31782, writes 0 timeouts 0
2025-05-12 06:58:26 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 114, send timeouts 0, received 36, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35721/37176
2025-05-12 06:58:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:26 [info] ProbeTriggered: 0
2025-05-12 06:58:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:27 [info] PreTrigger: 1000
2025-05-12 06:58:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:28 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:28 [info] currentZPosition:-0.00616293
2025-05-12 06:58:28 [info] tubeContactPos:-0.00616 contactPositions:{-0.00616,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:28 [debug] Diagnostics for board 50:
2025-05-12 06:58:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:28 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:49 ago, cause: power up
2025-05-12 06:58:28 [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
2025-05-12 06:58:28 [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
2025-05-12 06:58:28 [debug] Moves scheduled 1587, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=354, frequency (Hz): min=2336, max=17441
Sync err accum 97, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294909927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:58:28 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 24275, writes 0 timeouts 0
2025-05-12 06:58:28 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 124, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36354/37176
2025-05-12 06:58:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:28 [info] ProbeTriggered: 0
2025-05-12 06:58:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:29 [info] PreTrigger: 1000
2025-05-12 06:58:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:30 [debug] Stopped at height -0.007 mm
2025-05-12 06:58:30 [info] currentZPosition:-0.00675934
2025-05-12 06:58:30 [info] tubeContactPos:-0.00676 contactPositions:{-0.00676,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:30 [debug] Diagnostics for board 50:
2025-05-12 06:58:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:30 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:51 ago, cause: power up
2025-05-12 06:58:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:58:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:58:30 [debug] Moves scheduled 1591, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=454, frequency (Hz): min=2071, max=18292
Sync err accum 82, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294912959 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 06:58:30 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 27309, writes 0 timeouts 0
2025-05-12 06:58:30 [debug] Last sensors broadcast 0x00000000 found 0 65 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 287, adv 36374/37179
2025-05-12 06:58:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:31 [info] ProbeTriggered: 0
2025-05-12 06:58:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:31 [info] PreTrigger: 0
2025-05-12 06:58:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:32 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:32 [info] currentZPosition:-0.00586472
2025-05-12 06:58:32 [info] tubeContactPos:-0.00586 contactPositions:{-0.00586,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:32 [debug] Diagnostics for board 50:
2025-05-12 06:58:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:32 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:53 ago, cause: power up
2025-05-12 06:58:32 [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
2025-05-12 06:58:32 [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
2025-05-12 06:58:32 [debug] Moves scheduled 1595, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=454, frequency (Hz): min=1973, max=17045
Sync err accum 65, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294912131 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:58:32 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 22830, writes 0 timeouts 0
2025-05-12 06:58:32 [debug] Last sensors broadcast 0x00000000 found 0 177 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 287, adv 35791/37179
2025-05-12 06:58:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:32 [info] ProbeTriggered: 0
2025-05-12 06:58:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:33 [info] PreTrigger: 0
2025-05-12 06:58:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:34 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:35 [info] currentZPosition:-0.00606353
2025-05-12 06:58:35 [info] tubeContactPos:-0.00606 contactPositions:{-0.00606,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:35 [debug] Diagnostics for board 50:
2025-05-12 06:58:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:35 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:55 ago, cause: power up
2025-05-12 06:58:35 [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
2025-05-12 06:58:35 [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
2025-05-12 06:58:35 [debug] Moves scheduled 1599, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=460, frequency (Hz): min=1595, max=18292
Sync err accum 75, peak jitter -2/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294912758 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:58:35 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 26855, writes 0 timeouts 0
2025-05-12 06:58:35 [debug] Last sensors broadcast 0x00000000 found 0 112 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 288, adv 36274/37177
2025-05-12 06:58:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:35 [info] ProbeTriggered: 0
2025-05-12 06:58:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:35 [info] PreTrigger: 1000
2025-05-12 06:58:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:37 [debug] Stopped at height -0.007 mm
2025-05-12 06:58:37 [info] currentZPosition:-0.00656054
2025-05-12 06:58:37 [info] tubeContactPos:-0.00656 contactPositions:{-0.00656,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:37 [debug] Diagnostics for board 50:
2025-05-12 06:58:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:37 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:57 ago, cause: power up
2025-05-12 06:58:37 [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
2025-05-12 06:58:37 [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
2025-05-12 06:58:37 [debug] Moves scheduled 1603, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=321, frequency (Hz): min=2232, max=18292
Sync err accum 89, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294907329 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:58:37 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 24696, writes 0 timeouts 0
2025-05-12 06:58:37 [debug] Last sensors broadcast 0x00000000 found 0 123 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 288, adv 35982/37170
2025-05-12 06:58:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:37 [info] ProbeTriggered: 0
2025-05-12 06:58:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:37 [info] PreTrigger: 0
2025-05-12 06:58:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:39 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:39 [info] currentZPosition:-0.00566592
2025-05-12 06:58:39 [info] tubeContactPos:-0.00567 contactPositions:{-0.00567,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:39 [debug] Diagnostics for board 50:
2025-05-12 06:58:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:39 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:14:59 ago, cause: power up
2025-05-12 06:58:39 [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
2025-05-12 06:58:39 [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
2025-05-12 06:58:39 [debug] Moves scheduled 1607, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=429, frequency (Hz): min=1953, max=17857
Sync err accum 98, peak jitter 1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294919503 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:58:39 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 25261, writes 0 timeouts 0
2025-05-12 06:58:39 [debug] Last sensors broadcast 0x00000000 found 0 190 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 290, adv 36152/37176
2025-05-12 06:58:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8945, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:39 [info] ProbeTriggered: 0
2025-05-12 06:58:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:39 [info] PreTrigger: 1000
2025-05-12 06:58:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:41 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:41 [info] currentZPosition:-0.00636173
2025-05-12 06:58:41 [info] tubeContactPos:-0.00636 contactPositions:{-0.00636,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:41 [debug] Diagnostics for board 50:
2025-05-12 06:58:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:41 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:01 ago, cause: power up
2025-05-12 06:58:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:58:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:58:41 [debug] Moves scheduled 1611, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=482, frequency (Hz): min=546, max=17441
Sync err accum 105, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294913043 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:58:41 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 24803, writes 22 timeouts 2
2025-05-12 06:58:41 [debug] Last sensors broadcast 0x00000000 found 0 213 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 291, adv 36137/37175
2025-05-12 06:58:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:41 [info] ProbeTriggered: 0
2025-05-12 06:58:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:41 [info] PreTrigger: 1000
2025-05-12 06:58:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:43 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:43 [info] currentZPosition:-0.00576532
2025-05-12 06:58:43 [info] tubeContactPos:-0.00577 contactPositions:{-0.00577,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:43 [debug] Diagnostics for board 50:
2025-05-12 06:58:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:43 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:03 ago, cause: power up
2025-05-12 06:58:43 [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
2025-05-12 06:58:43 [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
2025-05-12 06:58:43 [debug] Moves scheduled 1615, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=401, frequency (Hz): min=501, max=17857
Sync err accum 110, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294908057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:58:43 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 25949, writes 22 timeouts 2
2025-05-12 06:58:43 [debug] Last sensors broadcast 0x00000000 found 0 77 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 291, adv 36049/37174
2025-05-12 06:58:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:43 [info] ProbeTriggered: 0
2025-05-12 06:58:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:43 [info] PreTrigger: 0
2025-05-12 06:58:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:45 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:45 [info] currentZPosition:-0.00586472
2025-05-12 06:58:45 [info] tubeContactPos:-0.00586 contactPositions:{-0.00586,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:45 [debug] Diagnostics for board 50:
2025-05-12 06:58:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:45 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:05 ago, cause: power up
2025-05-12 06:58:45 [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
2025-05-12 06:58:45 [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
2025-05-12 06:58:45 [debug] Moves scheduled 1619, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=422, frequency (Hz): min=710, max=18292
Sync err accum 114, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294906493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:58:45 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 24447, writes 11 timeouts 1
2025-05-12 06:58:45 [debug] Last sensors broadcast 0x00000000 found 0 70 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 297, adv 36295/37178
2025-05-12 06:58:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:45 [info] ProbeTriggered: 0
2025-05-12 06:58:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:45 [info] PreTrigger: 1000
2025-05-12 06:58:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:47 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:47 [info] currentZPosition:-0.00646113
2025-05-12 06:58:47 [info] tubeContactPos:-0.00646 contactPositions:{-0.00646,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:47 [debug] Diagnostics for board 50:
2025-05-12 06:58:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:47 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:08 ago, cause: power up
2025-05-12 06:58:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:58:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:58:47 [debug] Moves scheduled 1623, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=416, frequency (Hz): min=2000, max=17441
Sync err accum 113, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294910821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:58:47 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 27347, writes 0 timeouts 0
2025-05-12 06:58:47 [debug] Last sensors broadcast 0x00000000 found 0 46 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 291, adv 35951/37177
2025-05-12 06:58:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:47 [info] ProbeTriggered: 0
2025-05-12 06:58:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:48 [info] PreTrigger: 1000
2025-05-12 06:58:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:49 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:49 [info] currentZPosition:-0.00596412
2025-05-12 06:58:49 [info] tubeContactPos:-0.00596 contactPositions:{-0.00596,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:49 [debug] Diagnostics for board 50:
2025-05-12 06:58:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:49 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:10 ago, cause: power up
2025-05-12 06:58:49 [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
2025-05-12 06:58:49 [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
2025-05-12 06:58:49 [debug] Moves scheduled 1627, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=360, frequency (Hz): min=794, max=18292
Sync err accum 114, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294913456 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:58:49 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 23306, writes 11 timeouts 1
2025-05-12 06:58:49 [debug] Last sensors broadcast 0x00000000 found 0 200 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 287, adv 35737/37179
2025-05-12 06:58:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:49 [info] ProbeTriggered: 0
2025-05-12 06:58:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:49 [info] PreTrigger: 1000
2025-05-12 06:58:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:51 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:51 [info] currentZPosition:-0.00556652
2025-05-12 06:58:51 [info] tubeContactPos:-0.00557 contactPositions:{-0.00557,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:51 [debug] Diagnostics for board 50:
2025-05-12 06:58:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:51 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:12 ago, cause: power up
2025-05-12 06:58:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:58:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:58:51 [debug] Moves scheduled 1631, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=378, frequency (Hz): min=2286, max=18292
Sync err accum 109, peak jitter -2/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294911517 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:58:51 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 26122, writes 0 timeouts 0
2025-05-12 06:58:51 [debug] Last sensors broadcast 0x00000000 found 0 72 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 290, adv 35840/37176
2025-05-12 06:58:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:51 [info] ProbeTriggered: 0
2025-05-12 06:58:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:52 [info] PreTrigger: 1000
2025-05-12 06:58:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:53 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:53 [info] currentZPosition:-0.00586472
2025-05-12 06:58:53 [info] tubeContactPos:-0.00586 contactPositions:{-0.00586,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:53 [debug] Diagnostics for board 50:
2025-05-12 06:58:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:53 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:14 ago, cause: power up
2025-05-12 06:58:53 [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
2025-05-12 06:58:53 [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
2025-05-12 06:58:53 [debug] Moves scheduled 1635, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=406, frequency (Hz): min=2077, max=18292
Sync err accum 102, peak jitter -2/0, peak Rx delay 230, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294914458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 06:58:53 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 24342, writes 0 timeouts 0
2025-05-12 06:58:53 [debug] Last sensors broadcast 0x00000000 found 0 54 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 289, adv 35924/37177
2025-05-12 06:58:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:53 [info] ProbeTriggered: 0
2025-05-12 06:58:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:53 [info] PreTrigger: 0
2025-05-12 06:58:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:55 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:55 [info] currentZPosition:-0.00566592
2025-05-12 06:58:55 [info] tubeContactPos:-0.00567 contactPositions:{-0.00567,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:55 [debug] Diagnostics for board 50:
2025-05-12 06:58:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:55 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:16 ago, cause: power up
2025-05-12 06:58:55 [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
2025-05-12 06:58:55 [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
2025-05-12 06:58:55 [debug] Moves scheduled 1639, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=465, frequency (Hz): min=2032, max=18292
Sync err accum 91, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294907265 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:58:55 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 26432, writes 0 timeouts 0
2025-05-12 06:58:55 [debug] Last sensors broadcast 0x00000000 found 0 203 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 291, adv 35741/37171
2025-05-12 06:58:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:55 [info] ProbeTriggered: 0
2025-05-12 06:58:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:56 [info] PreTrigger: 0
2025-05-12 06:58:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:57 [debug] Stopped at height -0.006 mm
2025-05-12 06:58:57 [info] currentZPosition:-0.00566592
2025-05-12 06:58:57 [info] tubeContactPos:-0.00567 contactPositions:{-0.00567,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:57 [debug] Diagnostics for board 50:
2025-05-12 06:58:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:57 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:18 ago, cause: power up
2025-05-12 06:58:57 [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
2025-05-12 06:58:57 [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
2025-05-12 06:58:57 [debug] Moves scheduled 1643, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=385, frequency (Hz): min=2077, max=18292
Sync err accum 78, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294911629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 06:58:57 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 24064, writes 0 timeouts 0
2025-05-12 06:58:57 [debug] Last sensors broadcast 0x00000000 found 0 159 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 289, adv 36071/37175
2025-05-12 06:58:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4643, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:57 [info] ProbeTriggered: 0
2025-05-12 06:58:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:58 [info] PreTrigger: 1000
2025-05-12 06:58:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:58:59 [debug] Stopped at height -0.007 mm
2025-05-12 06:58:59 [info] currentZPosition:-0.00656054
2025-05-12 06:58:59 [info] tubeContactPos:-0.00656 contactPositions:{-0.00656,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:58:59 [debug] Diagnostics for board 50:
2025-05-12 06:58:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:58:59 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:20 ago, cause: power up
2025-05-12 06:58:59 [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
2025-05-12 06:58:59 [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
2025-05-12 06:58:59 [debug] Moves scheduled 1647, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=472, frequency (Hz): min=1685, max=17857
Sync err accum 62, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294907405 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 06:58:59 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 27705, writes 0 timeouts 0
2025-05-12 06:58:59 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 119, 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 288, adv 36408/37175
2025-05-12 06:58:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:58:59 [info] ProbeTriggered: 0
2025-05-12 06:58:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:58:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:00 [info] PreTrigger: 1000
2025-05-12 06:59:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:01 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:01 [info] currentZPosition:-0.00596412
2025-05-12 06:59:01 [info] tubeContactPos:-0.00596 contactPositions:{-0.00596,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:01 [debug] Diagnostics for board 50:
2025-05-12 06:59:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:01 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:22 ago, cause: power up
2025-05-12 06:59:01 [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
2025-05-12 06:59:01 [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
2025-05-12 06:59:01 [debug] Moves scheduled 1651, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=405, frequency (Hz): min=591, max=18292
Sync err accum 75, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294914575 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:59:01 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 23132, writes 11 timeouts 1
2025-05-12 06:59:01 [debug] Last sensors broadcast 0x00000000 found 0 54 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 289, adv 36258/37168
2025-05-12 06:59:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8951, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:01 [info] ProbeTriggered: 0
2025-05-12 06:59:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:02 [info] PreTrigger: 1000
2025-05-12 06:59:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:03 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:03 [info] currentZPosition:-0.00646113
2025-05-12 06:59:03 [info] tubeContactPos:-0.00646 contactPositions:{-0.00646,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:03 [debug] Diagnostics for board 50:
2025-05-12 06:59:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:03 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:24 ago, cause: power up
2025-05-12 06:59:03 [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
2025-05-12 06:59:03 [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
2025-05-12 06:59:03 [debug] Moves scheduled 1655, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=332, frequency (Hz): min=617, max=18292
Sync err accum 88, peak jitter 1/4, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294912619 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:59:03 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 27094, writes 11 timeouts 1
2025-05-12 06:59:03 [debug] Last sensors broadcast 0x00000000 found 0 9 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 286, adv 36305/37171
2025-05-12 06:59:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:03 [info] ProbeTriggered: 0
2025-05-12 06:59:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:04 [info] PreTrigger: 0
2025-05-12 06:59:04 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:05 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:05 [info] currentZPosition:-0.00596412
2025-05-12 06:59:05 [info] tubeContactPos:-0.00596 contactPositions:{-0.00596,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:05 [debug] Diagnostics for board 50:
2025-05-12 06:59:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:05 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:26 ago, cause: power up
2025-05-12 06:59:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:59:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:59:05 [debug] Moves scheduled 1659, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=598, frequency (Hz): min=1592, max=18292
Sync err accum 96, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294916172 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:59:05 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 23281, writes 0 timeouts 0
2025-05-12 06:59:05 [debug] Last sensors broadcast 0x00000000 found 0 161 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 291, adv 35702/37170
2025-05-12 06:59:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4644, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:05 [info] ProbeTriggered: 0
2025-05-12 06:59:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:06 [info] PreTrigger: 1000
2025-05-12 06:59:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:07 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:07 [info] currentZPosition:-0.00606353
2025-05-12 06:59:07 [info] tubeContactPos:-0.00606 contactPositions:{-0.00606,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:07 [debug] Diagnostics for board 50:
2025-05-12 06:59:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:07 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:28 ago, cause: power up
2025-05-12 06:59:07 [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
2025-05-12 06:59:07 [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
2025-05-12 06:59:07 [debug] Moves scheduled 1663, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=333, frequency (Hz): min=478, max=18292
Sync err accum 101, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294915345 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:59:07 [debug] Driver 0: pos -12143, 10060.2 steps/mm, standstill, SG min 0, mspos 760, reads 26608, writes 22 timeouts 2
2025-05-12 06:59:07 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 114, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36204/37174
2025-05-12 06:59:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:08 [info] ProbeTriggered: 0
2025-05-12 06:59:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:09 [info] PreTrigger: 0
2025-05-12 06:59:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:11 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:11 [info] currentZPosition:-0.00636173
2025-05-12 06:59:11 [info] tubeContactPos:-0.00636 contactPositions:{-0.00636,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:11 [debug] Diagnostics for board 50:
2025-05-12 06:59:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:11 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:31 ago, cause: power up
2025-05-12 06:59:11 [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
2025-05-12 06:59:11 [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
2025-05-12 06:59:11 [debug] Moves scheduled 1667, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=480, frequency (Hz): min=1842, max=17441
Sync err accum 102, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294917455 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:59:11 [debug] Driver 0: pos -12146, 10060.2 steps/mm, standstill, SG min 0, mspos 808, reads 40225, writes 0 timeouts 0
2025-05-12 06:59:11 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 170, 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 285, adv 35854/37173
2025-05-12 06:59:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:11 [info] ProbeTriggered: 0
2025-05-12 06:59:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:11 [info] PreTrigger: 1000
2025-05-12 06:59:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:13 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:13 [info] currentZPosition:-0.00636173
2025-05-12 06:59:13 [info] tubeContactPos:-0.00636 contactPositions:{-0.00636,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:13 [debug] Diagnostics for board 50:
2025-05-12 06:59:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:13 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:34 ago, cause: power up
2025-05-12 06:59:13 [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
2025-05-12 06:59:13 [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
2025-05-12 06:59:13 [debug] Moves scheduled 1671, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=433, frequency (Hz): min=2155, max=18292
Sync err accum 100, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294911092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 06:59:13 [debug] Driver 0: pos -12146, 10060.2 steps/mm, standstill, SG min 0, mspos 808, reads 26514, writes 0 timeouts 0
2025-05-12 06:59:13 [debug] Last sensors broadcast 0x00000000 found 0 8 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 291, adv 36098/37176
2025-05-12 06:59:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:13 [info] ProbeTriggered: 0
2025-05-12 06:59:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:13 [info] PreTrigger: 1000
2025-05-12 06:59:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:15 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:15 [info] currentZPosition:-0.00596412
2025-05-12 06:59:15 [info] tubeContactPos:-0.00596 contactPositions:{-0.00596,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:15 [debug] Diagnostics for board 50:
2025-05-12 06:59:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:15 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:36 ago, cause: power up
2025-05-12 06:59:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:59:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:59:15 [debug] Moves scheduled 1675, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=400, frequency (Hz): min=540, max=18292
Sync err accum 97, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294910542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:59:15 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 23381, writes 11 timeouts 1
2025-05-12 06:59:15 [debug] Last sensors broadcast 0x00000000 found 0 166 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 285, adv 36045/37177
2025-05-12 06:59:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:15 [info] ProbeTriggered: 0
2025-05-12 06:59:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:15 [info] PreTrigger: 1000
2025-05-12 06:59:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:17 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:17 [info] currentZPosition:-0.00596412
2025-05-12 06:59:17 [info] tubeContactPos:-0.00596 contactPositions:{-0.00596,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:17 [debug] Diagnostics for board 50:
2025-05-12 06:59:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:17 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:38 ago, cause: power up
2025-05-12 06:59:17 [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
2025-05-12 06:59:17 [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
2025-05-12 06:59:17 [debug] Moves scheduled 1679, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=338, frequency (Hz): min=2245, max=17857
Sync err accum 92, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294910313 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:59:17 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 26568, writes 0 timeouts 0
2025-05-12 06:59:17 [debug] Last sensors broadcast 0x00000000 found 0 73 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 286, adv 35983/37176
2025-05-12 06:59:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:17 [info] ProbeTriggered: 0
2025-05-12 06:59:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:18 [info] PreTrigger: 1000
2025-05-12 06:59:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:19 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:19 [info] currentZPosition:-0.00636173
2025-05-12 06:59:19 [info] tubeContactPos:-0.00636 contactPositions:{-0.00636,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:19 [debug] Diagnostics for board 50:
2025-05-12 06:59:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:19 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:40 ago, cause: power up
2025-05-12 06:59:19 [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
2025-05-12 06:59:19 [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
2025-05-12 06:59:19 [debug] Moves scheduled 1683, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=358, frequency (Hz): min=2300, max=18292
Sync err accum 82, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294916395 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:59:19 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 24489, writes 0 timeouts 0
2025-05-12 06:59:19 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 36167/37173
2025-05-12 06:59:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:19 [info] ProbeTriggered: 0
2025-05-12 06:59:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:19 [info] PreTrigger: 1000
2025-05-12 06:59:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:21 [debug] Stopped at height -0.007 mm
2025-05-12 06:59:21 [info] currentZPosition:-0.00665994
2025-05-12 06:59:21 [info] tubeContactPos:-0.00666 contactPositions:{-0.00666,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:21 [debug] Diagnostics for board 50:
2025-05-12 06:59:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:21 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:42 ago, cause: power up
2025-05-12 06:59:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:59:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:59:21 [debug] Moves scheduled 1687, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=304, frequency (Hz): min=2707, max=18292
Sync err accum 69, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294911618 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:59:21 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 26956, writes 0 timeouts 0
2025-05-12 06:59:21 [debug] Last sensors broadcast 0x00000000 found 0 248 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 285, adv 35884/37177
2025-05-12 06:59:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:21 [info] ProbeTriggered: 0
2025-05-12 06:59:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:22 [info] PreTrigger: 1000
2025-05-12 06:59:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:23 [debug] Stopped at height -0.007 mm
2025-05-12 06:59:23 [info] currentZPosition:-0.00685874
2025-05-12 06:59:23 [info] tubeContactPos:-0.00686 contactPositions:{-0.00686,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:23 [debug] Diagnostics for board 50:
2025-05-12 06:59:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:23 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,107) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:44 ago, cause: power up
2025-05-12 06:59:23 [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
2025-05-12 06:59:23 [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
2025-05-12 06:59:23 [debug] Moves scheduled 1691, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=433, frequency (Hz): min=548, max=17857
Sync err accum 72, peak jitter -2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294912977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:59:23 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 24255, writes 11 timeouts 1
2025-05-12 06:59:23 [debug] Last sensors broadcast 0x00000000 found 0 220 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 290, adv 35725/37178
2025-05-12 06:59:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:23 [info] ProbeTriggered: 1000
2025-05-12 06:59:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:24 [info] PreTrigger: 0
2025-05-12 06:59:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:25 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:25 [info] currentZPosition:-0.00646113
2025-05-12 06:59:25 [info] tubeContactPos:-0.00646 contactPositions:{-0.00646,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:25 [debug] Diagnostics for board 50:
2025-05-12 06:59:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:25 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:46 ago, cause: power up
2025-05-12 06:59:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:59:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:59:25 [debug] Moves scheduled 1695, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=386, frequency (Hz): min=2155, max=17857
Sync err accum 91, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294917623 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:59:25 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 25992, writes 0 timeouts 0
2025-05-12 06:59:25 [debug] Last sensors broadcast 0x00000000 found 0 87 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 284, adv 35781/37172
2025-05-12 06:59:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:25 [info] ProbeTriggered: 0
2025-05-12 06:59:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:26 [info] PreTrigger: 1000
2025-05-12 06:59:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:27 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:27 [info] currentZPosition:-0.00626233
2025-05-12 06:59:27 [info] tubeContactPos:-0.00626 contactPositions:{-0.00626,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:27 [debug] Diagnostics for board 50:
2025-05-12 06:59:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:27 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:48 ago, cause: power up
2025-05-12 06:59:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:59:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:59:27 [debug] Moves scheduled 1699, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=472, frequency (Hz): min=906, max=17857
Sync err accum 105, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294913074 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:59:27 [debug] Driver 0: pos -12143, 10060.2 steps/mm, standstill, SG min 0, mspos 760, reads 23718, writes 11 timeouts 1
2025-05-12 06:59:27 [debug] Last sensors broadcast 0x00000000 found 0 21 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 288, adv 35909/37172
2025-05-12 06:59:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:27 [info] ProbeTriggered: 0
2025-05-12 06:59:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:28 [info] PreTrigger: 0
2025-05-12 06:59:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a151f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:29 [debug] Stopped at height -0.007 mm
2025-05-12 06:59:29 [info] currentZPosition:-0.00725635
2025-05-12 06:59:29 [info] tubeContactPos:-0.00726 contactPositions:{-0.00726,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:29 [debug] Diagnostics for board 50:
2025-05-12 06:59:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:29 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:50 ago, cause: power up
2025-05-12 06:59:29 [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
2025-05-12 06:59:29 [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
2025-05-12 06:59:29 [debug] Moves scheduled 1703, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=396, frequency (Hz): min=689, max=17857
Sync err accum 119, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294915025 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:59:29 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 27720, writes 11 timeouts 1
2025-05-12 06:59:29 [debug] Last sensors broadcast 0x00000000 found 0 30 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 292, adv 35674/37173
2025-05-12 06:59:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:30 [info] ProbeTriggered: 0
2025-05-12 06:59:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:30 [info] PreTrigger: 0
2025-05-12 06:59:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:31 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:31 [info] currentZPosition:-0.00576532
2025-05-12 06:59:32 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:32 [info] currentZPosition:-0.00566592
2025-05-12 06:59:32 [info] tubeContactPos:-0.005715618 contactPositions:{-0.00577,-0.00567,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 06:59:32 [debug] Diagnostics for board 50:
2025-05-12 06:59:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:32 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:52 ago, cause: power up
2025-05-12 06:59:32 [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
2025-05-12 06:59:32 [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
2025-05-12 06:59:32 [debug] Moves scheduled 1709, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=362, frequency (Hz): min=610, max=17045
Sync err accum 121, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294921242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:59:32 [debug] Driver 0: pos -12137, 10060.2 steps/mm, standstill, SG min 0, mspos 664, reads 28303, writes 11 timeouts 1
2025-05-12 06:59:32 [debug] Last sensors broadcast 0x00000000 found 0 76 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 288, adv 36216/37178
2025-05-12 06:59:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:32 [info] ProbeTriggered: 0
2025-05-12 06:59:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:32 [info] PreTrigger: 1000
2025-05-12 06:59:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:34 [debug] Stopped at height -0.008 mm
2025-05-12 06:59:34 [info] currentZPosition:-0.00795216
2025-05-12 06:59:34 [debug] Stopped at height -0.005 mm
2025-05-12 06:59:34 [info] currentZPosition:-0.00546711
2025-05-12 06:59:34 [info] tubeContactPos:-0.00547 contactPositions:{-0.00795,-0.00547,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:59:34 [debug] Diagnostics for board 50:
2025-05-12 06:59:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:34 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:55 ago, cause: power up
2025-05-12 06:59:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:59:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:59:34 [debug] Moves scheduled 1715, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=472, frequency (Hz): min=1861, max=18292
Sync err accum 97, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294918903 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 06:59:34 [debug] Driver 0: pos -12136, 10060.2 steps/mm, standstill, SG min 0, mspos 648, reads 32403, writes 0 timeouts 0
2025-05-12 06:59:34 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 169, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36354/37172
2025-05-12 06:59:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:34 [info] ProbeTriggered: 0
2025-05-12 06:59:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:35 [info] PreTrigger: 1000
2025-05-12 06:59:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:36 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:36 [info] currentZPosition:-0.00646113
2025-05-12 06:59:36 [info] tubeContactPos:-0.00646 contactPositions:{-0.00646,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:36 [debug] Diagnostics for board 50:
2025-05-12 06:59:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:36 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:57 ago, cause: power up
2025-05-12 06:59:36 [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
2025-05-12 06:59:36 [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
2025-05-12 06:59:36 [debug] Moves scheduled 1719, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=388, frequency (Hz): min=2396, max=17441
Sync err accum 72, peak jitter -3/-2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 06:59:36 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 25288, writes 0 timeouts 0
2025-05-12 06:59:36 [debug] Last sensors broadcast 0x00000000 found 0 16 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 288, adv 36380/37177
2025-05-12 06:59:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:36 [info] ProbeTriggered: 0
2025-05-12 06:59:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:37 [info] PreTrigger: 1000
2025-05-12 06:59:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:38 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:38 [info] currentZPosition:-0.00556652
2025-05-12 06:59:38 [info] tubeContactPos:-0.00557 contactPositions:{-0.00557,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:38 [debug] Diagnostics for board 50:
2025-05-12 06:59:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:38 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:15:59 ago, cause: power up
2025-05-12 06:59:38 [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
2025-05-12 06:59:38 [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
2025-05-12 06:59:38 [debug] Moves scheduled 1723, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=373, frequency (Hz): min=2314, max=18292
Sync err accum 65, peak jitter -3/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294915846 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:59:38 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 25368, writes 0 timeouts 0
2025-05-12 06:59:38 [debug] Last sensors broadcast 0x00000000 found 0 74 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 288, adv 36254/37179
2025-05-12 06:59:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8936, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:39 [info] ProbeTriggered: 0
2025-05-12 06:59:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:39 [info] PreTrigger: 0
2025-05-12 06:59:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:40 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:41 [info] currentZPosition:-0.00646113
2025-05-12 06:59:41 [info] tubeContactPos:-0.00646 contactPositions:{-0.00646,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:41 [debug] Diagnostics for board 50:
2025-05-12 06:59:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:41 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.2%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:01 ago, cause: power up
2025-05-12 06:59:41 [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
2025-05-12 06:59:41 [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
2025-05-12 06:59:41 [debug] Moves scheduled 1727, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=344, frequency (Hz): min=2293, max=17857
Sync err accum 84, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294916680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:59:41 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 25117, writes 0 timeouts 0
2025-05-12 06:59:41 [debug] Last sensors broadcast 0x00000000 found 0 115 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 288, adv 35818/37175
2025-05-12 06:59:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:41 [info] ProbeTriggered: 0
2025-05-12 06:59:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:41 [info] PreTrigger: 1000
2025-05-12 06:59:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:43 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:43 [info] currentZPosition:-0.00556652
2025-05-12 06:59:43 [info] tubeContactPos:-0.00557 contactPositions:{-0.00557,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:43 [debug] Diagnostics for board 50:
2025-05-12 06:59:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:43 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:03 ago, cause: power up
2025-05-12 06:59:43 [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
2025-05-12 06:59:43 [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
2025-05-12 06:59:43 [debug] Moves scheduled 1731, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=381, frequency (Hz): min=568, max=18292
Sync err accum 101, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294916790 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:59:43 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 25387, writes 11 timeouts 1
2025-05-12 06:59:43 [debug] Last sensors broadcast 0x00000000 found 0 179 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 285, adv 36141/37175
2025-05-12 06:59:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8935, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:43 [info] ProbeTriggered: 0
2025-05-12 06:59:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:43 [info] PreTrigger: 0
2025-05-12 06:59:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:45 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:45 [info] currentZPosition:-0.00596412
2025-05-12 06:59:45 [info] tubeContactPos:-0.00596 contactPositions:{-0.00596,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:45 [debug] Diagnostics for board 50:
2025-05-12 06:59:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:45 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:05 ago, cause: power up
2025-05-12 06:59:45 [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
2025-05-12 06:59:45 [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
2025-05-12 06:59:45 [debug] Moves scheduled 1735, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=342, frequency (Hz): min=2351, max=18292
Sync err accum 114, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294910102 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:59:45 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 24521, writes 0 timeouts 0
2025-05-12 06:59:45 [debug] Last sensors broadcast 0x00000000 found 0 172 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 296, adv 35953/37174
2025-05-12 06:59:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:45 [info] ProbeTriggered: 0
2025-05-12 06:59:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:45 [info] PreTrigger: 0
2025-05-12 06:59:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:47 [debug] Stopped at height -0.007 mm
2025-05-12 06:59:47 [info] currentZPosition:-0.00675934
2025-05-12 06:59:47 [info] tubeContactPos:-0.00676 contactPositions:{-0.00676,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:47 [debug] Diagnostics for board 50:
2025-05-12 06:59:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:47 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:08 ago, cause: power up
2025-05-12 06:59:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:59:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:59:47 [debug] Moves scheduled 1739, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=457, frequency (Hz): min=1943, max=18292
Sync err accum 127, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294911984 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:59:47 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 27523, writes 0 timeouts 0
2025-05-12 06:59:47 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, 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 286, adv 36057/37175
2025-05-12 06:59:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:47 [info] ProbeTriggered: 0
2025-05-12 06:59:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:47 [info] PreTrigger: 1000
2025-05-12 06:59:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:49 [debug] Stopped at height -0.005 mm
2025-05-12 06:59:49 [info] currentZPosition:-0.00536771
2025-05-12 06:59:49 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:49 [info] currentZPosition:-0.00646113
2025-05-12 06:59:49 [info] tubeContactPos:-0.00646 contactPositions:{-0.00537,-0.00646,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 06:59:49 [debug] Diagnostics for board 50:
2025-05-12 06:59:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:49 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:10 ago, cause: power up
2025-05-12 06:59:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 06:59:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 06:59:49 [debug] Moves scheduled 1745, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=477, frequency (Hz): min=1984, max=18292
Sync err accum 112, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294916797 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:59:49 [debug] Driver 0: pos -12146, 10060.2 steps/mm, standstill, SG min 0, mspos 808, reads 29869, writes 0 timeouts 0
2025-05-12 06:59:49 [debug] Last sensors broadcast 0x00000000 found 0 103 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 285, adv 36115/37179
2025-05-12 06:59:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:49 [info] ProbeTriggered: 0
2025-05-12 06:59:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:50 [info] PreTrigger: 1000
2025-05-12 06:59:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:51 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:51 [info] currentZPosition:-0.00616293
2025-05-12 06:59:51 [info] tubeContactPos:-0.00616 contactPositions:{-0.00616,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:51 [debug] Diagnostics for board 50:
2025-05-12 06:59:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:51 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:12 ago, cause: power up
2025-05-12 06:59:51 [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
2025-05-12 06:59:51 [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
2025-05-12 06:59:51 [debug] Moves scheduled 1749, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=365, frequency (Hz): min=1456, max=18292
Sync err accum 89, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294913995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 06:59:51 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 26065, writes 0 timeouts 0
2025-05-12 06:59:51 [debug] Last sensors broadcast 0x00000000 found 0 226 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 283, adv 35962/37177
2025-05-12 06:59:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:51 [info] ProbeTriggered: 0
2025-05-12 06:59:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:52 [info] PreTrigger: 1000
2025-05-12 06:59:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:53 [debug] Stopped at height -0.007 mm
2025-05-12 06:59:53 [info] currentZPosition:-0.00735575
2025-05-12 06:59:53 [info] tubeContactPos:-0.00736 contactPositions:{-0.00736,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:53 [debug] Diagnostics for board 50:
2025-05-12 06:59:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:53 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:14 ago, cause: power up
2025-05-12 06:59:53 [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
2025-05-12 06:59:53 [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
2025-05-12 06:59:53 [debug] Moves scheduled 1753, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=406, frequency (Hz): min=1973, max=17045
Sync err accum 63, peak jitter -3/-2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294916011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 06:59:53 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 25373, writes 0 timeouts 0
2025-05-12 06:59:53 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 127, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 36258/37179
2025-05-12 06:59:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:54 [info] ProbeTriggered: 0
2025-05-12 06:59:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:54 [info] PreTrigger: 1000
2025-05-12 06:59:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:55 [debug] Stopped at height -0.006 mm
2025-05-12 06:59:55 [info] currentZPosition:-0.00626233
2025-05-12 06:59:55 [info] tubeContactPos:-0.00626 contactPositions:{-0.00626,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:56 [debug] Diagnostics for board 50:
2025-05-12 06:59:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:56 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:16 ago, cause: power up
2025-05-12 06:59:56 [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
2025-05-12 06:59:56 [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
2025-05-12 06:59:56 [debug] Moves scheduled 1757, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=440, frequency (Hz): min=518, max=17857
Sync err accum 77, peak jitter -3/5, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294908003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 06:59:56 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 25047, writes 11 timeouts 1
2025-05-12 06:59:56 [debug] Last sensors broadcast 0x00000000 found 0 95 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 393, adv 35848/37171
2025-05-12 06:59:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:56 [info] ProbeTriggered: 0
2025-05-12 06:59:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:56 [info] PreTrigger: 1000
2025-05-12 06:59:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:57 [debug] Stopped at height -0.007 mm
2025-05-12 06:59:57 [info] currentZPosition:-0.00685874
2025-05-12 06:59:58 [info] tubeContactPos:-0.00686 contactPositions:{-0.00686,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 06:59:58 [debug] Diagnostics for board 50:
2025-05-12 06:59:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 06:59:58 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:18 ago, cause: power up
2025-05-12 06:59:58 [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
2025-05-12 06:59:58 [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
2025-05-12 06:59:58 [debug] Moves scheduled 1761, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=336, frequency (Hz): min=2083, max=17857
Sync err accum 96, peak jitter 1/3, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294907860 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 06:59:58 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 24827, writes 0 timeouts 0
2025-05-12 06:59:58 [debug] Last sensors broadcast 0x00000000 found 0 121 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 288, adv 36397/37173
2025-05-12 06:59:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 06:59:58 [info] ProbeTriggered: 0
2025-05-12 06:59:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 06:59:58 [info] PreTrigger: 0
2025-05-12 06:59:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 06:59:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:00 [debug] Stopped at height -0.006 mm
2025-05-12 07:00:00 [info] currentZPosition:-0.00626233
2025-05-12 07:00:00 [info] tubeContactPos:-0.00626 contactPositions:{-0.00626,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:00 [debug] Diagnostics for board 50:
2025-05-12 07:00:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:00 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:20 ago, cause: power up
2025-05-12 07:00:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:00:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:00:00 [debug] Moves scheduled 1765, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=414, frequency (Hz): min=944, max=17857
Sync err accum 111, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294913704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:00:00 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 25785, writes 11 timeouts 1
2025-05-12 07:00:00 [debug] Last sensors broadcast 0x00000000 found 0 221 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 286, adv 35753/37173
2025-05-12 07:00:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:00 [info] ProbeTriggered: 0
2025-05-12 07:00:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 011d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:00 [info] PreTrigger: 1000
2025-05-12 07:00:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:02 [debug] Stopped at height -0.006 mm
2025-05-12 07:00:02 [info] currentZPosition:-0.00636173
2025-05-12 07:00:02 [info] tubeContactPos:-0.00636 contactPositions:{-0.00636,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:02 [debug] Diagnostics for board 50:
2025-05-12 07:00:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:02 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:22 ago, cause: power up
2025-05-12 07:00:02 [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
2025-05-12 07:00:02 [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
2025-05-12 07:00:02 [debug] Moves scheduled 1769, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=332, frequency (Hz): min=2373, max=17857
Sync err accum 126, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294910626 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:00:02 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 24092, writes 0 timeouts 0
2025-05-12 07:00:02 [debug] Last sensors broadcast 0x00000000 found 0 178 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 291, adv 35798/37170
2025-05-12 07:00:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:02 [info] ProbeTriggered: 0
2025-05-12 07:00:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:02 [info] PreTrigger: 1000
2025-05-12 07:00:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:04 [debug] Stopped at height -0.006 mm
2025-05-12 07:00:04 [info] currentZPosition:-0.00636173
2025-05-12 07:00:04 [info] tubeContactPos:-0.00636 contactPositions:{-0.00636,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:04 [debug] Diagnostics for board 50:
2025-05-12 07:00:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:04 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:24 ago, cause: power up
2025-05-12 07:00:04 [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
2025-05-12 07:00:04 [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
2025-05-12 07:00:04 [debug] Moves scheduled 1773, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=506, frequency (Hz): min=1870, max=17045
Sync err accum 122, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294918566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:00:04 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 26530, writes 0 timeouts 0
2025-05-12 07:00:04 [debug] Last sensors broadcast 0x00000000 found 0 78 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 287, adv 36406/37177
2025-05-12 07:00:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:04 [info] ProbeTriggered: 0
2025-05-12 07:00:04 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:04 [info] PreTrigger: 0
2025-05-12 07:00:04 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:06 [debug] Stopped at height -0.006 mm
2025-05-12 07:00:06 [info] currentZPosition:-0.00576532
2025-05-12 07:00:06 [info] tubeContactPos:-0.00577 contactPositions:{-0.00577,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:06 [debug] Diagnostics for board 50:
2025-05-12 07:00:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:06 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:26 ago, cause: power up
2025-05-12 07:00:06 [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
2025-05-12 07:00:06 [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
2025-05-12 07:00:06 [debug] Moves scheduled 1777, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=384, frequency (Hz): min=2161, max=17441
Sync err accum 109, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294912713 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:00:06 [debug] Driver 0: pos -12138, 10060.2 steps/mm, standstill, SG min 0, mspos 680, reads 23289, writes 0 timeouts 0
2025-05-12 07:00:06 [debug] Last sensors broadcast 0x00000000 found 0 223 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 285, adv 35984/37175
2025-05-12 07:00:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8934, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:06 [info] ProbeTriggered: 0
2025-05-12 07:00:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:06 [info] PreTrigger: 1000
2025-05-12 07:00:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:08 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:08 [info] currentZPosition:-0.00656054
2025-05-12 07:00:08 [info] tubeContactPos:-0.00656 contactPositions:{-0.00656,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:08 [debug] Diagnostics for board 50:
2025-05-12 07:00:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:08 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:29 ago, cause: power up
2025-05-12 07:00:08 [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
2025-05-12 07:00:08 [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
2025-05-12 07:00:08 [debug] Moves scheduled 1781, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=497, frequency (Hz): min=1626, max=18292
Sync err accum 90, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294916491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:00:08 [debug] Driver 0: pos -12146, 10060.2 steps/mm, standstill, SG min 0, mspos 808, reads 27514, writes 0 timeouts 0
2025-05-12 07:00:08 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, 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 287, adv 36309/37172
2025-05-12 07:00:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:08 [info] ProbeTriggered: 0
2025-05-12 07:00:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:08 [info] PreTrigger: 1000
2025-05-12 07:00:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:10 [debug] Stopped at height -0.006 mm
2025-05-12 07:00:10 [info] currentZPosition:-0.00616293
2025-05-12 07:00:10 [info] tubeContactPos:-0.00616 contactPositions:{-0.00616,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:10 [debug] Diagnostics for board 50:
2025-05-12 07:00:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:10 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:30 ago, cause: power up
2025-05-12 07:00:10 [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
2025-05-12 07:00:10 [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
2025-05-12 07:00:10 [debug] Moves scheduled 1785, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=444, frequency (Hz): min=2094, max=17441
Sync err accum 76, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294909565 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:00:10 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 23360, writes 0 timeouts 0
2025-05-12 07:00:10 [debug] Last sensors broadcast 0x00000000 found 0 115 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 289, adv 36126/37180
2025-05-12 07:00:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:10 [info] ProbeTriggered: 0
2025-05-12 07:00:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:10 [info] PreTrigger: 0
2025-05-12 07:00:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:12 [debug] Stopped at height -0.006 mm
2025-05-12 07:00:12 [info] currentZPosition:-0.00596412
2025-05-12 07:00:12 [info] tubeContactPos:-0.00596 contactPositions:{-0.00596,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:12 [debug] Diagnostics for board 50:
2025-05-12 07:00:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:12 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:33 ago, cause: power up
2025-05-12 07:00:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:00:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:00:12 [debug] Moves scheduled 1789, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=413, frequency (Hz): min=2142, max=18292
Sync err accum 62, peak jitter -3/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294918704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:00:12 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 26081, writes 0 timeouts 0
2025-05-12 07:00:12 [debug] Last sensors broadcast 0x00000000 found 0 244 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 287, adv 36206/37175
2025-05-12 07:00:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:12 [info] ProbeTriggered: 0
2025-05-12 07:00:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:12 [info] PreTrigger: 1000
2025-05-12 07:00:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:14 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:14 [info] currentZPosition:-0.00675934
2025-05-12 07:00:14 [info] tubeContactPos:-0.00676 contactPositions:{-0.00676,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:14 [debug] Diagnostics for board 50:
2025-05-12 07:00:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:14 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:35 ago, cause: power up
2025-05-12 07:00:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:00:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:00:14 [debug] Moves scheduled 1793, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=476, frequency (Hz): min=1884, max=17857
Sync err accum 77, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294913513 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:00:14 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 24867, writes 0 timeouts 0
2025-05-12 07:00:14 [debug] Last sensors broadcast 0x00000000 found 0 25 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 289, adv 36267/37167
2025-05-12 07:00:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:14 [info] ProbeTriggered: 0
2025-05-12 07:00:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:14 [info] PreTrigger: 0
2025-05-12 07:00:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:16 [debug] Stopped at height -0.006 mm
2025-05-12 07:00:16 [info] currentZPosition:-0.00626233
2025-05-12 07:00:16 [info] tubeContactPos:-0.00626 contactPositions:{-0.00626,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:16 [debug] Diagnostics for board 50:
2025-05-12 07:00:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:16 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:37 ago, cause: power up
2025-05-12 07:00:16 [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
2025-05-12 07:00:16 [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
2025-05-12 07:00:16 [debug] Moves scheduled 1797, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 38, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=421, frequency (Hz): min=2077, max=17857
Sync err accum 87, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294910130 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:00:16 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 25740, writes 0 timeouts 0
2025-05-12 07:00:16 [debug] Last sensors broadcast 0x00000000 found 0 124 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 288, adv 36130/37176
2025-05-12 07:00:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8951, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:16 [info] ProbeTriggered: 0
2025-05-12 07:00:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:17 [info] PreTrigger: 1000
2025-05-12 07:00:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:18 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:18 [info] currentZPosition:-0.00695814
2025-05-12 07:00:18 [info] tubeContactPos:-0.00696 contactPositions:{-0.00696,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:18 [debug] Diagnostics for board 50:
2025-05-12 07:00:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:18 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.1%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:39 ago, cause: power up
2025-05-12 07:00:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:00:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:00:18 [debug] Moves scheduled 1801, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=413, frequency (Hz): min=711, max=17857
Sync err accum 98, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294916540 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:00:18 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 24865, writes 11 timeouts 1
2025-05-12 07:00:18 [debug] Last sensors broadcast 0x00000000 found 0 149 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 287, adv 35692/37175
2025-05-12 07:00:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:18 [info] ProbeTriggered: 0
2025-05-12 07:00:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:19 [info] PreTrigger: 1000
2025-05-12 07:00:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:20 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:20 [info] currentZPosition:-0.00725635
2025-05-12 07:00:20 [info] tubeContactPos:-0.00726 contactPositions:{-0.00726,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:20 [debug] Diagnostics for board 50:
2025-05-12 07:00:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:20 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:41 ago, cause: power up
2025-05-12 07:00:20 [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
2025-05-12 07:00:20 [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
2025-05-12 07:00:20 [debug] Moves scheduled 1805, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=498, frequency (Hz): min=532, max=18292
Sync err accum 105, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294907300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:00:20 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 26747, writes 11 timeouts 1
2025-05-12 07:00:20 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
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 291, adv 36023/37177
2025-05-12 07:00:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:20 [info] ProbeTriggered: 0
2025-05-12 07:00:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:21 [info] PreTrigger: 1000
2025-05-12 07:00:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:22 [debug] Stopped at height -0.006 mm
2025-05-12 07:00:22 [info] currentZPosition:-0.00646113
2025-05-12 07:00:22 [info] tubeContactPos:-0.00646 contactPositions:{-0.00646,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:22 [debug] Diagnostics for board 50:
2025-05-12 07:00:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:22 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:43 ago, cause: power up
2025-05-12 07:00:22 [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
2025-05-12 07:00:22 [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
2025-05-12 07:00:22 [debug] Moves scheduled 1809, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=416, frequency (Hz): min=2218, max=18292
Sync err accum 109, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294913548 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:00:22 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 23055, writes 0 timeouts 0
2025-05-12 07:00:22 [debug] Last sensors broadcast 0x00000000 found 0 214 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 284, adv 35844/37175
2025-05-12 07:00:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:22 [info] ProbeTriggered: 0
2025-05-12 07:00:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:23 [info] PreTrigger: 1000
2025-05-12 07:00:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:24 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:24 [info] currentZPosition:-0.00695814
2025-05-12 07:00:24 [info] tubeContactPos:-0.00696 contactPositions:{-0.00696,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:24 [debug] Diagnostics for board 50:
2025-05-12 07:00:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:24 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:45 ago, cause: power up
2025-05-12 07:00:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:00:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:00:24 [debug] Moves scheduled 1813, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=377, frequency (Hz): min=2083, max=18292
Sync err accum 107, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294912065 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:00:24 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 27103, writes 0 timeouts 0
2025-05-12 07:00:24 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, 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 287, adv 35933/37175
2025-05-12 07:00:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:24 [info] ProbeTriggered: 0
2025-05-12 07:00:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:25 [info] PreTrigger: 0
2025-05-12 07:00:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:26 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:26 [info] currentZPosition:-0.00685874
2025-05-12 07:00:26 [info] tubeContactPos:-0.00686 contactPositions:{-0.00686,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:26 [debug] Diagnostics for board 50:
2025-05-12 07:00:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:26 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:47 ago, cause: power up
2025-05-12 07:00:26 [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
2025-05-12 07:00:26 [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
2025-05-12 07:00:26 [debug] Moves scheduled 1817, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=426, frequency (Hz): min=1777, max=18292
Sync err accum 105, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294913009 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:00:26 [debug] Driver 0: pos -12146, 10060.2 steps/mm, standstill, SG min 0, mspos 808, reads 23938, writes 0 timeouts 0
2025-05-12 07:00:26 [debug] Last sensors broadcast 0x00000000 found 0 119 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 285, adv 35951/37176
2025-05-12 07:00:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:26 [info] ProbeTriggered: 0
2025-05-12 07:00:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:27 [info] PreTrigger: 1000
2025-05-12 07:00:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:28 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:28 [info] currentZPosition:-0.00675934
2025-05-12 07:00:28 [info] tubeContactPos:-0.00676 contactPositions:{-0.00676,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:28 [debug] Diagnostics for board 50:
2025-05-12 07:00:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:28 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:49 ago, cause: power up
2025-05-12 07:00:28 [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
2025-05-12 07:00:28 [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
2025-05-12 07:00:28 [debug] Moves scheduled 1821, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=364, frequency (Hz): min=2427, max=17441
Sync err accum 102, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294915998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:00:28 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 26311, writes 0 timeouts 0
2025-05-12 07:00:28 [debug] Last sensors broadcast 0x00000000 found 0 9 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 291, adv 35830/37175
2025-05-12 07:00:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:28 [info] ProbeTriggered: 0
2025-05-12 07:00:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:29 [info] PreTrigger: 1000
2025-05-12 07:00:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:30 [debug] Stopped at height -0.008 mm
2025-05-12 07:00:30 [info] currentZPosition:-0.00775336
2025-05-12 07:00:30 [info] tubeContactPos:-0.00775 contactPositions:{-0.00775,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:30 [debug] Diagnostics for board 50:
2025-05-12 07:00:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:30 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:51 ago, cause: power up
2025-05-12 07:00:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:00:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:00:30 [debug] Moves scheduled 1825, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=438, frequency (Hz): min=558, max=17857
Sync err accum 95, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294910724 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:00:30 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 25121, writes 22 timeouts 2
2025-05-12 07:00:30 [debug] Last sensors broadcast 0x00000000 found 0 69 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 288, adv 36093/37178
2025-05-12 07:00:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:31 [info] ProbeTriggered: 0
2025-05-12 07:00:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:31 [info] PreTrigger: 1000
2025-05-12 07:00:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:33 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:33 [info] currentZPosition:-0.00675934
2025-05-12 07:00:33 [info] tubeContactPos:-0.00676 contactPositions:{-0.00676,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:33 [debug] Diagnostics for board 50:
2025-05-12 07:00:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:33 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:53 ago, cause: power up
2025-05-12 07:00:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:00:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:00:33 [debug] Moves scheduled 1829, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=454, frequency (Hz): min=1963, max=17045
Sync err accum 86, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294913642 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:00:33 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 25142, writes 0 timeouts 0
2025-05-12 07:00:33 [debug] Last sensors broadcast 0x00000000 found 0 121 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 290, adv 35734/37176
2025-05-12 07:00:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:33 [info] ProbeTriggered: 0
2025-05-12 07:00:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:33 [info] PreTrigger: 1000
2025-05-12 07:00:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:35 [debug] Stopped at height -0.008 mm
2025-05-12 07:00:35 [info] currentZPosition:-0.00765396
2025-05-12 07:00:35 [info] tubeContactPos:-0.00765 contactPositions:{-0.00765,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:35 [debug] Diagnostics for board 50:
2025-05-12 07:00:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:35 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:55 ago, cause: power up
2025-05-12 07:00:35 [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
2025-05-12 07:00:35 [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
2025-05-12 07:00:35 [debug] Moves scheduled 1833, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=394, frequency (Hz): min=2205, max=17441
Sync err accum 73, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294915419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:00:35 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 25041, writes 0 timeouts 0
2025-05-12 07:00:35 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 120, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36332/37177
2025-05-12 07:00:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:35 [info] ProbeTriggered: 0
2025-05-12 07:00:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:35 [info] PreTrigger: 1000
2025-05-12 07:00:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:37 [debug] Stopped at height -0.008 mm
2025-05-12 07:00:37 [info] currentZPosition:-0.00755456
2025-05-12 07:00:37 [info] tubeContactPos:-0.00755 contactPositions:{-0.00755,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:37 [debug] Diagnostics for board 50:
2025-05-12 07:00:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:37 [debug] Never used RAM 51300, free system stack 170 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:57 ago, cause: power up
2025-05-12 07:00:37 [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
2025-05-12 07:00:37 [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
2025-05-12 07:00:37 [debug] Moves scheduled 1837, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 85, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=404, frequency (Hz): min=2094, max=17441
Sync err accum 65, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294907197 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:00:37 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 26144, writes 0 timeouts 0
2025-05-12 07:00:37 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 134, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36328/37179
2025-05-12 07:00:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:37 [info] ProbeTriggered: 0
2025-05-12 07:00:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:37 [info] PreTrigger: 1000
2025-05-12 07:00:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:39 [debug] Stopped at height -0.006 mm
2025-05-12 07:00:39 [info] currentZPosition:-0.00646113
2025-05-12 07:00:39 [info] tubeContactPos:-0.00646 contactPositions:{-0.00646,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:39 [debug] Diagnostics for board 50:
2025-05-12 07:00:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:39 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:16:59 ago, cause: power up
2025-05-12 07:00:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:00:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:00:39 [debug] Moves scheduled 1841, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=380, frequency (Hz): min=2265, max=18292
Sync err accum 75, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294913993 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:00:39 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 22592, writes 0 timeouts 0
2025-05-12 07:00:39 [debug] Last sensors broadcast 0x00000000 found 0 160 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 288, adv 35802/37175
2025-05-12 07:00:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:39 [info] ProbeTriggered: 0
2025-05-12 07:00:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:39 [info] PreTrigger: 1000
2025-05-12 07:00:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:41 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:41 [info] currentZPosition:-0.00715695
2025-05-12 07:00:41 [info] tubeContactPos:-0.00716 contactPositions:{-0.00716,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:41 [debug] Diagnostics for board 50:
2025-05-12 07:00:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:41 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:02 ago, cause: power up
2025-05-12 07:00:41 [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
2025-05-12 07:00:41 [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
2025-05-12 07:00:41 [debug] Moves scheduled 1845, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=384, frequency (Hz): min=2130, max=17857
Sync err accum 82, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294909537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:00:41 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 28367, writes 0 timeouts 0
2025-05-12 07:00:41 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 286, adv 36170/37177
2025-05-12 07:00:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:41 [info] ProbeTriggered: 0
2025-05-12 07:00:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 411d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:41 [info] PreTrigger: 1000
2025-05-12 07:00:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:43 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:43 [info] currentZPosition:-0.00705755
2025-05-12 07:00:43 [info] tubeContactPos:-0.00706 contactPositions:{-0.00706,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:43 [debug] Diagnostics for board 50:
2025-05-12 07:00:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:43 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:04 ago, cause: power up
2025-05-12 07:00:43 [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
2025-05-12 07:00:43 [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
2025-05-12 07:00:43 [debug] Moves scheduled 1849, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=405, frequency (Hz): min=2279, max=17857
Sync err accum 85, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294907151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:00:43 [debug] Driver 0: pos -12146, 10060.2 steps/mm, standstill, SG min 0, mspos 808, reads 23945, writes 0 timeouts 0
2025-05-12 07:00:43 [debug] Last sensors broadcast 0x00000000 found 0 175 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 283, adv 35888/37175
2025-05-12 07:00:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:43 [info] ProbeTriggered: 0
2025-05-12 07:00:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:43 [info] PreTrigger: 1000
2025-05-12 07:00:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:45 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:45 [info] currentZPosition:-0.00685874
2025-05-12 07:00:45 [info] tubeContactPos:-0.00686 contactPositions:{-0.00686,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:45 [debug] Diagnostics for board 50:
2025-05-12 07:00:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:45 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:06 ago, cause: power up
2025-05-12 07:00:45 [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
2025-05-12 07:00:45 [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
2025-05-12 07:00:45 [debug] Moves scheduled 1853, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=358, frequency (Hz): min=1963, max=17857
Sync err accum 84, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294914297 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:00:45 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 26164, writes 0 timeouts 0
2025-05-12 07:00:45 [debug] Last sensors broadcast 0x00000000 found 0 56 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 289, adv 36032/37173
2025-05-12 07:00:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8965, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:45 [info] ProbeTriggered: 0
2025-05-12 07:00:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:46 [info] PreTrigger: 1000
2025-05-12 07:00:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:47 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:47 [info] currentZPosition:-0.00725635
2025-05-12 07:00:47 [info] tubeContactPos:-0.00726 contactPositions:{-0.00726,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:47 [debug] Diagnostics for board 50:
2025-05-12 07:00:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:47 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:08 ago, cause: power up
2025-05-12 07:00:47 [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
2025-05-12 07:00:47 [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
2025-05-12 07:00:47 [debug] Moves scheduled 1857, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=473, frequency (Hz): min=490, max=17857
Sync err accum 82, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294911248 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:00:47 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 24301, writes 11 timeouts 1
2025-05-12 07:00:47 [debug] Last sensors broadcast 0x00000000 found 0 44 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 282, adv 36033/37174
2025-05-12 07:00:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:47 [info] ProbeTriggered: 0
2025-05-12 07:00:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:47 [info] PreTrigger: 1000
2025-05-12 07:00:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:49 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:49 [info] currentZPosition:-0.00685874
2025-05-12 07:00:49 [info] tubeContactPos:-0.00686 contactPositions:{-0.00686,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:49 [debug] Diagnostics for board 50:
2025-05-12 07:00:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:49 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:10 ago, cause: power up
2025-05-12 07:00:49 [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
2025-05-12 07:00:49 [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
2025-05-12 07:00:49 [debug] Moves scheduled 1861, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=425, frequency (Hz): min=1811, max=17441
Sync err accum 76, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294913823 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:00:49 [debug] Driver 0: pos -12143, 10060.2 steps/mm, standstill, SG min 0, mspos 760, reads 25885, writes 0 timeouts 0
2025-05-12 07:00:49 [debug] Last sensors broadcast 0x00000000 found 0 154 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 291, adv 35908/37178
2025-05-12 07:00:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:49 [info] ProbeTriggered: 0
2025-05-12 07:00:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:50 [info] PreTrigger: 1000
2025-05-12 07:00:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:51 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:51 [info] currentZPosition:-0.00705755
2025-05-12 07:00:51 [info] tubeContactPos:-0.00706 contactPositions:{-0.00706,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:51 [debug] Diagnostics for board 50:
2025-05-12 07:00:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:51 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:12 ago, cause: power up
2025-05-12 07:00:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:00:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:00:51 [debug] Moves scheduled 1865, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=365, frequency (Hz): min=1963, max=18292
Sync err accum 70, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294917768 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:00:51 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 24062, writes 0 timeouts 0
2025-05-12 07:00:51 [debug] Last sensors broadcast 0x00000000 found 0 119 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 290, adv 36283/37180
2025-05-12 07:00:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:51 [info] ProbeTriggered: 0
2025-05-12 07:00:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:52 [info] PreTrigger: 1000
2025-05-12 07:00:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:53 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:53 [info] currentZPosition:-0.00735575
2025-05-12 07:00:53 [info] tubeContactPos:-0.00736 contactPositions:{-0.00736,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:53 [debug] Diagnostics for board 50:
2025-05-12 07:00:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:53 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:14 ago, cause: power up
2025-05-12 07:00:53 [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
2025-05-12 07:00:53 [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
2025-05-12 07:00:53 [debug] Moves scheduled 1869, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=517, frequency (Hz): min=1833, max=17857
Sync err accum 65, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294915236 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:00:53 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 26779, writes 0 timeouts 0
2025-05-12 07:00:53 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, 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 284, adv 35758/37177
2025-05-12 07:00:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:53 [info] ProbeTriggered: 0
2025-05-12 07:00:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:54 [info] PreTrigger: 1000
2025-05-12 07:00:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:55 [debug] Stopped at height -0.007 mm
2025-05-12 07:00:55 [info] currentZPosition:-0.00665994
2025-05-12 07:00:55 [info] tubeContactPos:-0.00666 contactPositions:{-0.00666,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:00:55 [debug] Diagnostics for board 50:
2025-05-12 07:00:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:55 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:16 ago, cause: power up
2025-05-12 07:00:55 [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
2025-05-12 07:00:55 [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
2025-05-12 07:00:55 [debug] Moves scheduled 1873, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=377, frequency (Hz): min=679, max=17857
Sync err accum 69, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294915773 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:00:55 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 23001, writes 11 timeouts 1
2025-05-12 07:00:55 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, 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 284, adv 35757/37172
2025-05-12 07:00:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:55 [info] ProbeTriggered: 0
2025-05-12 07:00:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:56 [info] PreTrigger: 0
2025-05-12 07:00:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:57 [debug] Stopped at height -0.009 mm
2025-05-12 07:00:57 [info] currentZPosition:-0.00864798
2025-05-12 07:00:58 [debug] Stopped at height -0.008 mm
2025-05-12 07:00:58 [info] currentZPosition:-0.00765396
2025-05-12 07:00:58 [info] tubeContactPos:-0.00765 contactPositions:{-0.00865,-0.00765,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:00:58 [debug] Diagnostics for board 50:
2025-05-12 07:00:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:00:58 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:19 ago, cause: power up
2025-05-12 07:00:58 [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
2025-05-12 07:00:58 [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
2025-05-12 07:00:58 [debug] Moves scheduled 1879, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=344, frequency (Hz): min=2459, max=17857
Sync err accum 70, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294917532 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:00:58 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 33963, writes 0 timeouts 0
2025-05-12 07:00:58 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 185, send timeouts 0, received 38, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36376/37177
2025-05-12 07:00:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:00:58 [info] ProbeTriggered: 0
2025-05-12 07:00:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:00:58 [info] PreTrigger: 1000
2025-05-12 07:00:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:00:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:00 [debug] Stopped at height -0.008 mm
2025-05-12 07:01:00 [info] currentZPosition:-0.00805157
2025-05-12 07:01:00 [info] tubeContactPos:-0.00805 contactPositions:{-0.00805,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:00 [debug] Diagnostics for board 50:
2025-05-12 07:01:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:00 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:21 ago, cause: power up
2025-05-12 07:01:00 [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
2025-05-12 07:01:00 [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
2025-05-12 07:01:00 [debug] Moves scheduled 1883, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 16, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=412, frequency (Hz): min=2272, max=17441
Sync err accum 68, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294913154 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:01:00 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 24336, writes 0 timeouts 0
2025-05-12 07:01:00 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 129, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35987/37178
2025-05-12 07:01:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:00 [info] ProbeTriggered: 0
2025-05-12 07:01:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:00 [info] PreTrigger: 1000
2025-05-12 07:01:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:02 [debug] Stopped at height -0.008 mm
2025-05-12 07:01:02 [info] currentZPosition:-0.00785276
2025-05-12 07:01:02 [info] tubeContactPos:-0.00785 contactPositions:{-0.00785,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:02 [debug] Diagnostics for board 50:
2025-05-12 07:01:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:02 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:23 ago, cause: power up
2025-05-12 07:01:02 [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
2025-05-12 07:01:02 [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
2025-05-12 07:01:02 [debug] Moves scheduled 1887, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=393, frequency (Hz): min=546, max=18292
Sync err accum 65, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294910918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:01:02 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 25988, writes 11 timeouts 1
2025-05-12 07:01:02 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 120, 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 284, adv 36236/37173
2025-05-12 07:01:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:02 [info] ProbeTriggered: 0
2025-05-12 07:01:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:03 [info] PreTrigger: 1000
2025-05-12 07:01:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:04 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:04 [info] currentZPosition:-0.00665994
2025-05-12 07:01:04 [info] tubeContactPos:-0.00666 contactPositions:{-0.00666,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:04 [debug] Diagnostics for board 50:
2025-05-12 07:01:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:04 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:24 ago, cause: power up
2025-05-12 07:01:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:01:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:01:04 [debug] Moves scheduled 1891, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=408, frequency (Hz): min=489, max=17857
Sync err accum 67, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294917280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:01:04 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 22213, writes 22 timeouts 2
2025-05-12 07:01:04 [debug] Last sensors broadcast 0x00000000 found 0 152 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 290, adv 36222/37172
2025-05-12 07:01:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:04 [info] ProbeTriggered: 0
2025-05-12 07:01:04 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:04 [info] PreTrigger: 1000
2025-05-12 07:01:04 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:06 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:06 [info] currentZPosition:-0.00735575
2025-05-12 07:01:06 [info] tubeContactPos:-0.00736 contactPositions:{-0.00736,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:06 [debug] Diagnostics for board 50:
2025-05-12 07:01:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:06 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:27 ago, cause: power up
2025-05-12 07:01:06 [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
2025-05-12 07:01:06 [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
2025-05-12 07:01:06 [debug] Moves scheduled 1895, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=440, frequency (Hz): min=2077, max=17857
Sync err accum 74, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294913322 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:01:06 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 27223, writes 0 timeouts 0
2025-05-12 07:01:06 [debug] Last sensors broadcast 0x00000000 found 0 122 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 283, adv 36084/37175
2025-05-12 07:01:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:06 [info] ProbeTriggered: 0
2025-05-12 07:01:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:07 [info] PreTrigger: 0
2025-05-12 07:01:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:08 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:08 [info] currentZPosition:-0.00675934
2025-05-12 07:01:08 [info] tubeContactPos:-0.00676 contactPositions:{-0.00676,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:08 [debug] Diagnostics for board 50:
2025-05-12 07:01:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:08 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:29 ago, cause: power up
2025-05-12 07:01:08 [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
2025-05-12 07:01:08 [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
2025-05-12 07:01:08 [debug] Moves scheduled 1899, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=390, frequency (Hz): min=2272, max=17857
Sync err accum 80, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294911922 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:01:08 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 23207, writes 0 timeouts 0
2025-05-12 07:01:08 [debug] Last sensors broadcast 0x00000000 found 0 17 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 285, adv 36414/37175
2025-05-12 07:01:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:08 [info] ProbeTriggered: 0
2025-05-12 07:01:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:09 [info] PreTrigger: 0
2025-05-12 07:01:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:10 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:10 [info] currentZPosition:-0.00735575
2025-05-12 07:01:10 [info] tubeContactPos:-0.00736 contactPositions:{-0.00736,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:10 [debug] Diagnostics for board 50:
2025-05-12 07:01:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:10 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:31 ago, cause: power up
2025-05-12 07:01:10 [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
2025-05-12 07:01:10 [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
2025-05-12 07:01:10 [debug] Moves scheduled 1903, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=437, frequency (Hz): min=527, max=17441
Sync err accum 77, peak jitter -1/1, peak Rx delay 208, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294915218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:01:10 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 27100, writes 11 timeouts 1
2025-05-12 07:01:10 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, 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 288, adv 35954/37174
2025-05-12 07:01:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:10 [info] ProbeTriggered: 0
2025-05-12 07:01:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:11 [info] PreTrigger: 1000
2025-05-12 07:01:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:12 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:12 [info] currentZPosition:-0.00695814
2025-05-12 07:01:12 [info] tubeContactPos:-0.00696 contactPositions:{-0.00696,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:12 [debug] Diagnostics for board 50:
2025-05-12 07:01:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:12 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:33 ago, cause: power up
2025-05-12 07:01:12 [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
2025-05-12 07:01:12 [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
2025-05-12 07:01:12 [debug] Moves scheduled 1907, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=332, frequency (Hz): min=502, max=17857
Sync err accum 73, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294911549 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:01:12 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 23370, writes 22 timeouts 2
2025-05-12 07:01:12 [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 290, adv 35877/37168
2025-05-12 07:01:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4630, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:12 [info] ProbeTriggered: 0
2025-05-12 07:01:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:13 [info] PreTrigger: 1000
2025-05-12 07:01:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:14 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:14 [info] currentZPosition:-0.00695814
2025-05-12 07:01:14 [info] tubeContactPos:-0.00696 contactPositions:{-0.00696,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:14 [debug] Diagnostics for board 50:
2025-05-12 07:01:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:14 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:35 ago, cause: power up
2025-05-12 07:01:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:01:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:01:14 [debug] Moves scheduled 1911, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=425, frequency (Hz): min=2167, max=17857
Sync err accum 67, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294917448 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:01:14 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 26425, writes 0 timeouts 0
2025-05-12 07:01:14 [debug] Last sensors broadcast 0x00000000 found 0 42 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 286, adv 35813/37176
2025-05-12 07:01:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4645, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:14 [info] ProbeTriggered: 0
2025-05-12 07:01:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:15 [info] PreTrigger: 1000
2025-05-12 07:01:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:16 [debug] Stopped at height -0.008 mm
2025-05-12 07:01:16 [info] currentZPosition:-0.00775336
2025-05-12 07:01:16 [info] tubeContactPos:-0.00775 contactPositions:{-0.00775,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:16 [debug] Diagnostics for board 50:
2025-05-12 07:01:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:16 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:37 ago, cause: power up
2025-05-12 07:01:16 [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
2025-05-12 07:01:16 [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
2025-05-12 07:01:16 [debug] Moves scheduled 1915, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=421, frequency (Hz): min=2094, max=17441
Sync err accum 67, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294910952 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:01:16 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 24957, writes 0 timeouts 0
2025-05-12 07:01:16 [debug] Last sensors broadcast 0x00000000 found 0 76 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 285, adv 36118/37176
2025-05-12 07:01:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:16 [info] ProbeTriggered: 0
2025-05-12 07:01:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:17 [info] PreTrigger: 0
2025-05-12 07:01:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:18 [debug] Stopped at height -0.006 mm
2025-05-12 07:01:18 [info] currentZPosition:-0.00616293
2025-05-12 07:01:19 [debug] Stopped at height -0.008 mm
2025-05-12 07:01:19 [info] currentZPosition:-0.00755456
2025-05-12 07:01:19 [info] tubeContactPos:-0.00755 contactPositions:{-0.00616,-0.00755,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:01:19 [debug] Diagnostics for board 50:
2025-05-12 07:01:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:19 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:40 ago, cause: power up
2025-05-12 07:01:19 [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
2025-05-12 07:01:19 [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
2025-05-12 07:01:19 [debug] Moves scheduled 1921, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=452, frequency (Hz): min=1978, max=17441
Sync err accum 68, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294914370 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:01:19 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 32392, writes 0 timeouts 0
2025-05-12 07:01:19 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 125, 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 290, adv 35680/37176
2025-05-12 07:01:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:19 [info] ProbeTriggered: 0
2025-05-12 07:01:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:19 [info] PreTrigger: 1000
2025-05-12 07:01:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:21 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:21 [info] currentZPosition:-0.00735575
2025-05-12 07:01:21 [info] tubeContactPos:-0.00736 contactPositions:{-0.00736,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:21 [debug] Diagnostics for board 50:
2025-05-12 07:01:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:21 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:41 ago, cause: power up
2025-05-12 07:01:21 [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
2025-05-12 07:01:21 [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
2025-05-12 07:01:21 [debug] Moves scheduled 1925, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=401, frequency (Hz): min=521, max=17857
Sync err accum 68, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294915313 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:01:21 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 23644, writes 11 timeouts 1
2025-05-12 07:01:21 [debug] Last sensors broadcast 0x00000000 found 0 136 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 291, adv 36338/37177
2025-05-12 07:01:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:21 [info] ProbeTriggered: 0
2025-05-12 07:01:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:21 [info] PreTrigger: 0
2025-05-12 07:01:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:23 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:23 [info] currentZPosition:-0.00705755
2025-05-12 07:01:23 [info] tubeContactPos:-0.00706 contactPositions:{-0.00706,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:23 [debug] Diagnostics for board 50:
2025-05-12 07:01:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:23 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:44 ago, cause: power up
2025-05-12 07:01:23 [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
2025-05-12 07:01:23 [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
2025-05-12 07:01:23 [debug] Moves scheduled 1929, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=597, frequency (Hz): min=1602, max=18292
Sync err accum 67, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294917322 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:01:23 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 26002, writes 0 timeouts 0
2025-05-12 07:01:23 [debug] Last sensors broadcast 0x00000000 found 0 3 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 286, adv 36293/37173
2025-05-12 07:01:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:23 [info] ProbeTriggered: 0
2025-05-12 07:01:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:23 [info] PreTrigger: 0
2025-05-12 07:01:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:25 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:25 [info] currentZPosition:-0.00675934
2025-05-12 07:01:25 [info] tubeContactPos:-0.00676 contactPositions:{-0.00676,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:25 [debug] Diagnostics for board 50:
2025-05-12 07:01:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:25 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:46 ago, cause: power up
2025-05-12 07:01:25 [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
2025-05-12 07:01:25 [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
2025-05-12 07:01:25 [debug] Moves scheduled 1933, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=390, frequency (Hz): min=808, max=17857
Sync err accum 64, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294912215 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:01:25 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 23519, writes 11 timeouts 1
2025-05-12 07:01:25 [debug] Last sensors broadcast 0x00000000 found 0 174 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 291, adv 35799/37177
2025-05-12 07:01:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:25 [info] ProbeTriggered: 0
2025-05-12 07:01:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:25 [info] PreTrigger: 1000
2025-05-12 07:01:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:27 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:27 [info] currentZPosition:-0.00715695
2025-05-12 07:01:27 [info] tubeContactPos:-0.00716 contactPositions:{-0.00716,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:27 [debug] Diagnostics for board 50:
2025-05-12 07:01:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:27 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:17:48 ago, cause: power up
2025-05-12 07:01:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:01:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:01:27 [debug] Moves scheduled 1937, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=501, frequency (Hz): min=640, max=18292
Sync err accum 69, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294914054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:01:27 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 26748, writes 11 timeouts 1
2025-05-12 07:01:27 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, 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 286, adv 36158/37175
2025-05-12 07:01:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:27 [info] ProbeTriggered: 0
2025-05-12 07:01:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:28 [info] PreTrigger: 1000
2025-05-12 07:01:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:29 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:29 [info] currentZPosition:-0.00725635
2025-05-12 07:01:29 [info] tubeContactPos:-0.00726 contactPositions:{-0.00726,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:29 [debug] Diagnostics for board 50:
2025-05-12 07:01:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:29 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:50 ago, cause: power up
2025-05-12 07:01:29 [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
2025-05-12 07:01:29 [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
2025-05-12 07:01:29 [debug] Moves scheduled 1941, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=430, frequency (Hz): min=2005, max=17857
Sync err accum 72, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294913439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:01:29 [debug] Driver 0: pos -12146, 10060.2 steps/mm, standstill, SG min 0, mspos 808, reads 24063, writes 0 timeouts 0
2025-05-12 07:01:29 [debug] Last sensors broadcast 0x00000000 found 0 69 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 286, adv 35999/37176
2025-05-12 07:01:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:29 [info] ProbeTriggered: 0
2025-05-12 07:01:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:29 [info] PreTrigger: 0
2025-05-12 07:01:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:31 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:31 [info] currentZPosition:-0.00725635
2025-05-12 07:01:31 [info] tubeContactPos:-0.00726 contactPositions:{-0.00726,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:31 [debug] Diagnostics for board 50:
2025-05-12 07:01:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:31 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:52 ago, cause: power up
2025-05-12 07:01:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:01:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:01:31 [debug] Moves scheduled 1945, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=484, frequency (Hz): min=829, max=17857
Sync err accum 74, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294912974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:01:31 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 26293, writes 11 timeouts 1
2025-05-12 07:01:31 [debug] Last sensors broadcast 0x00000000 found 0 212 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 291, adv 36033/37170
2025-05-12 07:01:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:31 [info] ProbeTriggered: 0
2025-05-12 07:01:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:32 [info] PreTrigger: 1000
2025-05-12 07:01:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:33 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:33 [info] currentZPosition:-0.00745515
2025-05-12 07:01:33 [info] tubeContactPos:-0.00746 contactPositions:{-0.00746,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:33 [debug] Diagnostics for board 50:
2025-05-12 07:01:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:33 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:54 ago, cause: power up
2025-05-12 07:01:33 [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
2025-05-12 07:01:33 [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
2025-05-12 07:01:33 [debug] Moves scheduled 1949, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=417, frequency (Hz): min=929, max=17857
Sync err accum 70, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294912261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:01:33 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 24206, writes 11 timeouts 1
2025-05-12 07:01:33 [debug] Last sensors broadcast 0x00000000 found 0 187 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 286, adv 36218/37176
2025-05-12 07:01:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:33 [info] ProbeTriggered: 0
2025-05-12 07:01:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:34 [info] PreTrigger: 0
2025-05-12 07:01:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:35 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:35 [info] currentZPosition:-0.00675934
2025-05-12 07:01:35 [info] tubeContactPos:-0.00676 contactPositions:{-0.00676,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:35 [debug] Diagnostics for board 50:
2025-05-12 07:01:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:35 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:17:56 ago, cause: power up
2025-05-12 07:01:35 [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
2025-05-12 07:01:35 [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
2025-05-12 07:01:35 [debug] Moves scheduled 1953, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=380, frequency (Hz): min=2155, max=17441
Sync err accum 64, peak jitter -1/0, peak Rx delay 207, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294914749 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:01:35 [debug] Driver 0: pos -12140, 10060.2 steps/mm, standstill, SG min 0, mspos 712, reads 25434, writes 0 timeouts 0
2025-05-12 07:01:35 [debug] Last sensors broadcast 0x00000000 found 0 16 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 288, adv 35912/37178
2025-05-12 07:01:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:35 [info] ProbeTriggered: 0
2025-05-12 07:01:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:36 [info] PreTrigger: 0
2025-05-12 07:01:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:37 [debug] Stopped at height -0.008 mm
2025-05-12 07:01:37 [info] currentZPosition:-0.00815097
2025-05-12 07:01:38 [debug] Stopped at height -0.008 mm
2025-05-12 07:01:38 [info] currentZPosition:-0.00795216
2025-05-12 07:01:38 [info] tubeContactPos:-0.00795 contactPositions:{-0.00815,-0.00795,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:01:38 [debug] Diagnostics for board 50:
2025-05-12 07:01:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:38 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:17:58 ago, cause: power up
2025-05-12 07:01:38 [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
2025-05-12 07:01:38 [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
2025-05-12 07:01:38 [debug] Moves scheduled 1959, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=360, frequency (Hz): min=2238, max=18292
Sync err accum 72, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294920887 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:01:38 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 31758, writes 0 timeouts 0
2025-05-12 07:01:38 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 128, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 35732/37175
2025-05-12 07:01:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4648, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:38 [info] ProbeTriggered: 0
2025-05-12 07:01:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:38 [info] PreTrigger: 0
2025-05-12 07:01:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:40 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:40 [info] currentZPosition:-0.00715695
2025-05-12 07:01:40 [info] tubeContactPos:-0.00716 contactPositions:{-0.00716,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:40 [debug] Diagnostics for board 50:
2025-05-12 07:01:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:40 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:01 ago, cause: power up
2025-05-12 07:01:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:01:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:01:40 [debug] Moves scheduled 1963, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=352, frequency (Hz): min=2252, max=18292
Sync err accum 77, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294841316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:01:40 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 26554, writes 0 timeouts 0
2025-05-12 07:01:40 [debug] Last sensors broadcast 0x00000000 found 0 16 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 291, adv 35750/37174
2025-05-12 07:01:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4639, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:40 [info] ProbeTriggered: 0
2025-05-12 07:01:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:40 [info] PreTrigger: 0
2025-05-12 07:01:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:42 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:42 [info] currentZPosition:-0.00745515
2025-05-12 07:01:42 [info] tubeContactPos:-0.00746 contactPositions:{-0.00746,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:42 [debug] Diagnostics for board 50:
2025-05-12 07:01:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:42 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:03 ago, cause: power up
2025-05-12 07:01:42 [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
2025-05-12 07:01:42 [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
2025-05-12 07:01:42 [debug] Moves scheduled 1967, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=432, frequency (Hz): min=1865, max=17441
Sync err accum 77, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294910888 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:01:42 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 24286, writes 0 timeouts 0
2025-05-12 07:01:42 [debug] Last sensors broadcast 0x00000000 found 0 2 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 286, adv 35868/37174
2025-05-12 07:01:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:42 [info] ProbeTriggered: 0
2025-05-12 07:01:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:42 [info] PreTrigger: 0
2025-05-12 07:01:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:44 [debug] Stopped at height -0.008 mm
2025-05-12 07:01:44 [info] currentZPosition:-0.00785276
2025-05-12 07:01:44 [info] tubeContactPos:-0.00785 contactPositions:{-0.00785,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:44 [debug] Diagnostics for board 50:
2025-05-12 07:01:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:44 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:05 ago, cause: power up
2025-05-12 07:01:44 [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
2025-05-12 07:01:44 [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
2025-05-12 07:01:44 [debug] Moves scheduled 1971, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=370, frequency (Hz): min=838, max=18292
Sync err accum 73, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294913902 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:01:44 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 26794, writes 11 timeouts 1
2025-05-12 07:01:44 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36373/37175
2025-05-12 07:01:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:44 [info] ProbeTriggered: 0
2025-05-12 07:01:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:45 [info] PreTrigger: 1000
2025-05-12 07:01:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:46 [debug] Stopped at height -0.008 mm
2025-05-12 07:01:46 [info] currentZPosition:-0.00755456
2025-05-12 07:01:46 [info] tubeContactPos:-0.00755 contactPositions:{-0.00755,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:46 [debug] Diagnostics for board 50:
2025-05-12 07:01:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:46 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:07 ago, cause: power up
2025-05-12 07:01:46 [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
2025-05-12 07:01:46 [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
2025-05-12 07:01:46 [debug] Moves scheduled 1975, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=482, frequency (Hz): min=493, max=18292
Sync err accum 64, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294911845 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:01:46 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 23557, writes 11 timeouts 1
2025-05-12 07:01:46 [debug] Last sensors broadcast 0x00000000 found 0 120 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 289, adv 36105/37175
2025-05-12 07:01:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:46 [info] ProbeTriggered: 0
2025-05-12 07:01:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:47 [info] PreTrigger: 1000
2025-05-12 07:01:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:48 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:48 [info] currentZPosition:-0.00705755
2025-05-12 07:01:48 [info] tubeContactPos:-0.00706 contactPositions:{-0.00706,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:48 [debug] Diagnostics for board 50:
2025-05-12 07:01:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:48 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:09 ago, cause: power up
2025-05-12 07:01:48 [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
2025-05-12 07:01:48 [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
2025-05-12 07:01:48 [debug] Moves scheduled 1979, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=409, frequency (Hz): min=519, max=17045
Sync err accum 69, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294914353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:01:48 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 25641, writes 22 timeouts 2
2025-05-12 07:01:48 [debug] Last sensors broadcast 0x00000000 found 0 216 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 286, adv 36255/37175
2025-05-12 07:01:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:48 [info] ProbeTriggered: 0
2025-05-12 07:01:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:49 [info] PreTrigger: 0
2025-05-12 07:01:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:50 [debug] Stopped at height -0.008 mm
2025-05-12 07:01:50 [info] currentZPosition:-0.00755456
2025-05-12 07:01:50 [info] tubeContactPos:-0.00755 contactPositions:{-0.00755,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:50 [debug] Diagnostics for board 50:
2025-05-12 07:01:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:50 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:11 ago, cause: power up
2025-05-12 07:01:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:01:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:01:50 [debug] Moves scheduled 1983, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=418, frequency (Hz): min=2212, max=17441
Sync err accum 75, peak jitter -1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294915712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:01:50 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 24592, writes 0 timeouts 0
2025-05-12 07:01:50 [debug] Last sensors broadcast 0x00000000 found 0 217 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 284, adv 36325/37178
2025-05-12 07:01:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:50 [info] ProbeTriggered: 0
2025-05-12 07:01:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01153f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:51 [info] PreTrigger: 0
2025-05-12 07:01:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:52 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:52 [info] currentZPosition:-0.00705755
2025-05-12 07:01:52 [info] tubeContactPos:-0.00706 contactPositions:{-0.00706,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:52 [debug] Diagnostics for board 50:
2025-05-12 07:01:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:52 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:13 ago, cause: power up
2025-05-12 07:01:52 [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
2025-05-12 07:01:52 [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
2025-05-12 07:01:52 [debug] Moves scheduled 1987, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=408, frequency (Hz): min=507, max=17857
Sync err accum 78, peak jitter 0/1, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294913809 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 07:01:52 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 25692, writes 11 timeouts 1
2025-05-12 07:01:52 [debug] Last sensors broadcast 0x00000000 found 0 63 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 284, adv 36137/37176
2025-05-12 07:01:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:52 [info] ProbeTriggered: 0
2025-05-12 07:01:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:53 [info] PreTrigger: 1000
2025-05-12 07:01:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:54 [debug] Stopped at height -0.007 mm
2025-05-12 07:01:54 [info] currentZPosition:-0.00715695
2025-05-12 07:01:54 [info] tubeContactPos:-0.00716 contactPositions:{-0.00716,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:54 [debug] Diagnostics for board 50:
2025-05-12 07:01:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:54 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:15 ago, cause: power up
2025-05-12 07:01:54 [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
2025-05-12 07:01:54 [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
2025-05-12 07:01:54 [debug] Moves scheduled 1991, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=365, frequency (Hz): min=2272, max=17857
Sync err accum 76, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294914521 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:01:54 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 24068, writes 0 timeouts 0
2025-05-12 07:01:54 [debug] Last sensors broadcast 0x00000000 found 0 29 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 285, adv 35800/37177
2025-05-12 07:01:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:54 [info] ProbeTriggered: 0
2025-05-12 07:01:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:55 [info] PreTrigger: 1000
2025-05-12 07:01:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:56 [debug] Stopped at height -0.008 mm
2025-05-12 07:01:56 [info] currentZPosition:-0.00755456
2025-05-12 07:01:56 [info] tubeContactPos:-0.00755 contactPositions:{-0.00755,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:56 [debug] Diagnostics for board 50:
2025-05-12 07:01:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:56 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:17 ago, cause: power up
2025-05-12 07:01:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:01:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:01:56 [debug] Moves scheduled 1995, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=357, frequency (Hz): min=564, max=17441
Sync err accum 72, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294918253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:01:56 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 26758, writes 11 timeouts 1
2025-05-12 07:01:56 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35982/37179
2025-05-12 07:01:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:56 [info] ProbeTriggered: 0
2025-05-12 07:01:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:57 [info] PreTrigger: 0
2025-05-12 07:01:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:58 [debug] Stopped at height -0.008 mm
2025-05-12 07:01:58 [info] currentZPosition:-0.00755456
2025-05-12 07:01:58 [info] tubeContactPos:-0.00755 contactPositions:{-0.00755,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:01:58 [debug] Diagnostics for board 50:
2025-05-12 07:01:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:01:58 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:19 ago, cause: power up
2025-05-12 07:01:58 [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
2025-05-12 07:01:58 [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
2025-05-12 07:01:58 [debug] Moves scheduled 1999, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=337, frequency (Hz): min=511, max=18292
Sync err accum 63, peak jitter -2/1, peak Rx delay 216, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:01:58 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 23912, writes 11 timeouts 1
2025-05-12 07:01:58 [debug] Last sensors broadcast 0x00000000 found 0 159 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 294, adv 35985/37180
2025-05-12 07:01:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:01:58 [info] ProbeTriggered: 1000
2025-05-12 07:01:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:01:59 [info] PreTrigger: 1000
2025-05-12 07:01:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:01:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:00 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:00 [info] currentZPosition:-0.00765396
2025-05-12 07:02:00 [info] tubeContactPos:-0.00765 contactPositions:{-0.00765,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:00 [debug] Diagnostics for board 50:
2025-05-12 07:02:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:00 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:21 ago, cause: power up
2025-05-12 07:02:00 [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
2025-05-12 07:02:00 [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
2025-05-12 07:02:00 [debug] Moves scheduled 2003, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=601, frequency (Hz): min=1585, max=19736
Sync err accum 80, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294915852 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:02:00 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 26366, writes 0 timeouts 0
2025-05-12 07:02:00 [debug] Last sensors broadcast 0x00000000 found 0 57 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 291, adv 35844/37175
2025-05-12 07:02:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:01 [info] ProbeTriggered: 0
2025-05-12 07:02:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:01 [info] PreTrigger: 1000
2025-05-12 07:02:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:02 [debug] Stopped at height -0.007 mm
2025-05-12 07:02:02 [info] currentZPosition:-0.00745515
2025-05-12 07:02:02 [info] tubeContactPos:-0.00746 contactPositions:{-0.00746,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:02 [debug] Diagnostics for board 50:
2025-05-12 07:02:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:02 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:23 ago, cause: power up
2025-05-12 07:02:02 [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
2025-05-12 07:02:02 [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
2025-05-12 07:02:02 [debug] Moves scheduled 2007, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=734, frequency (Hz): min=504, max=17857
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 4294916052 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 07:02:02 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 23674, writes 22 timeouts 2
2025-05-12 07:02:02 [debug] Last sensors broadcast 0x00000000 found 0 243 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 288, adv 36175/37174
2025-05-12 07:02:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:02 [info] ProbeTriggered: 0
2025-05-12 07:02:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:03 [info] PreTrigger: 1000
2025-05-12 07:02:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:05 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:05 [info] currentZPosition:-0.00775336
2025-05-12 07:02:05 [info] tubeContactPos:-0.00775 contactPositions:{-0.00775,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:05 [debug] Diagnostics for board 50:
2025-05-12 07:02:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:05 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:25 ago, cause: power up
2025-05-12 07:02:05 [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
2025-05-12 07:02:05 [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
2025-05-12 07:02:05 [debug] Moves scheduled 2011, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=366, frequency (Hz): min=502, max=17857
Sync err accum 98, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294910677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:02:05 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 26567, writes 11 timeouts 1
2025-05-12 07:02:05 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 112, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35730/37176
2025-05-12 07:02:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:05 [info] ProbeTriggered: 0
2025-05-12 07:02:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:05 [info] PreTrigger: 0
2025-05-12 07:02:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:07 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:07 [info] currentZPosition:-0.00815097
2025-05-12 07:02:07 [info] tubeContactPos:-0.00815 contactPositions:{-0.00815,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:07 [debug] Diagnostics for board 50:
2025-05-12 07:02:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:07 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:27 ago, cause: power up
2025-05-12 07:02:07 [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
2025-05-12 07:02:07 [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
2025-05-12 07:02:07 [debug] Moves scheduled 2015, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=566, frequency (Hz): min=1533, max=17857
Sync err accum 103, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294917594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:02:07 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 24513, writes 0 timeouts 0
2025-05-12 07:02:07 [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 288, adv 36409/37172
2025-05-12 07:02:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:07 [info] ProbeTriggered: 0
2025-05-12 07:02:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:07 [info] PreTrigger: 0
2025-05-12 07:02:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:09 [debug] Stopped at height -0.007 mm
2025-05-12 07:02:09 [info] currentZPosition:-0.00725635
2025-05-12 07:02:09 [info] tubeContactPos:-0.00726 contactPositions:{-0.00726,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:09 [debug] Diagnostics for board 50:
2025-05-12 07:02:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:09 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:29 ago, cause: power up
2025-05-12 07:02:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:02:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:02:09 [debug] Moves scheduled 2019, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=372, frequency (Hz): min=2403, max=17441
Sync err accum 103, peak jitter -1/1, peak Rx delay 190, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294909958 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:02:09 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 25180, writes 0 timeouts 0
2025-05-12 07:02:09 [debug] Last sensors broadcast 0x00000000 found 0 211 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 290, adv 36347/37172
2025-05-12 07:02:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:09 [info] ProbeTriggered: 0
2025-05-12 07:02:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:09 [info] PreTrigger: 0
2025-05-12 07:02:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:10 [debug] Stopped at height -0.006 mm
2025-05-12 07:02:10 [info] currentZPosition:-0.00646113
2025-05-12 07:02:10 [info] tubeContactPos:-0.00646 contactPositions:{-0.00646,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:10 [debug] Diagnostics for board 50:
2025-05-12 07:02:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:10 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:31 ago, cause: power up
2025-05-12 07:02:10 [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
2025-05-12 07:02:10 [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
2025-05-12 07:02:10 [debug] Moves scheduled 2023, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=410, frequency (Hz): min=1833, max=17857
Sync err accum 102, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294919032 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:02:10 [debug] Driver 0: pos -12136, 10060.2 steps/mm, standstill, SG min 0, mspos 648, reads 22897, writes 0 timeouts 0
2025-05-12 07:02:10 [debug] Last sensors broadcast 0x00000000 found 0 85 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 285, adv 35873/37174
2025-05-12 07:02:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:11 [info] ProbeTriggered: 0
2025-05-12 07:02:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:11 [info] PreTrigger: 0
2025-05-12 07:02:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:13 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:13 [info] currentZPosition:-0.00815097
2025-05-12 07:02:13 [warn] Error: G30: Probe already triggered at start of probing move
2025-05-12 07:02:13 [info] currentZPosition:-0.00566592
2025-05-12 07:02:13 [info] tubeContactPos:-0.00567 contactPositions:{-0.00815,-0.00567,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:02:13 [debug] Diagnostics for board 50:
2025-05-12 07:02:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:13 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:34 ago, cause: power up
2025-05-12 07:02:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:02:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:02:13 [debug] Moves scheduled 2028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=530, frequency (Hz): min=1794, max=17857
Sync err accum 90, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294832641 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:02:13 [debug] Driver 0: pos -12127, 10060.2 steps/mm, standstill, SG min 0, mspos 504, reads 30835, writes 0 timeouts 0
2025-05-12 07:02:13 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 106, 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 285, adv 36235/37178
2025-05-12 07:02:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8883, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:13 [info] ProbeTriggered: 1000
2025-05-12 07:02:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:14 [info] PreTrigger: 1000
2025-05-12 07:02:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:15 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:15 [info] currentZPosition:-0.00834977
2025-05-12 07:02:16 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:16 [info] currentZPosition:-0.00795216
2025-05-12 07:02:16 [info] tubeContactPos:-0.008150969 contactPositions:{-0.00835,-0.00795,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 07:02:16 [debug] Diagnostics for board 50:
2025-05-12 07:02:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:16 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:36 ago, cause: power up
2025-05-12 07:02:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:02:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:02:16 [debug] Moves scheduled 2034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=498, frequency (Hz): min=1847, max=17857
Sync err accum 78, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294912589 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:02:16 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 33197, writes 0 timeouts 0
2025-05-12 07:02:16 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 161, 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 286, adv 36048/37175
2025-05-12 07:02:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:16 [info] ProbeTriggered: 0
2025-05-12 07:02:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:16 [info] PreTrigger: 0
2025-05-12 07:02:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:18 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:18 [info] currentZPosition:-0.00765396
2025-05-12 07:02:18 [info] tubeContactPos:-0.00765 contactPositions:{-0.00765,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:18 [debug] Diagnostics for board 50:
2025-05-12 07:02:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:18 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:38 ago, cause: power up
2025-05-12 07:02:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:02:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:02:18 [debug] Moves scheduled 2038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=444, frequency (Hz): min=2112, max=17857
Sync err accum 62, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294914828 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:02:18 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 25714, writes 0 timeouts 0
2025-05-12 07:02:18 [debug] Last sensors broadcast 0x00000000 found 0 136 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 292, adv 36110/37173
2025-05-12 07:02:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:18 [info] ProbeTriggered: 0
2025-05-12 07:02:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:18 [info] PreTrigger: 1000
2025-05-12 07:02:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:20 [debug] Stopped at height -0.009 mm
2025-05-12 07:02:20 [info] currentZPosition:-0.00874738
2025-05-12 07:02:20 [info] tubeContactPos:-0.00875 contactPositions:{-0.00875,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:20 [debug] Diagnostics for board 50:
2025-05-12 07:02:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:20 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:41 ago, cause: power up
2025-05-12 07:02:20 [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
2025-05-12 07:02:20 [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
2025-05-12 07:02:20 [debug] Moves scheduled 2042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=386, frequency (Hz): min=2373, max=17857
Sync err accum 72, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294913365 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:02:20 [debug] Driver 0: pos -12159, 10060.2 steps/mm, standstill, SG min 0, mspos 1016, reads 25401, writes 0 timeouts 0
2025-05-12 07:02:20 [debug] Last sensors broadcast 0x00000000 found 0 205 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 288, adv 36265/37170
2025-05-12 07:02:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:20 [info] ProbeTriggered: 0
2025-05-12 07:02:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:20 [info] PreTrigger: 0
2025-05-12 07:02:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:22 [debug] Stopped at height -0.007 mm
2025-05-12 07:02:22 [info] currentZPosition:-0.00705755
2025-05-12 07:02:22 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:22 [info] currentZPosition:-0.00775336
2025-05-12 07:02:22 [info] tubeContactPos:-0.00775 contactPositions:{-0.00706,-0.00775,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:02:22 [debug] Diagnostics for board 50:
2025-05-12 07:02:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:22 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:43 ago, cause: power up
2025-05-12 07:02:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:02:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:02:22 [debug] Moves scheduled 2048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=506, frequency (Hz): min=1875, max=17857
Sync err accum 75, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916901 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:02:22 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 31267, writes 0 timeouts 0
2025-05-12 07:02:22 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 125, 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 287, adv 35982/37174
2025-05-12 07:02:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:22 [info] ProbeTriggered: 0
2025-05-12 07:02:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:23 [info] PreTrigger: 1000
2025-05-12 07:02:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:24 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:24 [info] currentZPosition:-0.00844917
2025-05-12 07:02:24 [info] tubeContactPos:-0.00845 contactPositions:{-0.00845,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:24 [debug] Diagnostics for board 50:
2025-05-12 07:02:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:24 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:45 ago, cause: power up
2025-05-12 07:02:24 [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
2025-05-12 07:02:24 [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
2025-05-12 07:02:24 [debug] Moves scheduled 2052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=446, frequency (Hz): min=741, max=17857
Sync err accum 77, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294907439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 07:02:24 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 24746, writes 11 timeouts 1
2025-05-12 07:02:24 [debug] Last sensors broadcast 0x00000000 found 0 23 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 285, adv 35691/37174
2025-05-12 07:02:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:25 [info] ProbeTriggered: 0
2025-05-12 07:02:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:25 [info] PreTrigger: 1000
2025-05-12 07:02:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:26 [debug] Stopped at height -0.007 mm
2025-05-12 07:02:26 [info] currentZPosition:-0.00705755
2025-05-12 07:02:27 [debug] Stopped at height -0.009 mm
2025-05-12 07:02:27 [info] currentZPosition:-0.00864798
2025-05-12 07:02:27 [info] tubeContactPos:-0.00865 contactPositions:{-0.00706,-0.00865,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:02:27 [debug] Diagnostics for board 50:
2025-05-12 07:02:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:27 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:48 ago, cause: power up
2025-05-12 07:02:27 [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
2025-05-12 07:02:27 [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
2025-05-12 07:02:27 [debug] Moves scheduled 2058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=405, frequency (Hz): min=612, max=18292
Sync err accum 76, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294917312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:02:27 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 32737, writes 11 timeouts 1
2025-05-12 07:02:27 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 141, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35856/37176
2025-05-12 07:02:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:27 [info] ProbeTriggered: 0
2025-05-12 07:02:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:28 [info] PreTrigger: 1000
2025-05-12 07:02:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:29 [debug] Stopped at height -0.007 mm
2025-05-12 07:02:29 [info] currentZPosition:-0.00725635
2025-05-12 07:02:29 [debug] Stopped at height -0.007 mm
2025-05-12 07:02:29 [info] currentZPosition:-0.00735575
2025-05-12 07:02:29 [info] tubeContactPos:-0.007306051 contactPositions:{-0.00726,-0.00736,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 07:02:29 [debug] Diagnostics for board 50:
2025-05-12 07:02:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:29 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:50 ago, cause: power up
2025-05-12 07:02:29 [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
2025-05-12 07:02:29 [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
2025-05-12 07:02:29 [debug] Moves scheduled 2064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=398, frequency (Hz): min=1968, max=28846
Sync err accum 69, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294915103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:02:29 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 28691, writes 0 timeouts 0
2025-05-12 07:02:29 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 127, 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 290, adv 35898/37172
2025-05-12 07:02:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:30 [info] ProbeTriggered: 0
2025-05-12 07:02:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:30 [info] PreTrigger: 1000
2025-05-12 07:02:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:32 [debug] Stopped at height -0.007 mm
2025-05-12 07:02:32 [info] currentZPosition:-0.00745515
2025-05-12 07:02:32 [info] tubeContactPos:-0.00746 contactPositions:{-0.00746,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:32 [debug] Diagnostics for board 50:
2025-05-12 07:02:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:32 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:52 ago, cause: power up
2025-05-12 07:02:32 [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
2025-05-12 07:02:32 [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
2025-05-12 07:02:32 [debug] Moves scheduled 2068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=338, frequency (Hz): min=795, max=17857
Sync err accum 70, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916854 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:02:32 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 26293, writes 11 timeouts 1
2025-05-12 07:02:32 [debug] Last sensors broadcast 0x00000000 found 0 178 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 291, adv 35730/37172
2025-05-12 07:02:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8965, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:32 [info] ProbeTriggered: 0
2025-05-12 07:02:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:32 [info] PreTrigger: 0
2025-05-12 07:02:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:34 [debug] Stopped at height -0.007 mm
2025-05-12 07:02:34 [info] currentZPosition:-0.00735575
2025-05-12 07:02:34 [info] tubeContactPos:-0.00736 contactPositions:{-0.00736,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:34 [debug] Diagnostics for board 50:
2025-05-12 07:02:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:34 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:54 ago, cause: power up
2025-05-12 07:02:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:02:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:02:34 [debug] Moves scheduled 2072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=381, frequency (Hz): min=2021, max=17857
Sync err accum 82, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294916875 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:02:34 [debug] Driver 0: pos -12143, 10060.2 steps/mm, standstill, SG min 0, mspos 760, reads 23806, writes 0 timeouts 0
2025-05-12 07:02:34 [debug] Last sensors broadcast 0x00000000 found 0 124 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 290, adv 36077/37172
2025-05-12 07:02:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:34 [info] ProbeTriggered: 0
2025-05-12 07:02:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:34 [info] PreTrigger: 0
2025-05-12 07:02:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:36 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:36 [info] currentZPosition:-0.00844917
2025-05-12 07:02:36 [info] tubeContactPos:-0.00845 contactPositions:{-0.00845,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:36 [debug] Diagnostics for board 50:
2025-05-12 07:02:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:36 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:56 ago, cause: power up
2025-05-12 07:02:36 [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
2025-05-12 07:02:36 [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
2025-05-12 07:02:36 [debug] Moves scheduled 2076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=504, frequency (Hz): min=637, max=17857
Sync err accum 92, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294914309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:02:36 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 27637, writes 11 timeouts 1
2025-05-12 07:02:36 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 288, adv 36356/37174
2025-05-12 07:02:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:36 [info] ProbeTriggered: 0
2025-05-12 07:02:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:36 [info] PreTrigger: 0
2025-05-12 07:02:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:38 [debug] Stopped at height -0.009 mm
2025-05-12 07:02:38 [info] currentZPosition:-0.00854858
2025-05-12 07:02:38 [info] tubeContactPos:-0.00855 contactPositions:{-0.00855,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:38 [debug] Diagnostics for board 50:
2025-05-12 07:02:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:38 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:18:58 ago, cause: power up
2025-05-12 07:02:38 [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
2025-05-12 07:02:38 [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
2025-05-12 07:02:38 [debug] Moves scheduled 2080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=392, frequency (Hz): min=753, max=17441
Sync err accum 99, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294912745 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:02:38 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 24125, writes 11 timeouts 1
2025-05-12 07:02:38 [debug] Last sensors broadcast 0x00000000 found 0 98 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 293, adv 36253/37169
2025-05-12 07:02:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4642, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:38 [info] ProbeTriggered: 0
2025-05-12 07:02:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:38 [info] PreTrigger: 1000
2025-05-12 07:02:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:40 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:40 [info] currentZPosition:-0.00775336
2025-05-12 07:02:40 [info] tubeContactPos:-0.00775 contactPositions:{-0.00775,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:40 [debug] Diagnostics for board 50:
2025-05-12 07:02:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:40 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:01 ago, cause: power up
2025-05-12 07:02:40 [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
2025-05-12 07:02:40 [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
2025-05-12 07:02:40 [debug] Moves scheduled 2084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=361, frequency (Hz): min=1893, max=17045
Sync err accum 99, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294913378 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:02:40 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 25258, writes 0 timeouts 0
2025-05-12 07:02:40 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
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 292, adv 36223/37177
2025-05-12 07:02:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:40 [info] ProbeTriggered: 0
2025-05-12 07:02:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 401d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:40 [info] PreTrigger: 0
2025-05-12 07:02:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:42 [debug] Stopped at height -0.009 mm
2025-05-12 07:02:42 [info] currentZPosition:-0.00884678
2025-05-12 07:02:42 [info] tubeContactPos:-0.00885 contactPositions:{-0.00885,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:42 [debug] Diagnostics for board 50:
2025-05-12 07:02:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:42 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:03 ago, cause: power up
2025-05-12 07:02:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:02:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:02:42 [debug] Moves scheduled 2088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=416, frequency (Hz): min=1994, max=17857
Sync err accum 97, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294914498 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:02:42 [debug] Driver 0: pos -12158, 10060.2 steps/mm, standstill, SG min 0, mspos 1000, reads 25304, writes 0 timeouts 0
2025-05-12 07:02:42 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 114, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 37152/37176
2025-05-12 07:02:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:42 [info] ProbeTriggered: 0
2025-05-12 07:02:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:42 [info] PreTrigger: 1000
2025-05-12 07:02:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:44 [debug] Stopped at height -0.009 mm
2025-05-12 07:02:44 [info] currentZPosition:-0.00874738
2025-05-12 07:02:44 [info] tubeContactPos:-0.00875 contactPositions:{-0.00875,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:44 [debug] Diagnostics for board 50:
2025-05-12 07:02:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:44 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:05 ago, cause: power up
2025-05-12 07:02:44 [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
2025-05-12 07:02:44 [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
2025-05-12 07:02:44 [debug] Moves scheduled 2092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=404, frequency (Hz): min=2199, max=17857
Sync err accum 90, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294910667 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:02:44 [debug] Driver 0: pos -12157, 10060.2 steps/mm, standstill, SG min 0, mspos 984, reads 26180, writes 0 timeouts 0
2025-05-12 07:02:44 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 145, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 36107/37177
2025-05-12 07:02:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:44 [info] ProbeTriggered: 0
2025-05-12 07:02:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:45 [info] PreTrigger: 0
2025-05-12 07:02:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:46 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:46 [info] currentZPosition:-0.00755456
2025-05-12 07:02:46 [info] tubeContactPos:-0.00755 contactPositions:{-0.00755,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:46 [debug] Diagnostics for board 50:
2025-05-12 07:02:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:46 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:07 ago, cause: power up
2025-05-12 07:02:46 [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
2025-05-12 07:02:46 [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
2025-05-12 07:02:46 [debug] Moves scheduled 2096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=382, frequency (Hz): min=790, max=17441
Sync err accum 83, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294914103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:02:46 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 22423, writes 11 timeouts 1
2025-05-12 07:02:46 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, send timeouts 0, received 27, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35895/37177
2025-05-12 07:02:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:46 [info] ProbeTriggered: 0
2025-05-12 07:02:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:46 [info] PreTrigger: 0
2025-05-12 07:02:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:48 [debug] Stopped at height -0.009 mm
2025-05-12 07:02:48 [info] currentZPosition:-0.00884678
2025-05-12 07:02:48 [warn] Error: G30: Probe already triggered at start of probing move
2025-05-12 07:02:48 [info] currentZPosition:-0.00636173
2025-05-12 07:02:48 [info] tubeContactPos:-0.00636 contactPositions:{-0.00885,-0.00636,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:02:48 [debug] Diagnostics for board 50:
2025-05-12 07:02:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:48 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:09 ago, cause: power up
2025-05-12 07:02:48 [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
2025-05-12 07:02:48 [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
2025-05-12 07:02:48 [debug] Moves scheduled 2101, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=496, frequency (Hz): min=1716, max=17441
Sync err accum 68, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294829408 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:02:48 [debug] Driver 0: pos -12132, 10060.2 steps/mm, standstill, SG min 0, mspos 584, reads 30212, writes 0 timeouts 0
2025-05-12 07:02:48 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 127, send timeouts 0, received 32, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 284, adv 35986/37175
2025-05-12 07:02:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8907, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:48 [info] ProbeTriggered: 0
2025-05-12 07:02:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:49 [info] PreTrigger: 0
2025-05-12 07:02:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:50 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:50 [info] currentZPosition:-0.00785276
2025-05-12 07:02:51 [debug] Stopped at height -0.007 mm
2025-05-12 07:02:51 [info] currentZPosition:-0.00675934
2025-05-12 07:02:51 [info] tubeContactPos:-0.00676 contactPositions:{-0.00785,-0.00676,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:02:51 [debug] Diagnostics for board 50:
2025-05-12 07:02:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:51 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:12 ago, cause: power up
2025-05-12 07:02:51 [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
2025-05-12 07:02:51 [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
2025-05-12 07:02:51 [debug] Moves scheduled 2107, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=420, frequency (Hz): min=2245, max=18292
Sync err accum 77, peak jitter -3/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294915764 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:02:51 [debug] Driver 0: pos -12137, 10060.2 steps/mm, standstill, SG min 0, mspos 664, reads 30845, writes 0 timeouts 0
2025-05-12 07:02:51 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 135, 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 290, adv 36066/37176
2025-05-12 07:02:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:51 [info] ProbeTriggered: 0
2025-05-12 07:02:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:51 [info] PreTrigger: 1000
2025-05-12 07:02:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:53 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:53 [info] currentZPosition:-0.00834977
2025-05-12 07:02:54 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:54 [info] currentZPosition:-0.00815097
2025-05-12 07:02:54 [info] tubeContactPos:-0.008250371 contactPositions:{-0.00835,-0.00815,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 07:02:54 [debug] Diagnostics for board 50:
2025-05-12 07:02:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:54 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:14 ago, cause: power up
2025-05-12 07:02:54 [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
2025-05-12 07:02:54 [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
2025-05-12 07:02:54 [debug] Moves scheduled 2113, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=405, frequency (Hz): min=2314, max=18292
Sync err accum 103, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916638 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:02:54 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 34342, writes 0 timeouts 0
2025-05-12 07:02:54 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 124, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35857/37173
2025-05-12 07:02:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:54 [info] ProbeTriggered: 0
2025-05-12 07:02:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:54 [info] PreTrigger: 1000
2025-05-12 07:02:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:56 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:56 [info] currentZPosition:-0.00805157
2025-05-12 07:02:56 [info] tubeContactPos:-0.00805 contactPositions:{-0.00805,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:56 [debug] Diagnostics for board 50:
2025-05-12 07:02:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:56 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:16 ago, cause: power up
2025-05-12 07:02:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:02:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:02:56 [debug] Moves scheduled 2117, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=385, frequency (Hz): min=2167, max=17857
Sync err accum 115, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294909922 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:02:56 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 23772, writes 0 timeouts 0
2025-05-12 07:02:56 [debug] Last sensors broadcast 0x00000000 found 0 176 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 288, adv 36245/37175
2025-05-12 07:02:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:56 [info] ProbeTriggered: 0
2025-05-12 07:02:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:56 [info] PreTrigger: 1000
2025-05-12 07:02:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:58 [debug] Stopped at height -0.008 mm
2025-05-12 07:02:58 [info] currentZPosition:-0.00785276
2025-05-12 07:02:58 [info] tubeContactPos:-0.00785 contactPositions:{-0.00785,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:02:58 [debug] Diagnostics for board 50:
2025-05-12 07:02:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:02:58 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:18 ago, cause: power up
2025-05-12 07:02:58 [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
2025-05-12 07:02:58 [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
2025-05-12 07:02:58 [debug] Moves scheduled 2121, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=353, frequency (Hz): min=2060, max=18292
Sync err accum 125, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294912805 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:02:58 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 25988, writes 0 timeouts 0
2025-05-12 07:02:58 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 110, 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 290, adv 35752/37176
2025-05-12 07:02:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:02:58 [info] ProbeTriggered: 0
2025-05-12 07:02:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:02:58 [info] PreTrigger: 1000
2025-05-12 07:02:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:02:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:00 [debug] Stopped at height -0.008 mm
2025-05-12 07:03:00 [info] currentZPosition:-0.00815097
2025-05-12 07:03:00 [info] tubeContactPos:-0.00815 contactPositions:{-0.00815,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:00 [debug] Diagnostics for board 50:
2025-05-12 07:03:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:00 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:20 ago, cause: power up
2025-05-12 07:03:00 [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
2025-05-12 07:03:00 [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
2025-05-12 07:03:00 [debug] Moves scheduled 2125, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=348, frequency (Hz): min=2100, max=17441
Sync err accum 122, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294914486 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:03:00 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 24420, writes 0 timeouts 0
2025-05-12 07:03:00 [debug] Last sensors broadcast 0x00000000 found 0 39 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 288, adv 35695/37169
2025-05-12 07:03:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:00 [info] ProbeTriggered: 0
2025-05-12 07:03:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:00 [info] PreTrigger: 1000
2025-05-12 07:03:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:02 [debug] Stopped at height -0.008 mm
2025-05-12 07:03:02 [info] currentZPosition:-0.00755456
2025-05-12 07:03:02 [info] tubeContactPos:-0.00755 contactPositions:{-0.00755,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:02 [debug] Diagnostics for board 50:
2025-05-12 07:03:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:02 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:22 ago, cause: power up
2025-05-12 07:03:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:03:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:03:02 [debug] Moves scheduled 2129, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=344, frequency (Hz): min=2604, max=18292
Sync err accum 104, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294913562 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, c
2025-05-12 07:03:02 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 25475, writes 0 timeouts 0
2025-05-12 07:03:02 [debug] Last sensors broadcast 0x00000000 found 0 118 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 287, adv 36369/37176
2025-05-12 07:03:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:02 [info] ProbeTriggered: 0
2025-05-12 07:03:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:02 [info] PreTrigger: 0
2025-05-12 07:03:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:04 [debug] Stopped at height -0.009 mm
2025-05-12 07:03:04 [info] currentZPosition:-0.00894619
2025-05-12 07:03:04 [debug] Stopped at height -0.009 mm
2025-05-12 07:03:04 [info] currentZPosition:-0.00914499
2025-05-12 07:03:04 [info] tubeContactPos:-0.009045587 contactPositions:{-0.00895,-0.00914,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 07:03:04 [debug] Diagnostics for board 50:
2025-05-12 07:03:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:04 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:25 ago, cause: power up
2025-05-12 07:03:04 [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
2025-05-12 07:03:04 [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
2025-05-12 07:03:04 [debug] Moves scheduled 2135, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=404, frequency (Hz): min=2136, max=17857
Sync err accum 74, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294915323 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:03:04 [debug] Driver 0: pos -12162, 10060.2 steps/mm, standstill, SG min 0, mspos 40, reads 32237, writes 0 timeouts 0
2025-05-12 07:03:04 [debug] Last sensors broadcast 0x00000000 found 0 240 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 291, adv 35866/37177
2025-05-12 07:03:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:04 [info] ProbeTriggered: 0
2025-05-12 07:03:04 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:05 [info] PreTrigger: 1000
2025-05-12 07:03:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:06 [debug] Stopped at height -0.008 mm
2025-05-12 07:03:06 [info] currentZPosition:-0.00755456
2025-05-12 07:03:07 [debug] Stopped at height -0.007 mm
2025-05-12 07:03:07 [info] currentZPosition:-0.00745515
2025-05-12 07:03:07 [info] tubeContactPos:-0.007504855 contactPositions:{-0.00755,-0.00746,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 07:03:07 [debug] Diagnostics for board 50:
2025-05-12 07:03:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:07 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:28 ago, cause: power up
2025-05-12 07:03:07 [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
2025-05-12 07:03:07 [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
2025-05-12 07:03:07 [debug] Moves scheduled 2141, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=397, frequency (Hz): min=2212, max=27777
Sync err accum 70, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294916560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:03:07 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 30541, writes 0 timeouts 0
2025-05-12 07:03:07 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 111, send timeouts 0, received 36, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36253/37178
2025-05-12 07:03:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:07 [info] ProbeTriggered: 0
2025-05-12 07:03:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:07 [info] PreTrigger: 1000
2025-05-12 07:03:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:09 [debug] Stopped at height -0.007 mm
2025-05-12 07:03:09 [info] currentZPosition:-0.00685874
2025-05-12 07:03:09 [info] tubeContactPos:-0.00686 contactPositions:{-0.00686,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:09 [debug] Diagnostics for board 50:
2025-05-12 07:03:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:09 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:29 ago, cause: power up
2025-05-12 07:03:09 [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
2025-05-12 07:03:09 [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
2025-05-12 07:03:09 [debug] Moves scheduled 2145, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=462, frequency (Hz): min=1923, max=18292
Sync err accum 87, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294911494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:03:09 [debug] Driver 0: pos -12139, 10060.2 steps/mm, standstill, SG min 0, mspos 696, reads 23030, writes 0 timeouts 0
2025-05-12 07:03:09 [debug] Last sensors broadcast 0x00000000 found 0 103 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 284, adv 36045/37173
2025-05-12 07:03:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65174
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:09 [info] ProbeTriggered: 1000
2025-05-12 07:03:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:09 [info] PreTrigger: 1000
2025-05-12 07:03:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:11 [debug] Stopped at height -0.008 mm
2025-05-12 07:03:11 [info] currentZPosition:-0.00825037
2025-05-12 07:03:12 [debug] Stopped at height -0.008 mm
2025-05-12 07:03:12 [info] currentZPosition:-0.00825037
2025-05-12 07:03:12 [info] tubeContactPos:-0.008250371 contactPositions:{-0.00825,-0.00825,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 07:03:12 [debug] Diagnostics for board 50:
2025-05-12 07:03:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:12 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:32 ago, cause: power up
2025-05-12 07:03:12 [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
2025-05-12 07:03:12 [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
2025-05-12 07:03:12 [debug] Moves scheduled 2151, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 43, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=402, frequency (Hz): min=556, max=17857
Sync err accum 105, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294913470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:03:12 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 34278, writes 11 timeouts 1
2025-05-12 07:03:12 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 112, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 36132/37170
2025-05-12 07:03:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:12 [info] ProbeTriggered: 1000
2025-05-12 07:03:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:12 [info] PreTrigger: 0
2025-05-12 07:03:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:13 [debug] Stopped at height -0.008 mm
2025-05-12 07:03:13 [info] currentZPosition:-0.00844917
2025-05-12 07:03:14 [info] tubeContactPos:-0.00845 contactPositions:{-0.00845,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:14 [debug] Diagnostics for board 50:
2025-05-12 07:03:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:14 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:34 ago, cause: power up
2025-05-12 07:03:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:03:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:03:14 [debug] Moves scheduled 2155, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=342, frequency (Hz): min=606, max=17441
Sync err accum 115, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294912261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:03:14 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 24102, writes 11 timeouts 1
2025-05-12 07:03:14 [debug] Last sensors broadcast 0x00000000 found 0 111 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 285, adv 36218/37175
2025-05-12 07:03:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:14 [info] ProbeTriggered: 0
2025-05-12 07:03:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:14 [info] PreTrigger: 0
2025-05-12 07:03:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:16 [debug] Stopped at height -0.007 mm
2025-05-12 07:03:16 [info] currentZPosition:-0.00735575
2025-05-12 07:03:16 [info] tubeContactPos:-0.00736 contactPositions:{-0.00736,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:16 [debug] Diagnostics for board 50:
2025-05-12 07:03:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:16 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:36 ago, cause: power up
2025-05-12 07:03:16 [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
2025-05-12 07:03:16 [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
2025-05-12 07:03:16 [debug] Moves scheduled 2159, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=353, frequency (Hz): min=2083, max=17045
Sync err accum 119, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294917696 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:03:16 [debug] Driver 0: pos -12143, 10060.2 steps/mm, standstill, SG min 0, mspos 760, reads 24889, writes 0 timeouts 0
2025-05-12 07:03:16 [debug] Last sensors broadcast 0x00000000 found 0 138 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 286, adv 36006/37174
2025-05-12 07:03:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4629, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:16 [info] ProbeTriggered: 0
2025-05-12 07:03:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:16 [info] PreTrigger: 1000
2025-05-12 07:03:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:18 [debug] Stopped at height -0.008 mm
2025-05-12 07:03:18 [info] currentZPosition:-0.00844917
2025-05-12 07:03:18 [info] tubeContactPos:-0.00845 contactPositions:{-0.00845,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:18 [debug] Diagnostics for board 50:
2025-05-12 07:03:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:18 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:38 ago, cause: power up
2025-05-12 07:03:18 [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
2025-05-12 07:03:18 [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
2025-05-12 07:03:18 [debug] Moves scheduled 2163, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=369, frequency (Hz): min=2380, max=17857
Sync err accum 117, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294914338 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:03:18 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 25353, writes 0 timeouts 0
2025-05-12 07:03:18 [debug] Last sensors broadcast 0x00000000 found 0 207 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 288, adv 36379/37174
2025-05-12 07:03:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4626, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:18 [info] ProbeTriggered: 0
2025-05-12 07:03:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:18 [info] PreTrigger: 1000
2025-05-12 07:03:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:20 [debug] Stopped at height -0.008 mm
2025-05-12 07:03:20 [info] currentZPosition:-0.00844917
2025-05-12 07:03:20 [info] tubeContactPos:-0.00845 contactPositions:{-0.00845,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:20 [debug] Diagnostics for board 50:
2025-05-12 07:03:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:20 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:40 ago, cause: power up
2025-05-12 07:03:20 [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
2025-05-12 07:03:20 [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
2025-05-12 07:03:20 [debug] Moves scheduled 2167, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=372, frequency (Hz): min=2142, max=18292
Sync err accum 110, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294909762 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:03:20 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 26074, writes 0 timeouts 0
2025-05-12 07:03:20 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 131, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 286, adv 35908/37172
2025-05-12 07:03:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:20 [info] ProbeTriggered: 0
2025-05-12 07:03:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:20 [info] PreTrigger: 0
2025-05-12 07:03:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:22 [debug] Stopped at height -0.008 mm
2025-05-12 07:03:22 [info] currentZPosition:-0.00815097
2025-05-12 07:03:22 [info] tubeContactPos:-0.00815 contactPositions:{-0.00815,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:22 [debug] Diagnostics for board 50:
2025-05-12 07:03:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:22 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:42 ago, cause: power up
2025-05-12 07:03:22 [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
2025-05-12 07:03:22 [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
2025-05-12 07:03:22 [debug] Moves scheduled 2171, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=342, frequency (Hz): min=2678, max=17857
Sync err accum 99, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294907918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:03:22 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 23591, writes 0 timeouts 0
2025-05-12 07:03:22 [debug] Last sensors broadcast 0x00000000 found 0 16 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 288, adv 35807/37176
2025-05-12 07:03:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:22 [info] ProbeTriggered: 0
2025-05-12 07:03:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:22 [info] PreTrigger: 1000
2025-05-12 07:03:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:24 [debug] Stopped at height -0.008 mm
2025-05-12 07:03:24 [info] currentZPosition:-0.00805157
2025-05-12 07:03:24 [info] tubeContactPos:-0.00805 contactPositions:{-0.00805,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:24 [debug] Diagnostics for board 50:
2025-05-12 07:03:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:24 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:44 ago, cause: power up
2025-05-12 07:03:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:03:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:03:24 [debug] Moves scheduled 2175, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=349, frequency (Hz): min=2212, max=18292
Sync err accum 87, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294914790 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:03:24 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 26148, writes 0 timeouts 0
2025-05-12 07:03:24 [debug] Last sensors broadcast 0x00000000 found 0 148 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 290, adv 35778/37175
2025-05-12 07:03:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:24 [info] ProbeTriggered: 0
2025-05-12 07:03:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:24 [info] PreTrigger: 1000
2025-05-12 07:03:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:26 [debug] Stopped at height -0.009 mm
2025-05-12 07:03:26 [info] currentZPosition:-0.00864798
2025-05-12 07:03:26 [info] tubeContactPos:-0.00865 contactPositions:{-0.00865,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:26 [debug] Diagnostics for board 50:
2025-05-12 07:03:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:26 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:47 ago, cause: power up
2025-05-12 07:03:26 [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
2025-05-12 07:03:26 [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
2025-05-12 07:03:26 [debug] Moves scheduled 2179, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=446, frequency (Hz): min=2032, max=18292
Sync err accum 70, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294910603 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:03:26 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 24552, writes 0 timeouts 0
2025-05-12 07:03:26 [debug] Last sensors broadcast 0x00000000 found 0 161 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 288, adv 36026/37174
2025-05-12 07:03:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:26 [info] ProbeTriggered: 0
2025-05-12 07:03:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:26 [info] PreTrigger: 1000
2025-05-12 07:03:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:28 [debug] Stopped at height -0.010 mm
2025-05-12 07:03:28 [info] currentZPosition:-0.00984080
2025-05-12 07:03:28 [info] tubeContactPos:-0.00984 contactPositions:{-0.00984,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:28 [debug] Diagnostics for board 50:
2025-05-12 07:03:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:28 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:49 ago, cause: power up
2025-05-12 07:03:28 [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
2025-05-12 07:03:28 [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
2025-05-12 07:03:28 [debug] Moves scheduled 2183, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=765, max=18292
Sync err accum 64, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916189 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:03:28 [debug] Driver 0: pos -12165, 10060.2 steps/mm, standstill, SG min 0, mspos 88, reads 27673, writes 11 timeouts 1
2025-05-12 07:03:28 [debug] Last sensors broadcast 0x00000000 found 0 171 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 291, adv 36412/37176
2025-05-12 07:03:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:28 [info] ProbeTriggered: 0
2025-05-12 07:03:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:29 [info] PreTrigger: 1000
2025-05-12 07:03:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:30 [debug] Stopped at height -0.009 mm
2025-05-12 07:03:30 [info] currentZPosition:-0.00924439
2025-05-12 07:03:30 [info] tubeContactPos:-0.00924 contactPositions:{-0.00924,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:30 [debug] Diagnostics for board 50:
2025-05-12 07:03:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:30 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:51 ago, cause: power up
2025-05-12 07:03:30 [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
2025-05-12 07:03:30 [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
2025-05-12 07:03:30 [debug] Moves scheduled 2187, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=394, frequency (Hz): min=2083, max=17857
Sync err accum 88, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294912658 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:03:30 [debug] Driver 0: pos -12159, 10060.2 steps/mm, standstill, SG min 0, mspos 1016, reads 23193, writes 0 timeouts 0
2025-05-12 07:03:30 [debug] Last sensors broadcast 0x00000000 found 0 67 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 285, adv 36268/37172
2025-05-12 07:03:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:30 [info] ProbeTriggered: 0
2025-05-12 07:03:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:30 [info] PreTrigger: 1000
2025-05-12 07:03:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:32 [debug] Stopped at height -0.009 mm
2025-05-12 07:03:32 [info] currentZPosition:-0.00894619
2025-05-12 07:03:32 [info] tubeContactPos:-0.00895 contactPositions:{-0.00895,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:32 [debug] Diagnostics for board 50:
2025-05-12 07:03:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:32 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:53 ago, cause: power up
2025-05-12 07:03:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:03:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:03:32 [debug] Moves scheduled 2191, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=357, frequency (Hz): min=1948, max=17045
Sync err accum 105, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916871 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:03:32 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 25744, writes 0 timeouts 0
2025-05-12 07:03:32 [debug] Last sensors broadcast 0x00000000 found 0 175 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 282, adv 36310/37175
2025-05-12 07:03:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:32 [info] ProbeTriggered: 0
2025-05-12 07:03:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:33 [info] PreTrigger: 0
2025-05-12 07:03:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:34 [debug] Stopped at height -0.010 mm
2025-05-12 07:03:34 [info] currentZPosition:-0.00964200
2025-05-12 07:03:34 [info] tubeContactPos:-0.00964 contactPositions:{-0.00964,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:34 [debug] Diagnostics for board 50:
2025-05-12 07:03:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:34 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:55 ago, cause: power up
2025-05-12 07:03:34 [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
2025-05-12 07:03:34 [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
2025-05-12 07:03:34 [debug] Moves scheduled 2195, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=342, frequency (Hz): min=2669, max=18292
Sync err accum 120, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294910788 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:03:34 [debug] Driver 0: pos -12162, 10060.2 steps/mm, standstill, SG min 0, mspos 40, reads 24711, writes 0 timeouts 0
2025-05-12 07:03:34 [debug] Last sensors broadcast 0x00000000 found 0 192 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 289, adv 35730/37176
2025-05-12 07:03:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:34 [info] ProbeTriggered: 0
2025-05-12 07:03:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:35 [info] PreTrigger: 1000
2025-05-12 07:03:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:36 [debug] Stopped at height -0.009 mm
2025-05-12 07:03:36 [info] currentZPosition:-0.00884678
2025-05-12 07:03:36 [info] tubeContactPos:-0.00885 contactPositions:{-0.00885,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:36 [debug] Diagnostics for board 50:
2025-05-12 07:03:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:36 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:19:57 ago, cause: power up
2025-05-12 07:03:36 [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
2025-05-12 07:03:36 [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
2025-05-12 07:03:36 [debug] Moves scheduled 2199, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=389, frequency (Hz): min=2265, max=17441
Sync err accum 124, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294913765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:03:36 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 25189, writes 0 timeouts 0
2025-05-12 07:03:36 [debug] Last sensors broadcast 0x00000000 found 0 2 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 285, adv 36168/37174
2025-05-12 07:03:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:36 [info] ProbeTriggered: 0
2025-05-12 07:03:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:37 [info] PreTrigger: 0
2025-05-12 07:03:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:38 [debug] Stopped at height -0.009 mm
2025-05-12 07:03:38 [info] currentZPosition:-0.00944320
2025-05-12 07:03:38 [info] tubeContactPos:-0.00944 contactPositions:{-0.00944,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:38 [debug] Diagnostics for board 50:
2025-05-12 07:03:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:38 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:19:59 ago, cause: power up
2025-05-12 07:03:38 [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
2025-05-12 07:03:38 [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
2025-05-12 07:03:38 [debug] Moves scheduled 2203, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=420, frequency (Hz): min=636, max=18292
Sync err accum 109, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294910914 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:03:38 [debug] Driver 0: pos -12159, 10060.2 steps/mm, standstill, SG min 0, mspos 1016, reads 24570, writes 11 timeouts 1
2025-05-12 07:03:38 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 121, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35868/37177
2025-05-12 07:03:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:38 [info] ProbeTriggered: 0
2025-05-12 07:03:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:39 [info] PreTrigger: 0
2025-05-12 07:03:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:40 [debug] Stopped at height -0.010 mm
2025-05-12 07:03:40 [info] currentZPosition:-0.00954260
2025-05-12 07:03:40 [info] tubeContactPos:-0.00954 contactPositions:{-0.00954,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:40 [debug] Diagnostics for board 50:
2025-05-12 07:03:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:40 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:01 ago, cause: power up
2025-05-12 07:03:40 [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
2025-05-12 07:03:40 [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
2025-05-12 07:03:40 [debug] Moves scheduled 2207, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=400, frequency (Hz): min=733, max=17857
Sync err accum 92, peak jitter -3/0, peak Rx delay 213, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294914122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:03:40 [debug] Driver 0: pos -12159, 10060.2 steps/mm, standstill, SG min 0, mspos 1016, reads 26196, writes 11 timeouts 1
2025-05-12 07:03:40 [debug] Last sensors broadcast 0x00000000 found 0 152 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 294, adv 36049/37180
2025-05-12 07:03:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:40 [info] ProbeTriggered: 0
2025-05-12 07:03:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:41 [info] PreTrigger: 1000
2025-05-12 07:03:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:42 [debug] Stopped at height -0.009 mm
2025-05-12 07:03:42 [info] currentZPosition:-0.00854858
2025-05-12 07:03:42 [info] tubeContactPos:-0.00855 contactPositions:{-0.00855,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:42 [debug] Diagnostics for board 50:
2025-05-12 07:03:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:42 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:03 ago, cause: power up
2025-05-12 07:03:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:03:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:03:42 [debug] Moves scheduled 2211, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=485, frequency (Hz): min=516, max=17857
Sync err accum 70, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294913936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:03:42 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 22813, writes 11 timeouts 1
2025-05-12 07:03:42 [debug] Last sensors broadcast 0x00000000 found 0 19 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 288, adv 36056/37179
2025-05-12 07:03:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:42 [info] ProbeTriggered: 0
2025-05-12 07:03:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:43 [info] PreTrigger: 1000
2025-05-12 07:03:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:44 [debug] Stopped at height -0.009 mm
2025-05-12 07:03:44 [info] currentZPosition:-0.00934379
2025-05-12 07:03:44 [info] tubeContactPos:-0.00934 contactPositions:{-0.00934,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:44 [debug] Diagnostics for board 50:
2025-05-12 07:03:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:44 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:05 ago, cause: power up
2025-05-12 07:03:44 [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
2025-05-12 07:03:44 [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
2025-05-12 07:03:44 [debug] Moves scheduled 2215, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=590, frequency (Hz): min=505, max=17857
Sync err accum 71, peak jitter -2/3, peak Rx delay 195, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294913903 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:03:44 [debug] Driver 0: pos -12157, 10060.2 steps/mm, standstill, SG min 0, mspos 984, reads 27150, writes 11 timeouts 1
2025-05-12 07:03:44 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 104, 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 290, adv 35854/37173
2025-05-12 07:03:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:44 [info] ProbeTriggered: 0
2025-05-12 07:03:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:45 [info] PreTrigger: 1000
2025-05-12 07:03:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:46 [debug] Stopped at height -0.010 mm
2025-05-12 07:03:46 [info] currentZPosition:-0.00964200
2025-05-12 07:03:46 [info] tubeContactPos:-0.00964 contactPositions:{-0.00964,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:46 [debug] Diagnostics for board 50:
2025-05-12 07:03:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:46 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:07 ago, cause: power up
2025-05-12 07:03:46 [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
2025-05-12 07:03:46 [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
2025-05-12 07:03:46 [debug] Moves scheduled 2219, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=381, frequency (Hz): min=1913, max=17857
Sync err accum 88, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294912963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:03:46 [debug] Driver 0: pos -12160, 10060.2 steps/mm, standstill, SG min 0, mspos 8, reads 24391, writes 0 timeouts 0
2025-05-12 07:03:46 [debug] Last sensors broadcast 0x00000000 found 0 230 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 298, adv 36257/37172
2025-05-12 07:03:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:46 [info] ProbeTriggered: 0
2025-05-12 07:03:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:47 [info] PreTrigger: 1000
2025-05-12 07:03:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:48 [debug] Stopped at height -0.009 mm
2025-05-12 07:03:48 [info] currentZPosition:-0.00894619
2025-05-12 07:03:48 [info] tubeContactPos:-0.00895 contactPositions:{-0.00895,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:48 [debug] Diagnostics for board 50:
2025-05-12 07:03:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:48 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:09 ago, cause: power up
2025-05-12 07:03:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:03:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:03:48 [debug] Moves scheduled 2223, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=405, frequency (Hz): min=2118, max=17441
Sync err accum 101, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294909218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:03:48 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 25228, writes 0 timeouts 0
2025-05-12 07:03:48 [debug] Last sensors broadcast 0x00000000 found 0 45 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 286, adv 35830/37175
2025-05-12 07:03:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:49 [info] ProbeTriggered: 0
2025-05-12 07:03:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:49 [info] PreTrigger: 1000
2025-05-12 07:03:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:50 [debug] Stopped at height -0.009 mm
2025-05-12 07:03:50 [info] currentZPosition:-0.00924439
2025-05-12 07:03:50 [info] tubeContactPos:-0.00924 contactPositions:{-0.00924,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:50 [debug] Diagnostics for board 50:
2025-05-12 07:03:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:50 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:11 ago, cause: power up
2025-05-12 07:03:50 [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
2025-05-12 07:03:50 [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
2025-05-12 07:03:50 [debug] Moves scheduled 2227, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=378, frequency (Hz): min=758, max=18292
Sync err accum 111, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294910954 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:03:50 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 24408, writes 11 timeouts 1
2025-05-12 07:03:50 [debug] Last sensors broadcast 0x00000000 found 0 43 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 289, adv 36396/37174
2025-05-12 07:03:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:51 [info] ProbeTriggered: 0
2025-05-12 07:03:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:51 [info] PreTrigger: 1000
2025-05-12 07:03:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:53 [debug] Stopped at height -0.009 mm
2025-05-12 07:03:53 [info] currentZPosition:-0.00894619
2025-05-12 07:03:53 [info] tubeContactPos:-0.00895 contactPositions:{-0.00895,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:53 [debug] Diagnostics for board 50:
2025-05-12 07:03:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:53 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:13 ago, cause: power up
2025-05-12 07:03:53 [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
2025-05-12 07:03:53 [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
2025-05-12 07:03:53 [debug] Moves scheduled 2231, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=356, frequency (Hz): min=719, max=17045
Sync err accum 113, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294913657 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:03:53 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 25778, writes 11 timeouts 1
2025-05-12 07:03:53 [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 335, adv 35734/37171
2025-05-12 07:03:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:53 [info] ProbeTriggered: 0
2025-05-12 07:03:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:53 [info] PreTrigger: 1000
2025-05-12 07:03:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:55 [debug] Stopped at height -0.009 mm
2025-05-12 07:03:55 [info] currentZPosition:-0.00934379
2025-05-12 07:03:55 [info] tubeContactPos:-0.00934 contactPositions:{-0.00934,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:55 [debug] Diagnostics for board 50:
2025-05-12 07:03:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:55 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:15 ago, cause: power up
2025-05-12 07:03:55 [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
2025-05-12 07:03:55 [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
2025-05-12 07:03:55 [debug] Moves scheduled 2235, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=362, frequency (Hz): min=651, max=17441
Sync err accum 115, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294915901 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:03:55 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 24306, writes 11 timeouts 1
2025-05-12 07:03:55 [debug] Last sensors broadcast 0x00000000 found 0 145 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 288, adv 35869/37177
2025-05-12 07:03:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:55 [info] ProbeTriggered: 0
2025-05-12 07:03:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:55 [info] PreTrigger: 1000
2025-05-12 07:03:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:57 [debug] Stopped at height -0.010 mm
2025-05-12 07:03:57 [info] currentZPosition:-0.00954260
2025-05-12 07:03:57 [info] tubeContactPos:-0.00954 contactPositions:{-0.00954,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:57 [debug] Diagnostics for board 50:
2025-05-12 07:03:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:57 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:17 ago, cause: power up
2025-05-12 07:03:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:03:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:03:57 [debug] Moves scheduled 2239, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=420, frequency (Hz): min=572, max=17857
Sync err accum 113, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294910496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:03:57 [debug] Driver 0: pos -12157, 10060.2 steps/mm, standstill, SG min 0, mspos 984, reads 26308, writes 11 timeouts 1
2025-05-12 07:03:57 [debug] Last sensors broadcast 0x00000000 found 0 47 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 286, adv 36352/37178
2025-05-12 07:03:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:57 [info] ProbeTriggered: 0
2025-05-12 07:03:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:57 [info] PreTrigger: 0
2025-05-12 07:03:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:59 [debug] Stopped at height -0.009 mm
2025-05-12 07:03:59 [info] currentZPosition:-0.00914499
2025-05-12 07:03:59 [info] tubeContactPos:-0.00914 contactPositions:{-0.00914,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:03:59 [debug] Diagnostics for board 50:
2025-05-12 07:03:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:03:59 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:19 ago, cause: power up
2025-05-12 07:03:59 [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
2025-05-12 07:03:59 [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
2025-05-12 07:03:59 [debug] Moves scheduled 2243, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=474, frequency (Hz): min=494, max=18292
Sync err accum 110, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294914869 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:03:59 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 23233, writes 11 timeouts 1
2025-05-12 07:03:59 [debug] Last sensors broadcast 0x00000000 found 0 207 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 285, adv 36012/37178
2025-05-12 07:03:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:03:59 [info] ProbeTriggered: 0
2025-05-12 07:03:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:03:59 [info] PreTrigger: 1000
2025-05-12 07:03:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:03:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:01 [debug] Stopped at height -0.009 mm
2025-05-12 07:04:01 [info] currentZPosition:-0.00934379
2025-05-12 07:04:01 [info] tubeContactPos:-0.00934 contactPositions:{-0.00934,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:01 [debug] Diagnostics for board 50:
2025-05-12 07:04:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:01 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:21 ago, cause: power up
2025-05-12 07:04:01 [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
2025-05-12 07:04:01 [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
2025-05-12 07:04:01 [debug] Moves scheduled 2247, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=405, frequency (Hz): min=2238, max=17857
Sync err accum 100, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294914933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:04:01 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 26302, writes 0 timeouts 0
2025-05-12 07:04:01 [debug] Last sensors broadcast 0x00000000 found 0 107 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 294, adv 36223/37174
2025-05-12 07:04:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:01 [info] ProbeTriggered: 0
2025-05-12 07:04:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:01 [info] PreTrigger: 0
2025-05-12 07:04:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:03 [debug] Stopped at height -0.009 mm
2025-05-12 07:04:03 [info] currentZPosition:-0.00934379
2025-05-12 07:04:03 [info] tubeContactPos:-0.00934 contactPositions:{-0.00934,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:03 [debug] Diagnostics for board 50:
2025-05-12 07:04:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:03 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:23 ago, cause: power up
2025-05-12 07:04:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:04:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:04:03 [debug] Moves scheduled 2251, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=466, frequency (Hz): min=2027, max=17857
Sync err accum 83, peak jitter -3/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294911957 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:04:03 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 23868, writes 0 timeouts 0
2025-05-12 07:04:03 [debug] Last sensors broadcast 0x00000000 found 0 59 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 288, adv 36237/37178
2025-05-12 07:04:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:03 [info] ProbeTriggered: 0
2025-05-12 07:04:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:03 [info] PreTrigger: 1000
2025-05-12 07:04:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:05 [debug] Stopped at height -0.009 mm
2025-05-12 07:04:05 [info] currentZPosition:-0.00914499
2025-05-12 07:04:05 [info] tubeContactPos:-0.00914 contactPositions:{-0.00914,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:05 [debug] Diagnostics for board 50:
2025-05-12 07:04:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:05 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:26 ago, cause: power up
2025-05-12 07:04:05 [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
2025-05-12 07:04:05 [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
2025-05-12 07:04:05 [debug] Moves scheduled 2255, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=457, frequency (Hz): min=2021, max=18292
Sync err accum 66, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294909398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:04:05 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 25879, writes 0 timeouts 0
2025-05-12 07:04:05 [debug] Last sensors broadcast 0x00000000 found 0 169 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 291, adv 36054/37178
2025-05-12 07:04:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:05 [info] ProbeTriggered: 0
2025-05-12 07:04:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:05 [info] PreTrigger: 1000
2025-05-12 07:04:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:07 [debug] Stopped at height -0.009 mm
2025-05-12 07:04:07 [info] currentZPosition:-0.00914499
2025-05-12 07:04:07 [info] tubeContactPos:-0.00914 contactPositions:{-0.00914,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:07 [debug] Diagnostics for board 50:
2025-05-12 07:04:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:07 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:27 ago, cause: power up
2025-05-12 07:04:07 [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
2025-05-12 07:04:07 [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
2025-05-12 07:04:07 [debug] Moves scheduled 2259, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=346, frequency (Hz): min=2442, max=18292
Sync err accum 69, peak jitter -2/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294908333 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:04:07 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 24006, writes 0 timeouts 0
2025-05-12 07:04:07 [debug] Last sensors broadcast 0x00000000 found 0 129 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 291, adv 35707/37177
2025-05-12 07:04:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:07 [info] ProbeTriggered: 0
2025-05-12 07:04:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:07 [info] PreTrigger: 0
2025-05-12 07:04:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:09 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:09 [info] currentZPosition:-0.00974140
2025-05-12 07:04:09 [info] tubeContactPos:-0.00974 contactPositions:{-0.00974,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:09 [debug] Diagnostics for board 50:
2025-05-12 07:04:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:09 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:30 ago, cause: power up
2025-05-12 07:04:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:04:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:04:09 [debug] Moves scheduled 2263, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=392, frequency (Hz): min=1898, max=17441
Sync err accum 79, peak jitter 1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294910572 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:04:09 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 26805, writes 0 timeouts 0
2025-05-12 07:04:09 [debug] Last sensors broadcast 0x00000000 found 0 67 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 291, adv 35908/37174
2025-05-12 07:04:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:09 [info] ProbeTriggered: 0
2025-05-12 07:04:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:10 [info] PreTrigger: 1000
2025-05-12 07:04:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:11 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:11 [info] currentZPosition:-0.00964200
2025-05-12 07:04:11 [info] tubeContactPos:-0.00964 contactPositions:{-0.00964,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:11 [debug] Diagnostics for board 50:
2025-05-12 07:04:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:11 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:32 ago, cause: power up
2025-05-12 07:04:11 [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
2025-05-12 07:04:11 [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
2025-05-12 07:04:11 [debug] Moves scheduled 2267, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=388, frequency (Hz): min=2161, max=17857
Sync err accum 82, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294914434 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:04:11 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 23705, writes 0 timeouts 0
2025-05-12 07:04:11 [debug] Last sensors broadcast 0x00000000 found 0 9 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 287, adv 35958/37174
2025-05-12 07:04:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:11 [info] ProbeTriggered: 0
2025-05-12 07:04:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:11 [info] PreTrigger: 1000
2025-05-12 07:04:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:13 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:13 [info] currentZPosition:-0.00994021
2025-05-12 07:04:13 [info] tubeContactPos:-0.00994 contactPositions:{-0.00994,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:13 [debug] Diagnostics for board 50:
2025-05-12 07:04:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:13 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:34 ago, cause: power up
2025-05-12 07:04:13 [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
2025-05-12 07:04:13 [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
2025-05-12 07:04:13 [debug] Moves scheduled 2271, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=360, frequency (Hz): min=2427, max=18292
Sync err accum 86, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294910699 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:04:13 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 26570, writes 0 timeouts 0
2025-05-12 07:04:13 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35758/37174
2025-05-12 07:04:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:13 [info] ProbeTriggered: 0
2025-05-12 07:04:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:14 [info] PreTrigger: 1000
2025-05-12 07:04:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:15 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:15 [info] currentZPosition:-0.0101390
2025-05-12 07:04:15 [info] tubeContactPos:-0.0101 contactPositions:{-0.0101,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:15 [debug] Diagnostics for board 50:
2025-05-12 07:04:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:15 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:36 ago, cause: power up
2025-05-12 07:04:15 [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
2025-05-12 07:04:15 [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
2025-05-12 07:04:15 [debug] Moves scheduled 2275, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=342, frequency (Hz): min=2155, max=17857
Sync err accum 84, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294908633 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:04:15 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 24116, writes 0 timeouts 0
2025-05-12 07:04:15 [debug] Last sensors broadcast 0x00000000 found 0 140 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 292, adv 36205/37171
2025-05-12 07:04:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:15 [info] ProbeTriggered: 0
2025-05-12 07:04:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:16 [info] PreTrigger: 1000
2025-05-12 07:04:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:17 [debug] Stopped at height -0.011 mm
2025-05-12 07:04:17 [info] currentZPosition:-0.0106360
2025-05-12 07:04:17 [info] tubeContactPos:-0.0106 contactPositions:{-0.0106,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:17 [debug] Diagnostics for board 50:
2025-05-12 07:04:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:17 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:38 ago, cause: power up
2025-05-12 07:04:17 [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
2025-05-12 07:04:17 [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
2025-05-12 07:04:17 [debug] Moves scheduled 2279, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=617, frequency (Hz): min=1546, max=17045
Sync err accum 80, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294919824 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:04:17 [debug] Driver 0: pos -12161, 10060.2 steps/mm, standstill, SG min 0, mspos 24, reads 26668, writes 0 timeouts 0
2025-05-12 07:04:17 [debug] Last sensors broadcast 0x00000000 found 0 75 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 284, adv 36332/37178
2025-05-12 07:04:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -354
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:17 [info] ProbeTriggered: 0
2025-05-12 07:04:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:18 [info] PreTrigger: 0
2025-05-12 07:04:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:19 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:19 [info] currentZPosition:-0.0104372
2025-05-12 07:04:19 [info] tubeContactPos:-0.0104 contactPositions:{-0.0104,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:19 [debug] Diagnostics for board 50:
2025-05-12 07:04:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:19 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:40 ago, cause: power up
2025-05-12 07:04:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:04:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:04:19 [debug] Moves scheduled 2283, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=406, frequency (Hz): min=1968, max=17045
Sync err accum 71, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294908927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:04:19 [debug] Driver 0: pos -12158, 10060.2 steps/mm, standstill, SG min 0, mspos 1000, reads 23560, writes 0 timeouts 0
2025-05-12 07:04:19 [debug] Last sensors broadcast 0x00000000 found 0 7 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 288, adv 36379/37174
2025-05-12 07:04:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -354
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9033, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:19 [info] ProbeTriggered: 0
2025-05-12 07:04:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:20 [info] PreTrigger: 1000
2025-05-12 07:04:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a1d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:21 [debug] Stopped at height -0.009 mm
2025-05-12 07:04:21 [info] currentZPosition:-0.00944320
2025-05-12 07:04:21 [info] tubeContactPos:-0.00944 contactPositions:{-0.00944,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:21 [debug] Diagnostics for board 50:
2025-05-12 07:04:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:21 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:42 ago, cause: power up
2025-05-12 07:04:21 [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
2025-05-12 07:04:21 [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
2025-05-12 07:04:21 [debug] Moves scheduled 2287, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=420, frequency (Hz): min=2071, max=18292
Sync err accum 62, peak jitter -2/0, peak Rx delay 206, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294917409 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:04:21 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 24801, writes 0 timeouts 0
2025-05-12 07:04:21 [debug] Last sensors broadcast 0x00000000 found 0 41 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 285, adv 36169/37178
2025-05-12 07:04:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:21 [info] ProbeTriggered: 0
2025-05-12 07:04:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:22 [info] PreTrigger: 0
2025-05-12 07:04:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:23 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:23 [info] currentZPosition:-0.00994021
2025-05-12 07:04:23 [info] tubeContactPos:-0.00994 contactPositions:{-0.00994,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:23 [debug] Diagnostics for board 50:
2025-05-12 07:04:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:23 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:44 ago, cause: power up
2025-05-12 07:04:23 [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
2025-05-12 07:04:23 [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
2025-05-12 07:04:23 [debug] Moves scheduled 2291, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=901, frequency (Hz): min=1056, max=17857
Sync err accum 75, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294916334 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:04:23 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 24486, writes 0 timeouts 0
2025-05-12 07:04:23 [debug] Last sensors broadcast 0x00000000 found 0 46 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 285, adv 35888/37173
2025-05-12 07:04:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4630, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:23 [info] ProbeTriggered: 0
2025-05-12 07:04:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:24 [info] PreTrigger: 1000
2025-05-12 07:04:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:25 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:25 [info] currentZPosition:-0.0100396
2025-05-12 07:04:25 [info] tubeContactPos:-0.0100 contactPositions:{-0.0100,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:25 [debug] Diagnostics for board 50:
2025-05-12 07:04:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:25 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:46 ago, cause: power up
2025-05-12 07:04:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:04:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:04:25 [debug] Moves scheduled 2295, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=345, frequency (Hz): min=1937, max=17857
Sync err accum 83, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294916733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:04:25 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 26136, writes 0 timeouts 0
2025-05-12 07:04:25 [debug] Last sensors broadcast 0x00000000 found 0 186 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 283, adv 36034/37175
2025-05-12 07:04:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:25 [info] ProbeTriggered: 0
2025-05-12 07:04:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:26 [info] PreTrigger: 1000
2025-05-12 07:04:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:27 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:27 [info] currentZPosition:-0.00984080
2025-05-12 07:04:27 [info] tubeContactPos:-0.00984 contactPositions:{-0.00984,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:27 [debug] Diagnostics for board 50:
2025-05-12 07:04:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:27 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:48 ago, cause: power up
2025-05-12 07:04:27 [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
2025-05-12 07:04:27 [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
2025-05-12 07:04:27 [debug] Moves scheduled 2299, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=356, frequency (Hz): min=534, max=17857
Sync err accum 85, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294916530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 07:04:27 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 23618, writes 22 timeouts 2
2025-05-12 07:04:27 [debug] Last sensors broadcast 0x00000000 found 0 123 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 289, adv 36139/37174
2025-05-12 07:04:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:27 [info] ProbeTriggered: 0
2025-05-12 07:04:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:28 [info] PreTrigger: 1000
2025-05-12 07:04:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:29 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:29 [info] currentZPosition:-0.0101390
2025-05-12 07:04:29 [info] tubeContactPos:-0.0101 contactPositions:{-0.0101,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:29 [debug] Diagnostics for board 50:
2025-05-12 07:04:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:29 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:50 ago, cause: power up
2025-05-12 07:04:29 [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
2025-05-12 07:04:29 [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
2025-05-12 07:04:29 [debug] Moves scheduled 2303, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=404, frequency (Hz): min=1943, max=18292
Sync err accum 87, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294914571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:04:29 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 26351, writes 0 timeouts 0
2025-05-12 07:04:29 [debug] Last sensors broadcast 0x00000000 found 0 24 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 290, adv 35885/37176
2025-05-12 07:04:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:30 [info] ProbeTriggered: 0
2025-05-12 07:04:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:30 [info] PreTrigger: 1000
2025-05-12 07:04:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:31 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:31 [info] currentZPosition:-0.0100396
2025-05-12 07:04:31 [info] tubeContactPos:-0.0100 contactPositions:{-0.0100,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:31 [debug] Diagnostics for board 50:
2025-05-12 07:04:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:31 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:52 ago, cause: power up
2025-05-12 07:04:31 [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
2025-05-12 07:04:31 [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
2025-05-12 07:04:31 [debug] Moves scheduled 2307, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=372, frequency (Hz): min=2186, max=18292
Sync err accum 84, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294911384 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:04:31 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 23758, writes 0 timeouts 0
2025-05-12 07:04:31 [debug] Last sensors broadcast 0x00000000 found 0 215 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 341, adv 36325/37175
2025-05-12 07:04:31 [warn] Warning: Discarded std reply src=50 RID=1540 exp=1540 "tions 0, last angle 9002, minCorrection=-15.4, maxCorrection"
2025-05-12 07:04:31 [warn] Warning: Discarded std reply src=50 RID=1540 exp=1540 "=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polar"
2025-05-12 07:04:31 [warn] Warning: Discarded std reply src=50 RID=1540 exp=1540 "ity: no, raw count 65179
Accelerometer: none
I2C bus errors "
2025-05-12 07:04:31 [warn] Warning: Discarded std reply src=50 RID=1540 exp=1540 "0, naks 0, contentions 0, other errors 0"
2025-05-12 07:04:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rota
CAN response timeout: board 50, req type 6024, RID 1540
2025-05-12 07:04:32 [info] ProbeTriggered: 0
2025-05-12 07:04:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:33 [info] PreTrigger: 1000
2025-05-12 07:04:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:34 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:35 [info] currentZPosition:-0.0103378
2025-05-12 07:04:35 [info] tubeContactPos:-0.0103 contactPositions:{-0.0103,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:35 [debug] Diagnostics for board 50:
2025-05-12 07:04:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:35 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:55 ago, cause: power up
2025-05-12 07:04:35 [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
2025-05-12 07:04:35 [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
2025-05-12 07:04:35 [debug] Moves scheduled 2311, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=478, frequency (Hz): min=1918, max=18292
Sync err accum 69, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294910833 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:04:35 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 38920, writes 0 timeouts 0
2025-05-12 07:04:35 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 147, 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 290, adv 35731/37173
2025-05-12 07:04:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:35 [info] ProbeTriggered: 0
2025-05-12 07:04:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:35 [info] PreTrigger: 1000
2025-05-12 07:04:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:37 [debug] Stopped at height -0.011 mm
2025-05-12 07:04:37 [info] currentZPosition:-0.0111330
2025-05-12 07:04:37 [info] tubeContactPos:-0.0111 contactPositions:{-0.0111,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:37 [debug] Diagnostics for board 50:
2025-05-12 07:04:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:37 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.5%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:57 ago, cause: power up
2025-05-12 07:04:37 [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
2025-05-12 07:04:37 [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
2025-05-12 07:04:37 [debug] Moves scheduled 2315, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=429, frequency (Hz): min=525, max=17857
Sync err accum 69, peak jitter -3/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294914653 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:04:37 [debug] Driver 0: pos -12163, 10060.2 steps/mm, standstill, SG min 0, mspos 56, reads 24742, writes 33 timeouts 3
2025-05-12 07:04:37 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 127, 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 342, adv 35848/37176
2025-05-12 07:04:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -354
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:37 [info] ProbeTriggered: 0
2025-05-12 07:04:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:37 [info] PreTrigger: 0
2025-05-12 07:04:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:39 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:39 [info] currentZPosition:-0.0100396
2025-05-12 07:04:39 [info] tubeContactPos:-0.0100 contactPositions:{-0.0100,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:39 [debug] Diagnostics for board 50:
2025-05-12 07:04:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:39 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:20:59 ago, cause: power up
2025-05-12 07:04:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:04:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:04:39 [debug] Moves scheduled 2319, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=448, frequency (Hz): min=1984, max=17857
Sync err accum 90, peak jitter 2/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294908926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:04:39 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 24609, writes 0 timeouts 0
2025-05-12 07:04:39 [debug] Last sensors broadcast 0x00000000 found 0 181 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 285, adv 36332/37175
2025-05-12 07:04:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:39 [info] ProbeTriggered: 0
2025-05-12 07:04:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:39 [info] PreTrigger: 1000
2025-05-12 07:04:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:41 [debug] Stopped at height -0.011 mm
2025-05-12 07:04:41 [info] currentZPosition:-0.0110336
2025-05-12 07:04:41 [info] tubeContactPos:-0.0110 contactPositions:{-0.0110,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:41 [debug] Diagnostics for board 50:
2025-05-12 07:04:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:41 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:01 ago, cause: power up
2025-05-12 07:04:41 [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
2025-05-12 07:04:41 [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
2025-05-12 07:04:41 [debug] Moves scheduled 2323, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=393, frequency (Hz): min=2343, max=17857
Sync err accum 104, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294911793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:04:41 [debug] Driver 0: pos -12161, 10060.2 steps/mm, standstill, SG min 0, mspos 24, reads 25234, writes 0 timeouts 0
2025-05-12 07:04:41 [debug] Last sensors broadcast 0x00000000 found 0 245 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 285, adv 36057/37176
2025-05-12 07:04:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9048, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:41 [info] ProbeTriggered: 0
2025-05-12 07:04:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:41 [info] PreTrigger: 1000
2025-05-12 07:04:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:43 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:43 [info] currentZPosition:-0.0101390
2025-05-12 07:04:43 [info] tubeContactPos:-0.0101 contactPositions:{-0.0101,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:43 [debug] Diagnostics for board 50:
2025-05-12 07:04:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:43 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:03 ago, cause: power up
2025-05-12 07:04:43 [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
2025-05-12 07:04:43 [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
2025-05-12 07:04:43 [debug] Moves scheduled 2327, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=416, frequency (Hz): min=2148, max=17441
Sync err accum 115, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294908637 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:04:43 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 24903, writes 0 timeouts 0
2025-05-12 07:04:43 [debug] Last sensors broadcast 0x00000000 found 0 33 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 285, adv 36169/37173
2025-05-12 07:04:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:43 [info] ProbeTriggered: 0
2025-05-12 07:04:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:43 [info] PreTrigger: 0
2025-05-12 07:04:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:45 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:45 [info] currentZPosition:-0.00954260
2025-05-12 07:04:45 [info] tubeContactPos:-0.00954 contactPositions:{-0.00954,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:45 [debug] Diagnostics for board 50:
2025-05-12 07:04:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:45 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:05 ago, cause: power up
2025-05-12 07:04:45 [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
2025-05-12 07:04:45 [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
2025-05-12 07:04:45 [debug] Moves scheduled 2331, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=386, frequency (Hz): min=2300, max=17857
Sync err accum 123, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294918370 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:04:45 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 23180, writes 0 timeouts 0
2025-05-12 07:04:45 [debug] Last sensors broadcast 0x00000000 found 0 175 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 297, adv 36183/37176
2025-05-12 07:04:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:45 [info] ProbeTriggered: 0
2025-05-12 07:04:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:45 [info] PreTrigger: 1000
2025-05-12 07:04:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:47 [debug] Stopped at height -0.011 mm
2025-05-12 07:04:47 [info] currentZPosition:-0.0106360
2025-05-12 07:04:47 [info] tubeContactPos:-0.0106 contactPositions:{-0.0106,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:47 [debug] Diagnostics for board 50:
2025-05-12 07:04:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:47 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:08 ago, cause: power up
2025-05-12 07:04:47 [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
2025-05-12 07:04:47 [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
2025-05-12 07:04:47 [debug] Moves scheduled 2335, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=409, frequency (Hz): min=845, max=17857
Sync err accum 126, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294910205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:04:47 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 27570, writes 11 timeouts 1
2025-05-12 07:04:47 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 107, 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 287, adv 36034/37174
2025-05-12 07:04:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:47 [info] ProbeTriggered: 0
2025-05-12 07:04:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:47 [info] PreTrigger: 0
2025-05-12 07:04:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:49 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:49 [info] currentZPosition:-0.0104372
2025-05-12 07:04:49 [info] tubeContactPos:-0.0104 contactPositions:{-0.0104,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:49 [debug] Diagnostics for board 50:
2025-05-12 07:04:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:49 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:21:09 ago, cause: power up
2025-05-12 07:04:49 [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
2025-05-12 07:04:49 [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
2025-05-12 07:04:49 [debug] Moves scheduled 2339, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=334, frequency (Hz): min=566, max=17045
Sync err accum 126, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294908252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:04:49 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 23663, writes 11 timeouts 1
2025-05-12 07:04:49 [debug] Last sensors broadcast 0x00000000 found 0 105 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 286, adv 36280/37178
2025-05-12 07:04:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:49 [info] ProbeTriggered: 0
2025-05-12 07:04:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:49 [info] PreTrigger: 0
2025-05-12 07:04:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:51 [debug] Stopped at height -0.011 mm
2025-05-12 07:04:51 [info] currentZPosition:-0.0110336
2025-05-12 07:04:51 [info] tubeContactPos:-0.0110 contactPositions:{-0.0110,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:51 [debug] Diagnostics for board 50:
2025-05-12 07:04:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:51 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:12 ago, cause: power up
2025-05-12 07:04:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:04:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:04:51 [debug] Moves scheduled 2343, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=341, frequency (Hz): min=574, max=17857
Sync err accum 122, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294915713 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:04:51 [debug] Driver 0: pos -12157, 10060.2 steps/mm, standstill, SG min 0, mspos 984, reads 26719, writes 11 timeouts 1
2025-05-12 07:04:51 [debug] Last sensors broadcast 0x00000000 found 0 40 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 286, adv 35880/37177
2025-05-12 07:04:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:51 [info] ProbeTriggered: 0
2025-05-12 07:04:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:51 [info] PreTrigger: 0
2025-05-12 07:04:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:53 [debug] Stopped at height -0.011 mm
2025-05-12 07:04:53 [info] currentZPosition:-0.0108348
2025-05-12 07:04:53 [info] tubeContactPos:-0.0108 contactPositions:{-0.0108,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:53 [debug] Diagnostics for board 50:
2025-05-12 07:04:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:53 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:14 ago, cause: power up
2025-05-12 07:04:53 [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
2025-05-12 07:04:53 [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
2025-05-12 07:04:53 [debug] Moves scheduled 2347, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=417, frequency (Hz): min=2252, max=17857
Sync err accum 112, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294910991 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:04:53 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 23616, writes 0 timeouts 0
2025-05-12 07:04:53 [debug] Last sensors broadcast 0x00000000 found 0 224 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 290, adv 35730/37174
2025-05-12 07:04:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:53 [info] ProbeTriggered: 0
2025-05-12 07:04:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:53 [info] PreTrigger: 0
2025-05-12 07:04:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:55 [debug] Stopped at height -0.011 mm
2025-05-12 07:04:55 [info] currentZPosition:-0.0108348
2025-05-12 07:04:55 [info] tubeContactPos:-0.0108 contactPositions:{-0.0108,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:55 [debug] Diagnostics for board 50:
2025-05-12 07:04:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:55 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:16 ago, cause: power up
2025-05-12 07:04:55 [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
2025-05-12 07:04:55 [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
2025-05-12 07:04:55 [debug] Moves scheduled 2351, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=386, frequency (Hz): min=2136, max=17857
Sync err accum 103, peak jitter -2/0, peak Rx delay 204, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294919669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:04:55 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 25947, writes 0 timeouts 0
2025-05-12 07:04:55 [debug] Last sensors broadcast 0x00000000 found 0 100 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 291, adv 35727/37177
2025-05-12 07:04:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:55 [info] ProbeTriggered: 0
2025-05-12 07:04:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:56 [info] PreTrigger: 0
2025-05-12 07:04:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:57 [debug] Stopped at height -0.011 mm
2025-05-12 07:04:57 [info] currentZPosition:-0.0114312
2025-05-12 07:04:57 [info] tubeContactPos:-0.0114 contactPositions:{-0.0114,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:57 [debug] Diagnostics for board 50:
2025-05-12 07:04:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:57 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:18 ago, cause: power up
2025-05-12 07:04:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:04:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:04:57 [debug] Moves scheduled 2355, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=466, frequency (Hz): min=2016, max=18292
Sync err accum 87, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294915401 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:04:57 [debug] Driver 0: pos -12160, 10060.2 steps/mm, standstill, SG min 0, mspos 8, reads 24632, writes 0 timeouts 0
2025-05-12 07:04:57 [debug] Last sensors broadcast 0x00000000 found 0 119 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 288, adv 35969/37177
2025-05-12 07:04:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:57 [info] ProbeTriggered: 0
2025-05-12 07:04:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:58 [info] PreTrigger: 1000
2025-05-12 07:04:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:04:59 [debug] Stopped at height -0.010 mm
2025-05-12 07:04:59 [info] currentZPosition:-0.0103378
2025-05-12 07:04:59 [info] tubeContactPos:-0.0103 contactPositions:{-0.0103,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:04:59 [debug] Diagnostics for board 50:
2025-05-12 07:04:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:04:59 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:20 ago, cause: power up
2025-05-12 07:04:59 [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
2025-05-12 07:04:59 [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
2025-05-12 07:04:59 [debug] Moves scheduled 2359, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=394, frequency (Hz): min=2358, max=18292
Sync err accum 70, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294913123 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:04:59 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 24629, writes 0 timeouts 0
2025-05-12 07:04:59 [debug] Last sensors broadcast 0x00000000 found 0 135 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 285, adv 36334/37179
2025-05-12 07:04:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:04:59 [info] ProbeTriggered: 0
2025-05-12 07:04:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:04:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:00 [info] PreTrigger: 1000
2025-05-12 07:05:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:01 [debug] Stopped at height -0.011 mm
2025-05-12 07:05:01 [info] currentZPosition:-0.0105366
2025-05-12 07:05:01 [info] tubeContactPos:-0.0105 contactPositions:{-0.0105,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:01 [debug] Diagnostics for board 50:
2025-05-12 07:05:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:01 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:22 ago, cause: power up
2025-05-12 07:05:01 [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
2025-05-12 07:05:01 [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
2025-05-12 07:05:01 [debug] Moves scheduled 2363, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=410, frequency (Hz): min=853, max=17857
Sync err accum 71, peak jitter -3/5, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294912439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:05:01 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 24179, writes 11 timeouts 1
2025-05-12 07:05:01 [debug] Last sensors broadcast 0x00000000 found 0 112 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 308, adv 36182/37173
2025-05-12 07:05:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:01 [info] ProbeTriggered: 0
2025-05-12 07:05:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:02 [info] PreTrigger: 1000
2025-05-12 07:05:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:03 [debug] Stopped at height -0.011 mm
2025-05-12 07:05:03 [info] currentZPosition:-0.0109342
2025-05-12 07:05:03 [info] tubeContactPos:-0.0109 contactPositions:{-0.0109,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:03 [debug] Diagnostics for board 50:
2025-05-12 07:05:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:03 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:24 ago, cause: power up
2025-05-12 07:05:03 [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
2025-05-12 07:05:03 [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
2025-05-12 07:05:03 [debug] Moves scheduled 2367, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=376, frequency (Hz): min=2483, max=17441
Sync err accum 92, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294916289 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:05:03 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 26504, writes 0 timeouts 0
2025-05-12 07:05:03 [debug] Last sensors broadcast 0x00000000 found 0 30 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 288, adv 36169/37165
2025-05-12 07:05:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:03 [info] ProbeTriggered: 0
2025-05-12 07:05:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:04 [info] PreTrigger: 0
2025-05-12 07:05:04 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:05 [debug] Stopped at height -0.011 mm
2025-05-12 07:05:05 [info] currentZPosition:-0.0110336
2025-05-12 07:05:05 [info] tubeContactPos:-0.0110 contactPositions:{-0.0110,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:05 [debug] Diagnostics for board 50:
2025-05-12 07:05:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:05 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:26 ago, cause: power up
2025-05-12 07:05:05 [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
2025-05-12 07:05:05 [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
2025-05-12 07:05:05 [debug] Moves scheduled 2371, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=405, frequency (Hz): min=2089, max=18292
Sync err accum 101, peak jitter 1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294908971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:05:05 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 24095, writes 0 timeouts 0
2025-05-12 07:05:05 [debug] Last sensors broadcast 0x00000000 found 0 249 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 303, adv 36379/37166
2025-05-12 07:05:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:05 [info] ProbeTriggered: 0
2025-05-12 07:05:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:06 [info] PreTrigger: 1000
2025-05-12 07:05:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:07 [debug] Stopped at height -0.011 mm
2025-05-12 07:05:07 [info] currentZPosition:-0.0111330
2025-05-12 07:05:07 [info] tubeContactPos:-0.0111 contactPositions:{-0.0111,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:07 [debug] Diagnostics for board 50:
2025-05-12 07:05:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:07 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:21:28 ago, cause: power up
2025-05-12 07:05:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:05:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:05:07 [debug] Moves scheduled 2375, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=438, frequency (Hz): min=505, max=17045
Sync err accum 114, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294914983 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:05:07 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 26081, writes 11 timeouts 1
2025-05-12 07:05:07 [debug] Last sensors broadcast 0x00000000 found 0 134 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 288, adv 36029/37177
2025-05-12 07:05:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:07 [info] ProbeTriggered: 0
2025-05-12 07:05:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:08 [info] PreTrigger: 0
2025-05-12 07:05:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:09 [debug] Stopped at height -0.011 mm
2025-05-12 07:05:09 [info] currentZPosition:-0.0105366
2025-05-12 07:05:09 [info] tubeContactPos:-0.0105 contactPositions:{-0.0105,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:09 [debug] Diagnostics for board 50:
2025-05-12 07:05:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:09 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:30 ago, cause: power up
2025-05-12 07:05:09 [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
2025-05-12 07:05:09 [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
2025-05-12 07:05:09 [debug] Moves scheduled 2379, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=494, frequency (Hz): min=1648, max=17857
Sync err accum 120, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294909194 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:05:09 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 23276, writes 0 timeouts 0
2025-05-12 07:05:09 [debug] Last sensors broadcast 0x00000000 found 0 36 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 286, adv 35835/37176
2025-05-12 07:05:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:09 [info] ProbeTriggered: 0
2025-05-12 07:05:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:10 [info] PreTrigger: 0
2025-05-12 07:05:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:11 [debug] Stopped at height -0.012 mm
2025-05-12 07:05:11 [info] currentZPosition:-0.0115306
2025-05-12 07:05:11 [info] tubeContactPos:-0.0115 contactPositions:{-0.0115,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:11 [debug] Diagnostics for board 50:
2025-05-12 07:05:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:11 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:32 ago, cause: power up
2025-05-12 07:05:11 [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
2025-05-12 07:05:11 [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
2025-05-12 07:05:11 [debug] Moves scheduled 2383, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=458, frequency (Hz): min=1488, max=18292
Sync err accum 125, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294905484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:05:11 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 27300, writes 0 timeouts 0
2025-05-12 07:05:11 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 114, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 291, adv 35884/37172
2025-05-12 07:05:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:11 [info] ProbeTriggered: 0
2025-05-12 07:05:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:12 [info] PreTrigger: 0
2025-05-12 07:05:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:13 [debug] Stopped at height -0.011 mm
2025-05-12 07:05:13 [info] currentZPosition:-0.0113318
2025-05-12 07:05:13 [info] tubeContactPos:-0.0113 contactPositions:{-0.0113,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:13 [debug] Diagnostics for board 50:
2025-05-12 07:05:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:13 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:34 ago, cause: power up
2025-05-12 07:05:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:05:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:05:13 [debug] Moves scheduled 2387, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=396, frequency (Hz): min=2118, max=18292
Sync err accum 126, peak jitter -1/1, peak Rx delay 194, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294912949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:05:13 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 23709, writes 0 timeouts 0
2025-05-12 07:05:13 [debug] Last sensors broadcast 0x00000000 found 0 201 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 289, adv 36038/37174
2025-05-12 07:05:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:13 [info] ProbeTriggered: 0
2025-05-12 07:05:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:14 [info] PreTrigger: 1000
2025-05-12 07:05:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:15 [debug] Stopped at height -0.011 mm
2025-05-12 07:05:15 [info] currentZPosition:-0.0108348
2025-05-12 07:05:15 [info] tubeContactPos:-0.0108 contactPositions:{-0.0108,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:15 [debug] Diagnostics for board 50:
2025-05-12 07:05:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:15 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:36 ago, cause: power up
2025-05-12 07:05:15 [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
2025-05-12 07:05:15 [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
2025-05-12 07:05:15 [debug] Moves scheduled 2391, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=418, frequency (Hz): min=2238, max=17857
Sync err accum 123, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294909104 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:05:15 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 25422, writes 0 timeouts 0
2025-05-12 07:05:15 [debug] Last sensors broadcast 0x00000000 found 0 25 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 284, adv 35733/37177
2025-05-12 07:05:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:16 [info] ProbeTriggered: 0
2025-05-12 07:05:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:16 [info] PreTrigger: 0
2025-05-12 07:05:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:17 [debug] Stopped at height -0.012 mm
2025-05-12 07:05:17 [info] currentZPosition:-0.0117294
2025-05-12 07:05:17 [info] tubeContactPos:-0.0117 contactPositions:{-0.0117,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:17 [debug] Diagnostics for board 50:
2025-05-12 07:05:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:17 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:38 ago, cause: power up
2025-05-12 07:05:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:05:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:05:17 [debug] Moves scheduled 2395, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=466, frequency (Hz): min=1978, max=17441
Sync err accum 114, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294915664 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:05:17 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 25009, writes 0 timeouts 0
2025-05-12 07:05:17 [debug] Last sensors broadcast 0x00000000 found 0 67 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 286, adv 36242/37174
2025-05-12 07:05:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:18 [info] ProbeTriggered: 0
2025-05-12 07:05:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:18 [info] PreTrigger: 1000
2025-05-12 07:05:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:19 [debug] Stopped at height -0.011 mm
2025-05-12 07:05:19 [info] currentZPosition:-0.0107354
2025-05-12 07:05:19 [info] tubeContactPos:-0.0107 contactPositions:{-0.0107,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:19 [debug] Diagnostics for board 50:
2025-05-12 07:05:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:19 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:40 ago, cause: power up
2025-05-12 07:05:19 [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
2025-05-12 07:05:19 [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
2025-05-12 07:05:19 [debug] Moves scheduled 2399, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=376, frequency (Hz): min=2365, max=18292
Sync err accum 103, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294912189 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:05:19 [debug] Driver 0: pos -12144, 10060.2 steps/mm, standstill, SG min 0, mspos 776, reads 24700, writes 0 timeouts 0
2025-05-12 07:05:19 [debug] Last sensors broadcast 0x00000000 found 0 83 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 285, adv 36354/37175
2025-05-12 07:05:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:20 [info] ProbeTriggered: 0
2025-05-12 07:05:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:20 [info] PreTrigger: 0
2025-05-12 07:05:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:22 [debug] Stopped at height -0.012 mm
2025-05-12 07:05:22 [info] currentZPosition:-0.0117294
2025-05-12 07:05:22 [info] tubeContactPos:-0.0117 contactPositions:{-0.0117,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:22 [debug] Diagnostics for board 50:
2025-05-12 07:05:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:22 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:42 ago, cause: power up
2025-05-12 07:05:22 [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
2025-05-12 07:05:22 [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
2025-05-12 07:05:22 [debug] Moves scheduled 2403, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=420, frequency (Hz): min=1630, max=17857
Sync err accum 88, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294915437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:05:22 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 25185, writes 0 timeouts 0
2025-05-12 07:05:22 [debug] Last sensors broadcast 0x00000000 found 0 143 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 285, adv 35722/37177
2025-05-12 07:05:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4630, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:22 [info] ProbeTriggered: 0
2025-05-12 07:05:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:22 [info] PreTrigger: 1000
2025-05-12 07:05:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:24 [debug] Stopped at height -0.012 mm
2025-05-12 07:05:24 [info] currentZPosition:-0.0115306
2025-05-12 07:05:24 [info] tubeContactPos:-0.0115 contactPositions:{-0.0115,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:24 [debug] Diagnostics for board 50:
2025-05-12 07:05:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:24 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:44 ago, cause: power up
2025-05-12 07:05:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:05:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:05:24 [debug] Moves scheduled 2407, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=424, frequency (Hz): min=2212, max=17857
Sync err accum 67, peak jitter -3/-1, peak Rx delay 192, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294912851 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:05:24 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 25700, writes 0 timeouts 0
2025-05-12 07:05:24 [debug] Last sensors broadcast 0x00000000 found 0 240 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 285, adv 36208/37178
2025-05-12 07:05:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:24 [info] ProbeTriggered: 0
2025-05-12 07:05:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:24 [info] PreTrigger: 1000
2025-05-12 07:05:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:26 [debug] Stopped at height -0.012 mm
2025-05-12 07:05:26 [info] currentZPosition:-0.0115306
2025-05-12 07:05:26 [info] tubeContactPos:-0.0115 contactPositions:{-0.0115,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:26 [debug] Diagnostics for board 50:
2025-05-12 07:05:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:26 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:46 ago, cause: power up
2025-05-12 07:05:26 [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
2025-05-12 07:05:26 [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
2025-05-12 07:05:26 [debug] Moves scheduled 2411, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=404, frequency (Hz): min=2321, max=18292
Sync err accum 69, peak jitter -3/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294911616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:05:26 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 23923, writes 0 timeouts 0
2025-05-12 07:05:26 [debug] Last sensors broadcast 0x00000000 found 0 198 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 285, adv 35924/37177
2025-05-12 07:05:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:26 [info] ProbeTriggered: 0
2025-05-12 07:05:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:26 [info] PreTrigger: 1000
2025-05-12 07:05:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:28 [debug] Stopped at height -0.012 mm
2025-05-12 07:05:28 [info] currentZPosition:-0.0119282
2025-05-12 07:05:28 [info] tubeContactPos:-0.0119 contactPositions:{-0.0119,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:28 [debug] Diagnostics for board 50:
2025-05-12 07:05:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:28 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:48 ago, cause: power up
2025-05-12 07:05:28 [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
2025-05-12 07:05:28 [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
2025-05-12 07:05:28 [debug] Moves scheduled 2415, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=401, frequency (Hz): min=1794, max=18292
Sync err accum 90, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294914872 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:05:28 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 26614, writes 0 timeouts 0
2025-05-12 07:05:28 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 287, adv 36055/37173
2025-05-12 07:05:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:28 [info] ProbeTriggered: 0
2025-05-12 07:05:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:28 [info] PreTrigger: 0
2025-05-12 07:05:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:30 [debug] Stopped at height -0.011 mm
2025-05-12 07:05:30 [info] currentZPosition:-0.0111330
2025-05-12 07:05:30 [info] tubeContactPos:-0.0111 contactPositions:{-0.0111,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:30 [debug] Diagnostics for board 50:
2025-05-12 07:05:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:30 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:50 ago, cause: power up
2025-05-12 07:05:30 [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
2025-05-12 07:05:30 [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
2025-05-12 07:05:30 [debug] Moves scheduled 2419, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=438, frequency (Hz): min=2089, max=17441
Sync err accum 103, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294915082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:05:30 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 22944, writes 0 timeouts 0
2025-05-12 07:05:30 [debug] Last sensors broadcast 0x00000000 found 0 236 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 287, adv 36130/37171
2025-05-12 07:05:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:30 [info] ProbeTriggered: 0
2025-05-12 07:05:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:30 [info] PreTrigger: 0
2025-05-12 07:05:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:32 [debug] Stopped at height -0.011 mm
2025-05-12 07:05:32 [info] currentZPosition:-0.0114312
2025-05-12 07:05:32 [info] tubeContactPos:-0.0114 contactPositions:{-0.0114,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:32 [debug] Diagnostics for board 50:
2025-05-12 07:05:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:32 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:52 ago, cause: power up
2025-05-12 07:05:32 [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
2025-05-12 07:05:32 [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
2025-05-12 07:05:32 [debug] Moves scheduled 2423, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=490, frequency (Hz): min=1785, max=18292
Sync err accum 114, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294908974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:05:32 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 26510, writes 0 timeouts 0
2025-05-12 07:05:32 [debug] Last sensors broadcast 0x00000000 found 0 142 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 288, adv 35905/37173
2025-05-12 07:05:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:32 [info] ProbeTriggered: 0
2025-05-12 07:05:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:32 [info] PreTrigger: 0
2025-05-12 07:05:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:34 [debug] Stopped at height -0.013 mm
2025-05-12 07:05:34 [info] currentZPosition:-0.0130217
2025-05-12 07:05:34 [debug] Stopped at height -0.013 mm
2025-05-12 07:05:34 [info] currentZPosition:-0.0126241
2025-05-12 07:05:34 [info] tubeContactPos:-0.0126 contactPositions:{-0.0130,-0.0126,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:05:34 [debug] Diagnostics for board 50:
2025-05-12 07:05:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:34 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:55 ago, cause: power up
2025-05-12 07:05:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:05:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:05:34 [debug] Moves scheduled 2429, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=413, frequency (Hz): min=1953, max=17857
Sync err accum 120, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294918203 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:05:34 [debug] Driver 0: pos -12158, 10060.2 steps/mm, standstill, SG min 0, mspos 1000, reads 31711, writes 0 timeouts 0
2025-05-12 07:05:34 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 143, 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 287, adv 36285/37176
2025-05-12 07:05:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4628, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:34 [info] ProbeTriggered: 0
2025-05-12 07:05:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01153f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:35 [info] PreTrigger: 1000
2025-05-12 07:05:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:36 [debug] Stopped at height -0.011 mm
2025-05-12 07:05:36 [info] currentZPosition:-0.0114312
2025-05-12 07:05:36 [info] tubeContactPos:-0.0114 contactPositions:{-0.0114,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:36 [debug] Diagnostics for board 50:
2025-05-12 07:05:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:36 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:57 ago, cause: power up
2025-05-12 07:05:36 [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
2025-05-12 07:05:36 [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
2025-05-12 07:05:36 [debug] Moves scheduled 2433, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=337, frequency (Hz): min=2697, max=17857
Sync err accum 124, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294914639 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:05:36 [debug] Driver 0: pos -12146, 10060.2 steps/mm, standstill, SG min 0, mspos 808, reads 24575, writes 0 timeouts 0
2025-05-12 07:05:36 [debug] Last sensors broadcast 0x00000000 found 0 222 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 282, adv 35784/37175
2025-05-12 07:05:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:36 [info] ProbeTriggered: 0
2025-05-12 07:05:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:37 [info] PreTrigger: 1000
2025-05-12 07:05:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:38 [debug] Stopped at height -0.012 mm
2025-05-12 07:05:38 [info] currentZPosition:-0.0122265
2025-05-12 07:05:38 [info] tubeContactPos:-0.0122 contactPositions:{-0.0122,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:38 [debug] Diagnostics for board 50:
2025-05-12 07:05:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:38 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,65.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:21:59 ago, cause: power up
2025-05-12 07:05:38 [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
2025-05-12 07:05:38 [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
2025-05-12 07:05:38 [debug] Moves scheduled 2437, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=484, frequency (Hz): min=1943, max=18292
Sync err accum 120, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294911109 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:05:38 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 24972, writes 0 timeouts 0
2025-05-12 07:05:38 [debug] Last sensors broadcast 0x00000000 found 0 7 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 285, adv 35770/37175
2025-05-12 07:05:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:38 [info] ProbeTriggered: 0
2025-05-12 07:05:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:39 [info] PreTrigger: 0
2025-05-12 07:05:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:41 [debug] Stopped at height -0.012 mm
2025-05-12 07:05:41 [info] currentZPosition:-0.0124253
2025-05-12 07:05:41 [info] tubeContactPos:-0.0124 contactPositions:{-0.0124,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:41 [debug] Diagnostics for board 50:
2025-05-12 07:05:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:41 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:01 ago, cause: power up
2025-05-12 07:05:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:05:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:05:41 [debug] Moves scheduled 2441, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=442, frequency (Hz): min=2118, max=18292
Sync err accum 114, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294910667 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:05:41 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 26278, writes 0 timeouts 0
2025-05-12 07:05:41 [debug] Last sensors broadcast 0x00000000 found 0 148 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 288, adv 36375/37178
2025-05-12 07:05:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:41 [info] ProbeTriggered: 0
2025-05-12 07:05:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:41 [info] PreTrigger: 1000
2025-05-12 07:05:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:42 [debug] Stopped at height -0.012 mm
2025-05-12 07:05:42 [info] currentZPosition:-0.0122265
2025-05-12 07:05:42 [info] tubeContactPos:-0.0122 contactPositions:{-0.0122,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:42 [debug] Diagnostics for board 50:
2025-05-12 07:05:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:42 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:03 ago, cause: power up
2025-05-12 07:05:42 [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
2025-05-12 07:05:42 [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
2025-05-12 07:05:42 [debug] Moves scheduled 2445, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=337, frequency (Hz): min=2161, max=17441
Sync err accum 102, peak jitter -2/-1, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294915844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, c
2025-05-12 07:05:42 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 23706, writes 0 timeouts 0
2025-05-12 07:05:42 [debug] Last sensors broadcast 0x00000000 found 0 85 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 290, adv 35969/37179
2025-05-12 07:05:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:43 [info] ProbeTriggered: 0
2025-05-12 07:05:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:43 [info] PreTrigger: 1000
2025-05-12 07:05:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:45 [debug] Stopped at height -0.012 mm
2025-05-12 07:05:45 [info] currentZPosition:-0.0121271
2025-05-12 07:05:45 [info] tubeContactPos:-0.0121 contactPositions:{-0.0121,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:45 [debug] Diagnostics for board 50:
2025-05-12 07:05:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:45 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:05 ago, cause: power up
2025-05-12 07:05:45 [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
2025-05-12 07:05:45 [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
2025-05-12 07:05:45 [debug] Moves scheduled 2449, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=342, frequency (Hz): min=2467, max=18292
Sync err accum 84, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916193 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:05:45 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 25957, writes 0 timeouts 0
2025-05-12 07:05:45 [debug] Last sensors broadcast 0x00000000 found 0 200 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 287, adv 36259/37178
2025-05-12 07:05:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:45 [info] ProbeTriggered: 0
2025-05-12 07:05:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:45 [info] PreTrigger: 1000
2025-05-12 07:05:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:47 [debug] Stopped at height -0.012 mm
2025-05-12 07:05:47 [info] currentZPosition:-0.0124253
2025-05-12 07:05:47 [info] tubeContactPos:-0.0124 contactPositions:{-0.0124,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:47 [debug] Diagnostics for board 50:
2025-05-12 07:05:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:47 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:07 ago, cause: power up
2025-05-12 07:05:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:05:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:05:47 [debug] Moves scheduled 2453, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=354, frequency (Hz): min=2218, max=17441
Sync err accum 63, peak jitter -3/-1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294910402 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:05:47 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 24320, writes 0 timeouts 0
2025-05-12 07:05:47 [debug] Last sensors broadcast 0x00000000 found 0 185 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 285, adv 36161/37178
2025-05-12 07:05:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4630, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:47 [info] ProbeTriggered: 0
2025-05-12 07:05:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:47 [info] PreTrigger: 1000
2025-05-12 07:05:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:49 [debug] Stopped at height -0.013 mm
2025-05-12 07:05:49 [info] currentZPosition:-0.0131211
2025-05-12 07:05:49 [info] tubeContactPos:-0.0131 contactPositions:{-0.0131,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:49 [debug] Diagnostics for board 50:
2025-05-12 07:05:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:49 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:09 ago, cause: power up
2025-05-12 07:05:49 [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
2025-05-12 07:05:49 [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
2025-05-12 07:05:49 [debug] Moves scheduled 2457, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=416, frequency (Hz): min=1994, max=17857
Sync err accum 65, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294915559 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:05:49 [debug] Driver 0: pos -12159, 10060.2 steps/mm, standstill, SG min 0, mspos 1016, reads 26774, writes 0 timeouts 0
2025-05-12 07:05:49 [debug] Last sensors broadcast 0x00000000 found 0 124 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 285, adv 36106/37176
2025-05-12 07:05:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4630, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:49 [info] ProbeTriggered: 0
2025-05-12 07:05:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:49 [info] PreTrigger: 1000
2025-05-12 07:05:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:51 [debug] Stopped at height -0.013 mm
2025-05-12 07:05:51 [info] currentZPosition:-0.0130217
2025-05-12 07:05:51 [info] tubeContactPos:-0.0130 contactPositions:{-0.0130,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:51 [debug] Diagnostics for board 50:
2025-05-12 07:05:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:51 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:11 ago, cause: power up
2025-05-12 07:05:51 [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
2025-05-12 07:05:51 [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
2025-05-12 07:05:51 [debug] Moves scheduled 2461, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=404, frequency (Hz): min=2071, max=17857
Sync err accum 63, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294911585 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:05:51 [debug] Driver 0: pos -12157, 10060.2 steps/mm, standstill, SG min 0, mspos 984, reads 23706, writes 0 timeouts 0
2025-05-12 07:05:51 [debug] Last sensors broadcast 0x00000000 found 0 66 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 284, adv 36346/37175
2025-05-12 07:05:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:51 [info] ProbeTriggered: 0
2025-05-12 07:05:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:51 [info] PreTrigger: 1000
2025-05-12 07:05:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:53 [debug] Stopped at height -0.013 mm
2025-05-12 07:05:53 [info] currentZPosition:-0.0127235
2025-05-12 07:05:53 [info] tubeContactPos:-0.0127 contactPositions:{-0.0127,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:53 [debug] Diagnostics for board 50:
2025-05-12 07:05:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:53 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:13 ago, cause: power up
2025-05-12 07:05:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:05:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:05:53 [debug] Moves scheduled 2465, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=449, frequency (Hz): min=1777, max=17857
Sync err accum 80, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294916115 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:05:53 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 25493, writes 0 timeouts 0
2025-05-12 07:05:53 [debug] Last sensors broadcast 0x00000000 found 0 151 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 37, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 35982/37172
2025-05-12 07:05:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:53 [info] ProbeTriggered: 0
2025-05-12 07:05:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:53 [info] PreTrigger: 0
2025-05-12 07:05:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:55 [debug] Stopped at height -0.013 mm
2025-05-12 07:05:55 [info] currentZPosition:-0.0125247
2025-05-12 07:05:55 [info] tubeContactPos:-0.0125 contactPositions:{-0.0125,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:55 [debug] Diagnostics for board 50:
2025-05-12 07:05:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:55 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:15 ago, cause: power up
2025-05-12 07:05:55 [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
2025-05-12 07:05:55 [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
2025-05-12 07:05:55 [debug] Moves scheduled 2469, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=441, frequency (Hz): min=1893, max=18292
Sync err accum 89, peak jitter 0/2, peak Rx delay 204, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294914279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:05:55 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 23623, writes 0 timeouts 0
2025-05-12 07:05:55 [debug] Last sensors broadcast 0x00000000 found 0 83 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 292, adv 35792/37174
2025-05-12 07:05:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:55 [info] ProbeTriggered: 0
2025-05-12 07:05:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:55 [info] PreTrigger: 1000
2025-05-12 07:05:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:57 [debug] Stopped at height -0.014 mm
2025-05-12 07:05:57 [info] currentZPosition:-0.0135187
2025-05-12 07:05:57 [info] tubeContactPos:-0.0135 contactPositions:{-0.0135,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:57 [debug] Diagnostics for board 50:
2025-05-12 07:05:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:57 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:18 ago, cause: power up
2025-05-12 07:05:57 [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
2025-05-12 07:05:57 [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
2025-05-12 07:05:57 [debug] Moves scheduled 2473, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=353, frequency (Hz): min=2559, max=18292
Sync err accum 97, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294915394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:05:57 [debug] Driver 0: pos -12160, 10060.2 steps/mm, standstill, SG min 0, mspos 8, reads 27176, writes 0 timeouts 0
2025-05-12 07:05:57 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 128, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35834/37175
2025-05-12 07:05:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9048, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:57 [info] ProbeTriggered: 0
2025-05-12 07:05:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:57 [info] PreTrigger: 0
2025-05-12 07:05:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:59 [debug] Stopped at height -0.013 mm
2025-05-12 07:05:59 [info] currentZPosition:-0.0127235
2025-05-12 07:05:59 [info] tubeContactPos:-0.0127 contactPositions:{-0.0127,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:05:59 [debug] Diagnostics for board 50:
2025-05-12 07:05:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:05:59 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.4%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,3.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:20 ago, cause: power up
2025-05-12 07:05:59 [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
2025-05-12 07:05:59 [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
2025-05-12 07:05:59 [debug] Moves scheduled 2477, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=392, frequency (Hz): min=1851, max=17857
Sync err accum 97, peak jitter -1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294913186 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:05:59 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 22794, writes 0 timeouts 0
2025-05-12 07:05:59 [debug] Last sensors broadcast 0x00000000 found 0 189 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 285, adv 35909/37172
2025-05-12 07:05:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4627, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:05:59 [info] ProbeTriggered: 0
2025-05-12 07:05:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:05:59 [info] PreTrigger: 1000
2025-05-12 07:05:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:05:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:01 [debug] Stopped at height -0.013 mm
2025-05-12 07:06:01 [info] currentZPosition:-0.0129223
2025-05-12 07:06:01 [info] tubeContactPos:-0.0129 contactPositions:{-0.0129,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:01 [debug] Diagnostics for board 50:
2025-05-12 07:06:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:01 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:22 ago, cause: power up
2025-05-12 07:06:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:06:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:06:01 [debug] Moves scheduled 2481, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=337, frequency (Hz): min=2403, max=17857
Sync err accum 88, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294910352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:06:01 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 26295, writes 0 timeouts 0
2025-05-12 07:06:01 [debug] Last sensors broadcast 0x00000000 found 0 81 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 291, adv 35661/37171
2025-05-12 07:06:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:01 [info] ProbeTriggered: 0
2025-05-12 07:06:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:02 [info] PreTrigger: 1000
2025-05-12 07:06:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:03 [debug] Stopped at height -0.013 mm
2025-05-12 07:06:03 [info] currentZPosition:-0.0126241
2025-05-12 07:06:03 [info] tubeContactPos:-0.0126 contactPositions:{-0.0126,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:03 [debug] Diagnostics for board 50:
2025-05-12 07:06:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:03 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:24 ago, cause: power up
2025-05-12 07:06:03 [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
2025-05-12 07:06:03 [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
2025-05-12 07:06:03 [debug] Moves scheduled 2485, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=340, frequency (Hz): min=1756, max=17857
Sync err accum 77, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294916178 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:06:03 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 23633, writes 0 timeouts 0
2025-05-12 07:06:03 [debug] Last sensors broadcast 0x00000000 found 0 15 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 288, adv 36337/37172
2025-05-12 07:06:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:03 [info] ProbeTriggered: 0
2025-05-12 07:06:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:03 [info] PreTrigger: 1000
2025-05-12 07:06:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:05 [debug] Stopped at height -0.013 mm
2025-05-12 07:06:05 [info] currentZPosition:-0.0127235
2025-05-12 07:06:05 [info] tubeContactPos:-0.0127 contactPositions:{-0.0127,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:05 [debug] Diagnostics for board 50:
2025-05-12 07:06:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:05 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:26 ago, cause: power up
2025-05-12 07:06:05 [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
2025-05-12 07:06:05 [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
2025-05-12 07:06:05 [debug] Moves scheduled 2489, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 40, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=362, frequency (Hz): min=784, max=25862
Sync err accum 62, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294911542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:06:05 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 26000, writes 11 timeouts 1
2025-05-12 07:06:05 [debug] Last sensors broadcast 0x00000000 found 0 142 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 287, adv 36306/37177
2025-05-12 07:06:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:05 [info] ProbeTriggered: 0
2025-05-12 07:06:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:06 [info] PreTrigger: 1000
2025-05-12 07:06:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:07 [debug] Stopped at height -0.014 mm
2025-05-12 07:06:07 [info] currentZPosition:-0.0136181
2025-05-12 07:06:07 [info] tubeContactPos:-0.0136 contactPositions:{-0.0136,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:07 [debug] Diagnostics for board 50:
2025-05-12 07:06:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:07 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:28 ago, cause: power up
2025-05-12 07:06:07 [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
2025-05-12 07:06:07 [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
2025-05-12 07:06:07 [debug] Moves scheduled 2493, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=438, frequency (Hz): min=1889, max=17857
Sync err accum 77, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294914183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:06:07 [debug] Driver 0: pos -12157, 10060.2 steps/mm, standstill, SG min 0, mspos 984, reads 24963, writes 0 timeouts 0
2025-05-12 07:06:07 [debug] Last sensors broadcast 0x00000000 found 0 182 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 289, adv 35997/37175
2025-05-12 07:06:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:07 [info] ProbeTriggered: 0
2025-05-12 07:06:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:08 [info] PreTrigger: 0
2025-05-12 07:06:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:09 [debug] Stopped at height -0.012 mm
2025-05-12 07:06:09 [info] currentZPosition:-0.0122265
2025-05-12 07:06:10 [debug] Stopped at height -0.013 mm
2025-05-12 07:06:10 [info] currentZPosition:-0.0130217
2025-05-12 07:06:10 [info] tubeContactPos:-0.0130 contactPositions:{-0.0122,-0.0130,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:06:10 [debug] Diagnostics for board 50:
2025-05-12 07:06:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:10 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:30 ago, cause: power up
2025-05-12 07:06:10 [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
2025-05-12 07:06:10 [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
2025-05-12 07:06:10 [debug] Moves scheduled 2499, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=386, frequency (Hz): min=2077, max=17857
Sync err accum 94, peak jitter 1/2, peak Rx delay 188, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294915376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:06:10 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 31529, writes 0 timeouts 0
2025-05-12 07:06:10 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 111, 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 288, adv 36153/37174
2025-05-12 07:06:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:10 [info] ProbeTriggered: 0
2025-05-12 07:06:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:10 [info] PreTrigger: 1000
2025-05-12 07:06:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:12 [debug] Stopped at height -0.013 mm
2025-05-12 07:06:12 [info] currentZPosition:-0.0128229
2025-05-12 07:06:12 [info] tubeContactPos:-0.0128 contactPositions:{-0.0128,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:12 [debug] Diagnostics for board 50:
2025-05-12 07:06:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:12 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:32 ago, cause: power up
2025-05-12 07:06:12 [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
2025-05-12 07:06:12 [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
2025-05-12 07:06:12 [debug] Moves scheduled 2503, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=418, frequency (Hz): min=490, max=17857
Sync err accum 103, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294910222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:06:12 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 23630, writes 33 timeouts 3
2025-05-12 07:06:12 [debug] Last sensors broadcast 0x00000000 found 0 182 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 282, adv 36162/37174
2025-05-12 07:06:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:12 [info] ProbeTriggered: 0
2025-05-12 07:06:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:12 [info] PreTrigger: 1000
2025-05-12 07:06:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:14 [debug] Stopped at height -0.013 mm
2025-05-12 07:06:14 [info] currentZPosition:-0.0131211
2025-05-12 07:06:14 [info] tubeContactPos:-0.0131 contactPositions:{-0.0131,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:14 [debug] Diagnostics for board 50:
2025-05-12 07:06:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:14 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:34 ago, cause: power up
2025-05-12 07:06:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:06:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:06:14 [debug] Moves scheduled 2507, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=416, frequency (Hz): min=1815, max=18292
Sync err accum 105, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294916696 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:06:14 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 26351, writes 0 timeouts 0
2025-05-12 07:06:14 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35995/37173
2025-05-12 07:06:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:14 [info] ProbeTriggered: 0
2025-05-12 07:06:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:14 [info] PreTrigger: 1000
2025-05-12 07:06:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:16 [debug] Stopped at height -0.014 mm
2025-05-12 07:06:16 [info] currentZPosition:-0.0135187
2025-05-12 07:06:16 [info] tubeContactPos:-0.0135 contactPositions:{-0.0135,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:16 [debug] Diagnostics for board 50:
2025-05-12 07:06:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:16 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:36 ago, cause: power up
2025-05-12 07:06:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:06:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:06:16 [debug] Moves scheduled 2511, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=490, frequency (Hz): min=511, max=18292
Sync err accum 102, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294909676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:06:16 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 24404, writes 11 timeouts 1
2025-05-12 07:06:16 [debug] Last sensors broadcast 0x00000000 found 0 78 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 286, adv 36360/37177
2025-05-12 07:06:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4630, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:16 [info] ProbeTriggered: 0
2025-05-12 07:06:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:16 [info] PreTrigger: 1000
2025-05-12 07:06:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:18 [debug] Stopped at height -0.014 mm
2025-05-12 07:06:18 [info] currentZPosition:-0.0137175
2025-05-12 07:06:18 [info] tubeContactPos:-0.0137 contactPositions:{-0.0137,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:18 [debug] Diagnostics for board 50:
2025-05-12 07:06:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:18 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:39 ago, cause: power up
2025-05-12 07:06:18 [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
2025-05-12 07:06:18 [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
2025-05-12 07:06:18 [debug] Moves scheduled 2515, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=398, frequency (Hz): min=602, max=17857
Sync err accum 97, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294914695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:06:18 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 26096, writes 22 timeouts 2
2025-05-12 07:06:18 [debug] Last sensors broadcast 0x00000000 found 0 219 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 288, adv 35881/37177
2025-05-12 07:06:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:18 [info] ProbeTriggered: 0
2025-05-12 07:06:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:18 [info] PreTrigger: 1000
2025-05-12 07:06:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:20 [debug] Stopped at height -0.013 mm
2025-05-12 07:06:20 [info] currentZPosition:-0.0132205
2025-05-12 07:06:20 [info] tubeContactPos:-0.0132 contactPositions:{-0.0132,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:20 [debug] Diagnostics for board 50:
2025-05-12 07:06:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:20 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:40 ago, cause: power up
2025-05-12 07:06:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:06:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:06:20 [debug] Moves scheduled 2519, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=417, frequency (Hz): min=1918, max=17857
Sync err accum 88, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4294967241 ticks, enabled, next step interrupt due in 4294914916 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22
2025-05-12 07:06:20 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 23224, writes 0 timeouts 0
2025-05-12 07:06:20 [debug] Last sensors broadcast 0x00000000 found 0 122 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 289, adv 35823/37179
2025-05-12 07:06:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:20 [info] ProbeTriggered: 0
2025-05-12 07:06:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:20 [info] PreTrigger: 1000
2025-05-12 07:06:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:22 [debug] Stopped at height -0.014 mm
2025-05-12 07:06:22 [info] currentZPosition:-0.0138169
2025-05-12 07:06:22 [info] tubeContactPos:-0.0138 contactPositions:{-0.0138,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:22 [debug] Diagnostics for board 50:
2025-05-12 07:06:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:22 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:43 ago, cause: power up
2025-05-12 07:06:22 [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
2025-05-12 07:06:22 [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
2025-05-12 07:06:22 [debug] Moves scheduled 2523, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=468, frequency (Hz): min=1569, max=18292
Sync err accum 72, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294912218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:06:22 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 26715, writes 0 timeouts 0
2025-05-12 07:06:22 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, 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 287, adv 35731/37177
2025-05-12 07:06:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:22 [info] ProbeTriggered: 0
2025-05-12 07:06:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:22 [info] PreTrigger: 0
2025-05-12 07:06:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:24 [debug] Stopped at height -0.014 mm
2025-05-12 07:06:24 [info] currentZPosition:-0.0137175
2025-05-12 07:06:24 [info] tubeContactPos:-0.0137 contactPositions:{-0.0137,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:24 [debug] Diagnostics for board 50:
2025-05-12 07:06:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:24 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:45 ago, cause: power up
2025-05-12 07:06:24 [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
2025-05-12 07:06:24 [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
2025-05-12 07:06:24 [debug] Moves scheduled 2527, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=506, frequency (Hz): min=706, max=17857
Sync err accum 66, peak jitter -3/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294912643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:06:24 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 23735, writes 11 timeouts 1
2025-05-12 07:06:24 [debug] Last sensors broadcast 0x00000000 found 0 4 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 348, adv 36032/37178
2025-05-12 07:06:24 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:24 [info] ProbeTriggered: 0
2025-05-12 07:06:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:24 [info] PreTrigger: 0
2025-05-12 07:06:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:26 [debug] Stopped at height -0.013 mm
2025-05-12 07:06:26 [info] currentZPosition:-0.0131211
2025-05-12 07:06:26 [info] tubeContactPos:-0.0131 contactPositions:{-0.0131,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:26 [debug] Diagnostics for board 50:
2025-05-12 07:06:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:26 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:47 ago, cause: power up
2025-05-12 07:06:26 [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
2025-05-12 07:06:26 [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
2025-05-12 07:06:26 [debug] Moves scheduled 2531, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=506, frequency (Hz): min=528, max=17857
Sync err accum 88, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294910899 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:06:26 [debug] Driver 0: pos -12146, 10060.2 steps/mm, standstill, SG min 0, mspos 808, reads 25142, writes 11 timeouts 1
2025-05-12 07:06:26 [debug] Last sensors broadcast 0x00000000 found 0 58 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 287, adv 36331/37169
2025-05-12 07:06:26 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4627, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:26 [info] ProbeTriggered: 0
2025-05-12 07:06:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:26 [info] PreTrigger: 1000
2025-05-12 07:06:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:28 [debug] Stopped at height -0.014 mm
2025-05-12 07:06:28 [info] currentZPosition:-0.0136181
2025-05-12 07:06:28 [info] tubeContactPos:-0.0136 contactPositions:{-0.0136,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:28 [debug] Diagnostics for board 50:
2025-05-12 07:06:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:28 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:49 ago, cause: power up
2025-05-12 07:06:28 [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
2025-05-12 07:06:28 [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
2025-05-12 07:06:28 [debug] Moves scheduled 2535, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=497, frequency (Hz): min=1740, max=17857
Sync err accum 105, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294918192 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:06:28 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 24408, writes 0 timeouts 0
2025-05-12 07:06:28 [debug] Last sensors broadcast 0x00000000 found 0 53 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 286, adv 36203/37173
2025-05-12 07:06:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4628, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:28 [info] ProbeTriggered: 0
2025-05-12 07:06:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:28 [info] PreTrigger: 1000
2025-05-12 07:06:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:30 [debug] Stopped at height -0.014 mm
2025-05-12 07:06:30 [info] currentZPosition:-0.0137175
2025-05-12 07:06:30 [info] tubeContactPos:-0.0137 contactPositions:{-0.0137,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:30 [debug] Diagnostics for board 50:
2025-05-12 07:06:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:30 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:51 ago, cause: power up
2025-05-12 07:06:30 [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
2025-05-12 07:06:30 [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
2025-05-12 07:06:30 [debug] Moves scheduled 2539, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=349, frequency (Hz): min=770, max=18292
Sync err accum 120, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294913908 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:06:30 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 25930, writes 11 timeouts 1
2025-05-12 07:06:30 [debug] Last sensors broadcast 0x00000000 found 0 172 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 288, adv 36215/37174
2025-05-12 07:06:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:30 [info] ProbeTriggered: 0
2025-05-12 07:06:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:31 [info] PreTrigger: 0
2025-05-12 07:06:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:32 [debug] Stopped at height -0.015 mm
2025-05-12 07:06:32 [info] currentZPosition:-0.0147115
2025-05-12 07:06:32 [info] tubeContactPos:-0.0147 contactPositions:{-0.0147,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:32 [debug] Diagnostics for board 50:
2025-05-12 07:06:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:32 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:53 ago, cause: power up
2025-05-12 07:06:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:06:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:06:32 [debug] Moves scheduled 2543, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=373, frequency (Hz): min=810, max=18292
Sync err accum 127, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294917802 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:06:32 [debug] Driver 0: pos -12160, 10060.2 steps/mm, standstill, SG min 0, mspos 8, reads 25135, writes 11 timeouts 1
2025-05-12 07:06:32 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 114, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35696/37172
2025-05-12 07:06:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:32 [info] ProbeTriggered: 0
2025-05-12 07:06:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:33 [info] PreTrigger: 1000
2025-05-12 07:06:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:34 [debug] Stopped at height -0.014 mm
2025-05-12 07:06:34 [info] currentZPosition:-0.0141151
2025-05-12 07:06:34 [info] tubeContactPos:-0.0141 contactPositions:{-0.0141,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:34 [debug] Diagnostics for board 50:
2025-05-12 07:06:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:34 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:55 ago, cause: power up
2025-05-12 07:06:34 [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
2025-05-12 07:06:34 [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
2025-05-12 07:06:34 [debug] Moves scheduled 2547, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=437, frequency (Hz): min=2106, max=17441
Sync err accum 118, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294916661 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:06:34 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 25208, writes 0 timeouts 0
2025-05-12 07:06:34 [debug] Last sensors broadcast 0x00000000 found 0 36 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 288, adv 36053/37176
2025-05-12 07:06:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:34 [info] ProbeTriggered: 0
2025-05-12 07:06:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:35 [info] PreTrigger: 1000
2025-05-12 07:06:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:36 [debug] Stopped at height -0.014 mm
2025-05-12 07:06:36 [info] currentZPosition:-0.0140157
2025-05-12 07:06:36 [info] tubeContactPos:-0.0140 contactPositions:{-0.0140,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:36 [debug] Diagnostics for board 50:
2025-05-12 07:06:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:36 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.5%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:57 ago, cause: power up
2025-05-12 07:06:36 [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
2025-05-12 07:06:36 [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
2025-05-12 07:06:36 [debug] Moves scheduled 2551, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=512, frequency (Hz): min=736, max=18750
Sync err accum 108, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294914216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:06:36 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 23675, writes 11 timeouts 1
2025-05-12 07:06:36 [debug] Last sensors broadcast 0x00000000 found 0 231 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 287, adv 35870/37173
2025-05-12 07:06:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:36 [info] ProbeTriggered: 0
2025-05-12 07:06:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:37 [info] PreTrigger: 1000
2025-05-12 07:06:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:38 [debug] Stopped at height -0.014 mm
2025-05-12 07:06:38 [info] currentZPosition:-0.0139163
2025-05-12 07:06:38 [info] tubeContactPos:-0.0139 contactPositions:{-0.0139,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:38 [debug] Diagnostics for board 50:
2025-05-12 07:06:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:38 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:22:59 ago, cause: power up
2025-05-12 07:06:38 [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
2025-05-12 07:06:38 [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
2025-05-12 07:06:38 [debug] Moves scheduled 2555, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=377, frequency (Hz): min=2032, max=17441
Sync err accum 89, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294912895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:06:38 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 25843, writes 0 timeouts 0
2025-05-12 07:06:38 [debug] Last sensors broadcast 0x00000000 found 0 91 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 288, adv 35907/37178
2025-05-12 07:06:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:38 [info] ProbeTriggered: 0
2025-05-12 07:06:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:39 [info] PreTrigger: 0
2025-05-12 07:06:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:40 [debug] Stopped at height -0.014 mm
2025-05-12 07:06:40 [info] currentZPosition:-0.0142145
2025-05-12 07:06:40 [info] tubeContactPos:-0.0142 contactPositions:{-0.0142,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:40 [debug] Diagnostics for board 50:
2025-05-12 07:06:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:40 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:01 ago, cause: power up
2025-05-12 07:06:40 [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
2025-05-12 07:06:40 [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
2025-05-12 07:06:40 [debug] Moves scheduled 2559, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=409, frequency (Hz): min=2167, max=17857
Sync err accum 70, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294913179 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:06:40 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 24223, writes 0 timeouts 0
2025-05-12 07:06:40 [debug] Last sensors broadcast 0x00000000 found 0 73 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 285, adv 36079/37177
2025-05-12 07:06:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:40 [info] ProbeTriggered: 0
2025-05-12 07:06:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:41 [info] PreTrigger: 1000
2025-05-12 07:06:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:42 [debug] Stopped at height -0.014 mm
2025-05-12 07:06:42 [info] currentZPosition:-0.0136181
2025-05-12 07:06:42 [info] tubeContactPos:-0.0136 contactPositions:{-0.0136,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:42 [debug] Diagnostics for board 50:
2025-05-12 07:06:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:42 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:03 ago, cause: power up
2025-05-12 07:06:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:06:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:06:42 [debug] Moves scheduled 2563, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=416, frequency (Hz): min=1889, max=17857
Sync err accum 67, peak jitter -3/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294920602 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:06:42 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 25181, writes 0 timeouts 0
2025-05-12 07:06:42 [debug] Last sensors broadcast 0x00000000 found 0 129 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 288, adv 35758/37174
2025-05-12 07:06:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:42 [info] ProbeTriggered: 0
2025-05-12 07:06:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:43 [info] PreTrigger: 1000
2025-05-12 07:06:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:44 [debug] Stopped at height -0.015 mm
2025-05-12 07:06:44 [info] currentZPosition:-0.0145127
2025-05-12 07:06:44 [info] tubeContactPos:-0.0145 contactPositions:{-0.0145,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:44 [debug] Diagnostics for board 50:
2025-05-12 07:06:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:44 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:05 ago, cause: power up
2025-05-12 07:06:44 [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
2025-05-12 07:06:44 [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
2025-05-12 07:06:44 [debug] Moves scheduled 2567, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=520, frequency (Hz): min=1820, max=18292
Sync err accum 77, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294912364 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:06:44 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 24963, writes 0 timeouts 0
2025-05-12 07:06:44 [debug] Last sensors broadcast 0x00000000 found 0 170 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 284, adv 36283/37174
2025-05-12 07:06:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:44 [info] ProbeTriggered: 0
2025-05-12 07:06:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:45 [info] PreTrigger: 1000
2025-05-12 07:06:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:46 [debug] Stopped at height -0.014 mm
2025-05-12 07:06:46 [info] currentZPosition:-0.0138169
2025-05-12 07:06:46 [info] tubeContactPos:-0.0138 contactPositions:{-0.0138,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:46 [debug] Diagnostics for board 50:
2025-05-12 07:06:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:46 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:07 ago, cause: power up
2025-05-12 07:06:46 [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
2025-05-12 07:06:46 [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
2025-05-12 07:06:46 [debug] Moves scheduled 2571, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=393, frequency (Hz): min=1943, max=17857
Sync err accum 81, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294916904 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:06:46 [debug] Driver 0: pos -12147, 10060.2 steps/mm, standstill, SG min 0, mspos 824, reads 24903, writes 0 timeouts 0
2025-05-12 07:06:46 [debug] Last sensors broadcast 0x00000000 found 0 209 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 288, adv 36311/37176
2025-05-12 07:06:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:46 [info] ProbeTriggered: 0
2025-05-12 07:06:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:47 [info] PreTrigger: 1000
2025-05-12 07:06:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:48 [debug] Stopped at height -0.015 mm
2025-05-12 07:06:48 [info] currentZPosition:-0.0145127
2025-05-12 07:06:48 [info] tubeContactPos:-0.0145 contactPositions:{-0.0145,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:48 [debug] Diagnostics for board 50:
2025-05-12 07:06:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:48 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:09 ago, cause: power up
2025-05-12 07:06:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:06:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:06:48 [debug] Moves scheduled 2575, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=382, frequency (Hz): min=539, max=17857
Sync err accum 82, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294916850 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:06:48 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 24770, writes 11 timeouts 1
2025-05-12 07:06:48 [debug] Last sensors broadcast 0x00000000 found 0 235 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 288, adv 35732/37174
2025-05-12 07:06:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:48 [info] ProbeTriggered: 0
2025-05-12 07:06:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:49 [info] PreTrigger: 1000
2025-05-12 07:06:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:50 [debug] Stopped at height -0.015 mm
2025-05-12 07:06:50 [info] currentZPosition:-0.0145127
2025-05-12 07:06:50 [info] tubeContactPos:-0.0145 contactPositions:{-0.0145,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:51 [debug] Diagnostics for board 50:
2025-05-12 07:06:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:51 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:11 ago, cause: power up
2025-05-12 07:06:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:06:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:06:51 [debug] Moves scheduled 2579, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=388, frequency (Hz): min=1928, max=18750
Sync err accum 78, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294914280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:06:51 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 25738, writes 0 timeouts 0
2025-05-12 07:06:51 [debug] Last sensors broadcast 0x00000000 found 0 94 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 291, adv 36227/37171
2025-05-12 07:06:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:51 [info] ProbeTriggered: 0
2025-05-12 07:06:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:51 [info] PreTrigger: 0
2025-05-12 07:06:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:52 [debug] Stopped at height -0.014 mm
2025-05-12 07:06:52 [info] currentZPosition:-0.0135187
2025-05-12 07:06:52 [info] tubeContactPos:-0.0135 contactPositions:{-0.0135,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:52 [debug] Diagnostics for board 50:
2025-05-12 07:06:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:52 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:13 ago, cause: power up
2025-05-12 07:06:52 [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
2025-05-12 07:06:52 [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
2025-05-12 07:06:52 [debug] Moves scheduled 2583, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=452, frequency (Hz): min=1756, max=17857
Sync err accum 69, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294910331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:06:52 [debug] Driver 0: pos -12142, 10060.2 steps/mm, standstill, SG min 0, mspos 744, reads 22541, writes 0 timeouts 0
2025-05-12 07:06:52 [debug] Last sensors broadcast 0x00000000 found 0 196 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 288, adv 35952/37175
2025-05-12 07:06:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:52 [info] ProbeTriggered: 0
2025-05-12 07:06:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:53 [info] PreTrigger: 0
2025-05-12 07:06:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:55 [debug] Stopped at height -0.015 mm
2025-05-12 07:06:55 [info] currentZPosition:-0.0146121
2025-05-12 07:06:55 [info] tubeContactPos:-0.0146 contactPositions:{-0.0146,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:55 [debug] Diagnostics for board 50:
2025-05-12 07:06:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:55 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:15 ago, cause: power up
2025-05-12 07:06:55 [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
2025-05-12 07:06:55 [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
2025-05-12 07:06:55 [debug] Moves scheduled 2587, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=436, frequency (Hz): min=946, max=17857
Sync err accum 66, peak jitter -2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294914152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:06:55 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 27195, writes 11 timeouts 1
2025-05-12 07:06:55 [debug] Last sensors broadcast 0x00000000 found 0 171 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 293, adv 36075/37176
2025-05-12 07:06:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:55 [info] ProbeTriggered: 0
2025-05-12 07:06:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:55 [info] PreTrigger: 1000
2025-05-12 07:06:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:57 [debug] Stopped at height -0.015 mm
2025-05-12 07:06:57 [info] currentZPosition:-0.0152085
2025-05-12 07:06:57 [info] tubeContactPos:-0.0152 contactPositions:{-0.0152,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:57 [debug] Diagnostics for board 50:
2025-05-12 07:06:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:57 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.5%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:17 ago, cause: power up
2025-05-12 07:06:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:06:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:06:57 [debug] Moves scheduled 2591, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=489, frequency (Hz): min=1908, max=18292
Sync err accum 86, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294910503 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:06:57 [debug] Driver 0: pos -12158, 10060.2 steps/mm, standstill, SG min 0, mspos 1000, reads 24525, writes 0 timeouts 0
2025-05-12 07:06:57 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 122, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 36118/37173
2025-05-12 07:06:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:57 [info] ProbeTriggered: 0
2025-05-12 07:06:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00153f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:57 [info] PreTrigger: 1000
2025-05-12 07:06:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:59 [debug] Stopped at height -0.015 mm
2025-05-12 07:06:59 [info] currentZPosition:-0.0148109
2025-05-12 07:06:59 [info] tubeContactPos:-0.0148 contactPositions:{-0.0148,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:06:59 [debug] Diagnostics for board 50:
2025-05-12 07:06:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:06:59 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:19 ago, cause: power up
2025-05-12 07:06:59 [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
2025-05-12 07:06:59 [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
2025-05-12 07:06:59 [debug] Moves scheduled 2595, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=460, frequency (Hz): min=1752, max=17857
Sync err accum 99, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294909210 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:06:59 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 25322, writes 0 timeouts 0
2025-05-12 07:06:59 [debug] Last sensors broadcast 0x00000000 found 0 15 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 287, adv 35918/37171
2025-05-12 07:06:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:06:59 [info] ProbeTriggered: 0
2025-05-12 07:06:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:06:59 [info] PreTrigger: 0
2025-05-12 07:06:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:06:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:01 [debug] Stopped at height -0.015 mm
2025-05-12 07:07:01 [info] currentZPosition:-0.0149103
2025-05-12 07:07:01 [info] tubeContactPos:-0.0149 contactPositions:{-0.0149,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:01 [debug] Diagnostics for board 50:
2025-05-12 07:07:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:01 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:21 ago, cause: power up
2025-05-12 07:07:01 [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
2025-05-12 07:07:01 [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
2025-05-12 07:07:01 [debug] Moves scheduled 2599, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=461, frequency (Hz): min=1704, max=17441
Sync err accum 112, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294911332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:07:01 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 24038, writes 0 timeouts 0
2025-05-12 07:07:01 [debug] Last sensors broadcast 0x00000000 found 0 233 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 284, adv 36334/37174
2025-05-12 07:07:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:01 [info] ProbeTriggered: 0
2025-05-12 07:07:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:01 [info] PreTrigger: 0
2025-05-12 07:07:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:03 [debug] Stopped at height -0.014 mm
2025-05-12 07:07:03 [info] currentZPosition:-0.0143139
2025-05-12 07:07:03 [info] tubeContactPos:-0.0143 contactPositions:{-0.0143,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:03 [debug] Diagnostics for board 50:
2025-05-12 07:07:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:03 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:23 ago, cause: power up
2025-05-12 07:07:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:07:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:07:03 [debug] Moves scheduled 2603, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=466, frequency (Hz): min=1802, max=17045
Sync err accum 121, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294910771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:07:03 [debug] Driver 0: pos -12146, 10060.2 steps/mm, standstill, SG min 0, mspos 808, reads 25050, writes 0 timeouts 0
2025-05-12 07:07:03 [debug] Last sensors broadcast 0x00000000 found 0 34 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 288, adv 35779/37173
2025-05-12 07:07:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:03 [info] ProbeTriggered: 0
2025-05-12 07:07:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:03 [info] PreTrigger: 0
2025-05-12 07:07:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:05 [debug] Stopped at height -0.015 mm
2025-05-12 07:07:05 [info] currentZPosition:-0.0149103
2025-05-12 07:07:05 [info] tubeContactPos:-0.0149 contactPositions:{-0.0149,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:05 [debug] Diagnostics for board 50:
2025-05-12 07:07:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:05 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:25 ago, cause: power up
2025-05-12 07:07:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:07:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:07:05 [debug] Moves scheduled 2607, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=493, frequency (Hz): min=1585, max=17857
Sync err accum 124, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294919880 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:07:05 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 24547, writes 0 timeouts 0
2025-05-12 07:07:05 [debug] Last sensors broadcast 0x00000000 found 0 50 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 292, adv 35794/37172
2025-05-12 07:07:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:05 [info] ProbeTriggered: 0
2025-05-12 07:07:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:05 [info] PreTrigger: 1000
2025-05-12 07:07:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:07 [debug] Stopped at height -0.015 mm
2025-05-12 07:07:07 [info] currentZPosition:-0.0150097
2025-05-12 07:07:07 [info] tubeContactPos:-0.0150 contactPositions:{-0.0150,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:07 [debug] Diagnostics for board 50:
2025-05-12 07:07:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:07 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.4%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:28 ago, cause: power up
2025-05-12 07:07:07 [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
2025-05-12 07:07:07 [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
2025-05-12 07:07:07 [debug] Moves scheduled 2611, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=572, frequency (Hz): min=1467, max=18292
Sync err accum 123, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294909893 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:07:07 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 25852, writes 0 timeouts 0
2025-05-12 07:07:07 [debug] Last sensors broadcast 0x00000000 found 0 173 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 285, adv 36373/37177
2025-05-12 07:07:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:07 [info] ProbeTriggered: 0
2025-05-12 07:07:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:07 [info] PreTrigger: 1000
2025-05-12 07:07:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:09 [debug] Stopped at height -0.015 mm
2025-05-12 07:07:09 [info] currentZPosition:-0.0148109
2025-05-12 07:07:09 [info] tubeContactPos:-0.0148 contactPositions:{-0.0148,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:09 [debug] Diagnostics for board 50:
2025-05-12 07:07:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:09 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:29 ago, cause: power up
2025-05-12 07:07:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:07:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:07:09 [debug] Moves scheduled 2615, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=526, frequency (Hz): min=1599, max=17857
Sync err accum 117, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294914310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:07:09 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 23538, writes 0 timeouts 0
2025-05-12 07:07:09 [debug] Last sensors broadcast 0x00000000 found 0 106 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 291, adv 35954/37174
2025-05-12 07:07:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:09 [info] ProbeTriggered: 0
2025-05-12 07:07:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:09 [info] PreTrigger: 0
2025-05-12 07:07:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:11 [debug] Stopped at height -0.015 mm
2025-05-12 07:07:11 [info] currentZPosition:-0.0152085
2025-05-12 07:07:11 [info] tubeContactPos:-0.0152 contactPositions:{-0.0152,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:11 [debug] Diagnostics for board 50:
2025-05-12 07:07:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:11 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:32 ago, cause: power up
2025-05-12 07:07:11 [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
2025-05-12 07:07:11 [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
2025-05-12 07:07:11 [debug] Moves scheduled 2619, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=502, frequency (Hz): min=1773, max=17857
Sync err accum 107, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294912813 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:07:11 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 26287, writes 0 timeouts 0
2025-05-12 07:07:11 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 288, adv 36259/37176
2025-05-12 07:07:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:11 [info] ProbeTriggered: 1000
2025-05-12 07:07:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:11 [info] PreTrigger: 0
2025-05-12 07:07:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:13 [debug] Stopped at height -0.016 mm
2025-05-12 07:07:13 [info] currentZPosition:-0.0155067
2025-05-12 07:07:13 [info] tubeContactPos:-0.0155 contactPositions:{-0.0155,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:13 [debug] Diagnostics for board 50:
2025-05-12 07:07:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:13 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:34 ago, cause: power up
2025-05-12 07:07:13 [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
2025-05-12 07:07:13 [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
2025-05-12 07:07:13 [debug] Moves scheduled 2623, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=430, frequency (Hz): min=494, max=18292
Sync err accum 86, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294914368 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:07:13 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 24167, writes 11 timeouts 1
2025-05-12 07:07:13 [debug] Last sensors broadcast 0x00000000 found 0 242 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 288, adv 36212/37179
2025-05-12 07:07:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:13 [info] ProbeTriggered: 0
2025-05-12 07:07:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:13 [info] PreTrigger: 1000
2025-05-12 07:07:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:15 [debug] Stopped at height -0.015 mm
2025-05-12 07:07:15 [info] currentZPosition:-0.0146121
2025-05-12 07:07:15 [info] tubeContactPos:-0.0146 contactPositions:{-0.0146,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:15 [debug] Diagnostics for board 50:
2025-05-12 07:07:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:15 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:36 ago, cause: power up
2025-05-12 07:07:15 [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
2025-05-12 07:07:15 [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
2025-05-12 07:07:15 [debug] Moves scheduled 2627, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=470, frequency (Hz): min=1953, max=17857
Sync err accum 69, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294917079 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:07:15 [debug] Driver 0: pos -12145, 10060.2 steps/mm, standstill, SG min 0, mspos 792, reads 24768, writes 0 timeouts 0
2025-05-12 07:07:15 [debug] Last sensors broadcast 0x00000000 found 0 17 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 288, adv 36095/37177
2025-05-12 07:07:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:15 [info] ProbeTriggered: 0
2025-05-12 07:07:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:15 [info] PreTrigger: 0
2025-05-12 07:07:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:17 [debug] Stopped at height -0.016 mm
2025-05-12 07:07:17 [info] currentZPosition:-0.0164013
2025-05-12 07:07:18 [debug] Stopped at height -0.017 mm
2025-05-12 07:07:18 [info] currentZPosition:-0.0166995
2025-05-12 07:07:18 [info] tubeContactPos:-0.01655044 contactPositions:{-0.0164,-0.0167,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 07:07:18 [debug] Diagnostics for board 50:
2025-05-12 07:07:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:18 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:38 ago, cause: power up
2025-05-12 07:07:18 [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
2025-05-12 07:07:18 [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
2025-05-12 07:07:18 [debug] Moves scheduled 2633, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=377, frequency (Hz): min=503, max=18292
Sync err accum 77, peak jitter -3/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294919287 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:07:18 [debug] Driver 0: pos -12165, 10060.2 steps/mm, standstill, SG min 0, mspos 88, reads 32745, writes 11 timeouts 1
2025-05-12 07:07:18 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 134, send timeouts 0, received 36, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35677/37173
2025-05-12 07:07:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4629, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:18 [info] ProbeTriggered: 0
2025-05-12 07:07:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:18 [info] PreTrigger: 1000
2025-05-12 07:07:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:20 [debug] Stopped at height -0.015 mm
2025-05-12 07:07:20 [info] currentZPosition:-0.0148109
2025-05-12 07:07:20 [debug] Stopped at height -0.015 mm
2025-05-12 07:07:20 [info] currentZPosition:-0.0152085
2025-05-12 07:07:20 [info] tubeContactPos:-0.01500971 contactPositions:{-0.0148,-0.0152,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 07:07:20 [debug] Diagnostics for board 50:
2025-05-12 07:07:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:20 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:41 ago, cause: power up
2025-05-12 07:07:20 [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
2025-05-12 07:07:20 [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
2025-05-12 07:07:20 [debug] Moves scheduled 2639, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=440, frequency (Hz): min=527, max=17857
Sync err accum 98, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294918775 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:07:20 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 30186, writes 11 timeouts 1
2025-05-12 07:07:20 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 112, 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 290, adv 35947/37175
2025-05-12 07:07:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:20 [info] ProbeTriggered: 0
2025-05-12 07:07:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:21 [info] PreTrigger: 0
2025-05-12 07:07:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:22 [debug] Stopped at height -0.015 mm
2025-05-12 07:07:22 [info] currentZPosition:-0.0151091
2025-05-12 07:07:22 [info] tubeContactPos:-0.0151 contactPositions:{-0.0151,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:22 [debug] Diagnostics for board 50:
2025-05-12 07:07:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:22 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:43 ago, cause: power up
2025-05-12 07:07:22 [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
2025-05-12 07:07:22 [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
2025-05-12 07:07:22 [debug] Moves scheduled 2643, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=532, frequency (Hz): min=1720, max=18292
Sync err accum 110, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294913293 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:07:22 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 23985, writes 0 timeouts 0
2025-05-12 07:07:22 [debug] Last sensors broadcast 0x00000000 found 0 129 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 291, adv 36366/37174
2025-05-12 07:07:22 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:22 [info] ProbeTriggered: 0
2025-05-12 07:07:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:23 [info] PreTrigger: 1000
2025-05-12 07:07:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:24 [debug] Stopped at height -0.017 mm
2025-05-12 07:07:24 [info] currentZPosition:-0.0165007
2025-05-12 07:07:24 [debug] Stopped at height -0.014 mm
2025-05-12 07:07:24 [info] currentZPosition:-0.0140157
2025-05-12 07:07:24 [info] tubeContactPos:-0.0140 contactPositions:{-0.0165,-0.0140,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:07:25 [debug] Diagnostics for board 50:
2025-05-12 07:07:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:25 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:45 ago, cause: power up
2025-05-12 07:07:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:07:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:07:25 [debug] Moves scheduled 2649, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=557, frequency (Hz): min=672, max=17441
Sync err accum 120, peak jitter 0/2, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294939458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:07:25 [debug] Driver 0: pos -12136, 10060.2 steps/mm, standstill, SG min 0, mspos 648, reads 30165, writes 11 timeouts 1
2025-05-12 07:07:25 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 132, 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 291, adv 35804/37173
2025-05-12 07:07:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8925, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:25 [info] ProbeTriggered: 0
2025-05-12 07:07:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:25 [info] PreTrigger: 1000
2025-05-12 07:07:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:27 [debug] Stopped at height -0.016 mm
2025-05-12 07:07:27 [info] currentZPosition:-0.0157055
2025-05-12 07:07:27 [debug] Stopped at height -0.016 mm
2025-05-12 07:07:27 [info] currentZPosition:-0.0156061
2025-05-12 07:07:27 [info] tubeContactPos:-0.01565582 contactPositions:{-0.0157,-0.0156,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 07:07:27 [debug] Diagnostics for board 50:
2025-05-12 07:07:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:27 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:48 ago, cause: power up
2025-05-12 07:07:27 [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
2025-05-12 07:07:27 [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
2025-05-12 07:07:27 [debug] Moves scheduled 2655, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=420, frequency (Hz): min=636, max=17857
Sync err accum 122, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294915877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:07:27 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 32110, writes 11 timeouts 1
2025-05-12 07:07:27 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 127, 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 285, adv 36352/37177
2025-05-12 07:07:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:27 [info] ProbeTriggered: 0
2025-05-12 07:07:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:28 [info] PreTrigger: 1000
2025-05-12 07:07:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:29 [debug] Stopped at height -0.016 mm
2025-05-12 07:07:29 [info] currentZPosition:-0.0157055
2025-05-12 07:07:29 [info] tubeContactPos:-0.0157 contactPositions:{-0.0157,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:29 [debug] Diagnostics for board 50:
2025-05-12 07:07:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:29 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:50 ago, cause: power up
2025-05-12 07:07:29 [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
2025-05-12 07:07:29 [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
2025-05-12 07:07:29 [debug] Moves scheduled 2659, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=554, frequency (Hz): min=1716, max=17857
Sync err accum 120, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294918145 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:07:29 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 25861, writes 0 timeouts 0
2025-05-12 07:07:29 [debug] Last sensors broadcast 0x00000000 found 0 81 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 289, adv 36404/37168
2025-05-12 07:07:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:29 [info] ProbeTriggered: 0
2025-05-12 07:07:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:30 [info] PreTrigger: 0
2025-05-12 07:07:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:31 [debug] Stopped at height -0.016 mm
2025-05-12 07:07:31 [info] currentZPosition:-0.0160037
2025-05-12 07:07:31 [info] tubeContactPos:-0.0160 contactPositions:{-0.0160,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:31 [debug] Diagnostics for board 50:
2025-05-12 07:07:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:31 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:52 ago, cause: power up
2025-05-12 07:07:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:07:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:07:31 [debug] Moves scheduled 2663, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 35, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=529, frequency (Hz): min=1512, max=17857
Sync err accum 112, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294909931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:07:31 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 24197, writes 0 timeouts 0
2025-05-12 07:07:31 [debug] Last sensors broadcast 0x00000000 found 0 67 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 285, adv 35773/37174
2025-05-12 07:07:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:31 [info] ProbeTriggered: 0
2025-05-12 07:07:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:32 [info] PreTrigger: 0
2025-05-12 07:07:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:33 [debug] Stopped at height -0.016 mm
2025-05-12 07:07:33 [info] currentZPosition:-0.0157055
2025-05-12 07:07:33 [info] tubeContactPos:-0.0157 contactPositions:{-0.0157,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:33 [debug] Diagnostics for board 50:
2025-05-12 07:07:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:33 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:54 ago, cause: power up
2025-05-12 07:07:33 [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
2025-05-12 07:07:33 [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
2025-05-12 07:07:33 [debug] Moves scheduled 2667, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=382, frequency (Hz): min=2148, max=17857
Sync err accum 103, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916576 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:07:33 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 25423, writes 0 timeouts 0
2025-05-12 07:07:33 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 287, adv 36261/37175
2025-05-12 07:07:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:33 [info] ProbeTriggered: 0
2025-05-12 07:07:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:34 [info] PreTrigger: 1000
2025-05-12 07:07:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:35 [debug] Stopped at height -0.017 mm
2025-05-12 07:07:35 [info] currentZPosition:-0.0166001
2025-05-12 07:07:35 [info] tubeContactPos:-0.0166 contactPositions:{-0.0166,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:35 [debug] Diagnostics for board 50:
2025-05-12 07:07:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:35 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:56 ago, cause: power up
2025-05-12 07:07:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:07:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:07:35 [debug] Moves scheduled 2671, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=450, frequency (Hz): min=1958, max=17857
Sync err accum 87, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294907112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:07:35 [debug] Driver 0: pos -12159, 10060.2 steps/mm, standstill, SG min 0, mspos 1016, reads 25100, writes 0 timeouts 0
2025-05-12 07:07:35 [debug] Last sensors broadcast 0x00000000 found 0 195 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 289, adv 35986/37175
2025-05-12 07:07:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:35 [info] ProbeTriggered: 0
2025-05-12 07:07:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:36 [info] PreTrigger: 1000
2025-05-12 07:07:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:37 [debug] Stopped at height -0.016 mm
2025-05-12 07:07:37 [info] currentZPosition:-0.0157055
2025-05-12 07:07:37 [info] tubeContactPos:-0.0157 contactPositions:{-0.0157,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:37 [debug] Diagnostics for board 50:
2025-05-12 07:07:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:37 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:23:58 ago, cause: power up
2025-05-12 07:07:37 [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
2025-05-12 07:07:37 [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
2025-05-12 07:07:37 [debug] Moves scheduled 2675, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=560, frequency (Hz): min=1619, max=17857
Sync err accum 66, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294914699 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:07:37 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 24826, writes 0 timeouts 0
2025-05-12 07:07:37 [debug] Last sensors broadcast 0x00000000 found 0 223 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 285, adv 36108/37178
2025-05-12 07:07:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:37 [info] ProbeTriggered: 0
2025-05-12 07:07:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:38 [info] PreTrigger: 1000
2025-05-12 07:07:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:39 [debug] Stopped at height -0.016 mm
2025-05-12 07:07:39 [info] currentZPosition:-0.0158049
2025-05-12 07:07:39 [info] tubeContactPos:-0.0158 contactPositions:{-0.0158,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:39 [debug] Diagnostics for board 50:
2025-05-12 07:07:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:39 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:00 ago, cause: power up
2025-05-12 07:07:39 [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
2025-05-12 07:07:39 [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
2025-05-12 07:07:39 [debug] Moves scheduled 2679, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=462, frequency (Hz): min=1923, max=17857
Sync err accum 69, peak jitter -2/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294916280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:07:39 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 24133, writes 0 timeouts 0
2025-05-12 07:07:39 [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 290, adv 36191/37177
2025-05-12 07:07:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:39 [info] ProbeTriggered: 0
2025-05-12 07:07:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:40 [info] PreTrigger: 1000
2025-05-12 07:07:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:41 [debug] Stopped at height -0.016 mm
2025-05-12 07:07:41 [info] currentZPosition:-0.0163019
2025-05-12 07:07:41 [info] tubeContactPos:-0.0163 contactPositions:{-0.0163,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:42 [debug] Diagnostics for board 50:
2025-05-12 07:07:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:42 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.4%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:02 ago, cause: power up
2025-05-12 07:07:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:07:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:07:42 [debug] Moves scheduled 2683, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=512, frequency (Hz): min=861, max=17441
Sync err accum 85, peak jitter 1/2, peak Rx delay 207, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294916576 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:07:42 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 26215, writes 11 timeouts 1
2025-05-12 07:07:42 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 104, 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 287, adv 35954/37168
2025-05-12 07:07:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:42 [info] ProbeTriggered: 0
2025-05-12 07:07:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:43 [info] PreTrigger: 0
2025-05-12 07:07:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:44 [debug] Stopped at height -0.016 mm
2025-05-12 07:07:44 [info] currentZPosition:-0.0164013
2025-05-12 07:07:44 [info] tubeContactPos:-0.0164 contactPositions:{-0.0164,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:44 [debug] Diagnostics for board 50:
2025-05-12 07:07:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:44 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:05 ago, cause: power up
2025-05-12 07:07:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:07:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:07:44 [debug] Moves scheduled 2687, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=502, frequency (Hz): min=1565, max=18292
Sync err accum 102, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294910163 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:07:44 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 35979, writes 0 timeouts 0
2025-05-12 07:07:44 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 134, send timeouts 0, received 32, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 37, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 290, adv 37149/37174
2025-05-12 07:07:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:45 [info] ProbeTriggered: 0
2025-05-12 07:07:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:45 [info] PreTrigger: 1000
2025-05-12 07:07:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:47 [debug] Stopped at height -0.016 mm
2025-05-12 07:07:47 [info] currentZPosition:-0.0164013
2025-05-12 07:07:47 [info] tubeContactPos:-0.0164 contactPositions:{-0.0164,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:47 [debug] Diagnostics for board 50:
2025-05-12 07:07:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:47 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:07 ago, cause: power up
2025-05-12 07:07:47 [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
2025-05-12 07:07:47 [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
2025-05-12 07:07:47 [debug] Moves scheduled 2691, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=498, frequency (Hz): min=1893, max=17857
Sync err accum 111, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4294911646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:07:47 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 25672, writes 0 timeouts 0
2025-05-12 07:07:47 [debug] Last sensors broadcast 0x00000000 found 0 135 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 291, adv 35806/37167
2025-05-12 07:07:47 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:47 [info] ProbeTriggered: 0
2025-05-12 07:07:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:47 [info] PreTrigger: 1000
2025-05-12 07:07:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:49 [debug] Stopped at height -0.017 mm
2025-05-12 07:07:49 [info] currentZPosition:-0.0166995
2025-05-12 07:07:49 [info] tubeContactPos:-0.0167 contactPositions:{-0.0167,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:49 [debug] Diagnostics for board 50:
2025-05-12 07:07:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:49 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:09 ago, cause: power up
2025-05-12 07:07:49 [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
2025-05-12 07:07:49 [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
2025-05-12 07:07:49 [debug] Moves scheduled 2695, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=502, frequency (Hz): min=833, max=17441
Sync err accum 114, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294911223 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:07:49 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 24379, writes 11 timeouts 1
2025-05-12 07:07:49 [debug] Last sensors broadcast 0x00000000 found 0 130 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 288, adv 35824/37171
2025-05-12 07:07:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:49 [info] ProbeTriggered: 0
2025-05-12 07:07:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:49 [info] PreTrigger: 1000
2025-05-12 07:07:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:51 [debug] Stopped at height -0.016 mm
2025-05-12 07:07:51 [info] currentZPosition:-0.0160037
2025-05-12 07:07:51 [info] tubeContactPos:-0.0160 contactPositions:{-0.0160,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:51 [debug] Diagnostics for board 50:
2025-05-12 07:07:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:51 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:24:11 ago, cause: power up
2025-05-12 07:07:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:07:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:07:51 [debug] Moves scheduled 2699, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=498, frequency (Hz): min=1820, max=17045
Sync err accum 113, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294910339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:07:51 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 24837, writes 0 timeouts 0
2025-05-12 07:07:51 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 296, adv 36406/37169
2025-05-12 07:07:51 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4630, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:51 [info] ProbeTriggered: 0
2025-05-12 07:07:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:51 [info] PreTrigger: 0
2025-05-12 07:07:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:53 [debug] Stopped at height -0.017 mm
2025-05-12 07:07:53 [info] currentZPosition:-0.0173954
2025-05-12 07:07:53 [debug] Stopped at height -0.017 mm
2025-05-12 07:07:53 [info] currentZPosition:-0.0169978
2025-05-12 07:07:53 [info] tubeContactPos:-0.0170 contactPositions:{-0.0174,-0.0170,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:07:53 [debug] Diagnostics for board 50:
2025-05-12 07:07:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:53 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:14 ago, cause: power up
2025-05-12 07:07:53 [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
2025-05-12 07:07:53 [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
2025-05-12 07:07:53 [debug] Moves scheduled 2705, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=449, frequency (Hz): min=2071, max=17857
Sync err accum 104, peak jitter -2/0, peak Rx delay 201, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294916994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:07:53 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 31428, writes 0 timeouts 0
2025-05-12 07:07:53 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 117, 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 291, adv 36037/37175
2025-05-12 07:07:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:53 [info] ProbeTriggered: 0
2025-05-12 07:07:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:54 [info] PreTrigger: 0
2025-05-12 07:07:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:55 [debug] Stopped at height -0.016 mm
2025-05-12 07:07:55 [info] currentZPosition:-0.0163019
2025-05-12 07:07:55 [info] tubeContactPos:-0.0163 contactPositions:{-0.0163,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:55 [debug] Diagnostics for board 50:
2025-05-12 07:07:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:55 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.5%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:16 ago, cause: power up
2025-05-12 07:07:55 [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
2025-05-12 07:07:55 [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
2025-05-12 07:07:55 [debug] Moves scheduled 2709, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=429, frequency (Hz): min=717, max=17857
Sync err accum 96, peak jitter -2/0, peak Rx delay 222, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294917285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:07:55 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 24778, writes 22 timeouts 2
2025-05-12 07:07:55 [debug] Last sensors broadcast 0x00000000 found 0 14 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 302, adv 36259/37165
2025-05-12 07:07:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:55 [info] ProbeTriggered: 0
2025-05-12 07:07:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:56 [info] PreTrigger: 0
2025-05-12 07:07:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:57 [debug] Stopped at height -0.017 mm
2025-05-12 07:07:57 [info] currentZPosition:-0.0166995
2025-05-12 07:07:57 [info] tubeContactPos:-0.0167 contactPositions:{-0.0167,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:57 [debug] Diagnostics for board 50:
2025-05-12 07:07:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:57 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:18 ago, cause: power up
2025-05-12 07:07:57 [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
2025-05-12 07:07:57 [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
2025-05-12 07:07:57 [debug] Moves scheduled 2713, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=498, frequency (Hz): min=1838, max=17441
Sync err accum 81, peak jitter -2/-1, peak Rx delay 216, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:07:57 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 24435, writes 0 timeouts 0
2025-05-12 07:07:57 [debug] Last sensors broadcast 0x00000000 found 0 20 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 288, adv 36251/37178
2025-05-12 07:07:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:57 [info] ProbeTriggered: 0
2025-05-12 07:07:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:58 [info] PreTrigger: 1000
2025-05-12 07:07:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:07:59 [debug] Stopped at height -0.017 mm
2025-05-12 07:07:59 [info] currentZPosition:-0.0168983
2025-05-12 07:07:59 [info] tubeContactPos:-0.0169 contactPositions:{-0.0169,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:07:59 [debug] Diagnostics for board 50:
2025-05-12 07:07:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:07:59 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:20 ago, cause: power up
2025-05-12 07:07:59 [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
2025-05-12 07:07:59 [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
2025-05-12 07:07:59 [debug] Moves scheduled 2717, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=378, frequency (Hz): min=1798, max=18292
Sync err accum 62, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294914299 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:07:59 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 26010, writes 0 timeouts 0
2025-05-12 07:07:59 [debug] Last sensors broadcast 0x00000000 found 0 152 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 288, adv 36107/37175
2025-05-12 07:07:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4638, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:07:59 [info] ProbeTriggered: 0
2025-05-12 07:07:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:07:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:00 [info] PreTrigger: 1000
2025-05-12 07:08:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:01 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:01 [info] currentZPosition:-0.0169978
2025-05-12 07:08:01 [info] tubeContactPos:-0.0170 contactPositions:{-0.0170,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:01 [debug] Diagnostics for board 50:
2025-05-12 07:08:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:01 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:22 ago, cause: power up
2025-05-12 07:08:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:08:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:08:01 [debug] Moves scheduled 2721, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=386, frequency (Hz): min=493, max=17441
Sync err accum 74, peak jitter -1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294907953 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:08:01 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 24043, writes 11 timeouts 1
2025-05-12 07:08:01 [debug] Last sensors broadcast 0x00000000 found 0 124 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 288, adv 36418/37174
2025-05-12 07:08:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:01 [info] ProbeTriggered: 0
2025-05-12 07:08:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:02 [info] PreTrigger: 1000
2025-05-12 07:08:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:03 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:03 [info] currentZPosition:-0.0169978
2025-05-12 07:08:03 [info] tubeContactPos:-0.0170 contactPositions:{-0.0170,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:03 [debug] Diagnostics for board 50:
2025-05-12 07:08:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:03 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:24 ago, cause: power up
2025-05-12 07:08:03 [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
2025-05-12 07:08:03 [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
2025-05-12 07:08:03 [debug] Moves scheduled 2725, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=474, frequency (Hz): min=625, max=17857
Sync err accum 96, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294910520 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 07:08:03 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 25741, writes 11 timeouts 1
2025-05-12 07:08:03 [debug] Last sensors broadcast 0x00000000 found 0 225 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 288, adv 35954/37169
2025-05-12 07:08:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:03 [info] ProbeTriggered: 0
2025-05-12 07:08:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:04 [info] PreTrigger: 1000
2025-05-12 07:08:04 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:05 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:05 [info] currentZPosition:-0.0169978
2025-05-12 07:08:05 [info] tubeContactPos:-0.0170 contactPositions:{-0.0170,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:05 [debug] Diagnostics for board 50:
2025-05-12 07:08:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:05 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:26 ago, cause: power up
2025-05-12 07:08:05 [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
2025-05-12 07:08:05 [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
2025-05-12 07:08:05 [debug] Moves scheduled 2729, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=453, frequency (Hz): min=1958, max=18292
Sync err accum 110, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294912325 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:08:05 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 23941, writes 0 timeouts 0
2025-05-12 07:08:05 [debug] Last sensors broadcast 0x00000000 found 0 187 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 292, adv 35872/37171
2025-05-12 07:08:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4630, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:05 [info] ProbeTriggered: 0
2025-05-12 07:08:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:06 [info] PreTrigger: 1000
2025-05-12 07:08:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:07 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:07 [info] currentZPosition:-0.0166001
2025-05-12 07:08:07 [info] tubeContactPos:-0.0166 contactPositions:{-0.0166,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:07 [debug] Diagnostics for board 50:
2025-05-12 07:08:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:07 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:28 ago, cause: power up
2025-05-12 07:08:07 [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
2025-05-12 07:08:07 [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
2025-05-12 07:08:07 [debug] Moves scheduled 2733, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=390, frequency (Hz): min=863, max=17441
Sync err accum 121, peak jitter 0/2, peak Rx delay 206, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294916993 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:08:07 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 25207, writes 11 timeouts 1
2025-05-12 07:08:07 [debug] Last sensors broadcast 0x00000000 found 0 2 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 285, adv 35808/37173
2025-05-12 07:08:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:07 [info] ProbeTriggered: 0
2025-05-12 07:08:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:08 [info] PreTrigger: 1000
2025-05-12 07:08:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:09 [debug] Stopped at height -0.018 mm
2025-05-12 07:08:09 [info] currentZPosition:-0.0179918
2025-05-12 07:08:10 [debug] Stopped at height -0.018 mm
2025-05-12 07:08:10 [info] currentZPosition:-0.0175942
2025-05-12 07:08:10 [info] tubeContactPos:-0.0176 contactPositions:{-0.0180,-0.0176,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:08:10 [debug] Diagnostics for board 50:
2025-05-12 07:08:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:10 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:31 ago, cause: power up
2025-05-12 07:08:10 [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
2025-05-12 07:08:10 [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
2025-05-12 07:08:10 [debug] Moves scheduled 2739, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=466, frequency (Hz): min=653, max=17441
Sync err accum 127, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294919467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:08:10 [debug] Driver 0: pos -12159, 10060.2 steps/mm, standstill, SG min 0, mspos 1016, reads 31435, writes 22 timeouts 2
2025-05-12 07:08:10 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 140, 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 286, adv 36096/37174
2025-05-12 07:08:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:10 [info] ProbeTriggered: 0
2025-05-12 07:08:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:10 [info] PreTrigger: 1000
2025-05-12 07:08:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:12 [debug] Stopped at height -0.016 mm
2025-05-12 07:08:12 [info] currentZPosition:-0.0163019
2025-05-12 07:08:12 [debug] Stopped at height -0.016 mm
2025-05-12 07:08:12 [info] currentZPosition:-0.0160037
2025-05-12 07:08:12 [info] tubeContactPos:-0.01615283 contactPositions:{-0.0163,-0.0160,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 07:08:12 [debug] Diagnostics for board 50:
2025-05-12 07:08:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:12 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:33 ago, cause: power up
2025-05-12 07:08:12 [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
2025-05-12 07:08:12 [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
2025-05-12 07:08:12 [debug] Moves scheduled 2745, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=382, frequency (Hz): min=1958, max=18292
Sync err accum 121, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294914139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:08:12 [debug] Driver 0: pos -12143, 10060.2 steps/mm, standstill, SG min 0, mspos 760, reads 30085, writes 0 timeouts 0
2025-05-12 07:08:12 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 109, 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 290, adv 36403/37175
2025-05-12 07:08:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:13 [info] ProbeTriggered: 0
2025-05-12 07:08:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:13 [info] PreTrigger: 0
2025-05-12 07:08:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:14 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:14 [info] currentZPosition:-0.0165007
2025-05-12 07:08:14 [info] tubeContactPos:-0.0165 contactPositions:{-0.0165,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:14 [debug] Diagnostics for board 50:
2025-05-12 07:08:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:14 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:35 ago, cause: power up
2025-05-12 07:08:14 [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
2025-05-12 07:08:14 [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
2025-05-12 07:08:14 [debug] Moves scheduled 2749, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=396, frequency (Hz): min=2314, max=17441
Sync err accum 112, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294917459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:08:14 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 24329, writes 0 timeouts 0
2025-05-12 07:08:14 [debug] Last sensors broadcast 0x00000000 found 0 18 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 288, adv 36260/37176
2025-05-12 07:08:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:14 [info] ProbeTriggered: 0
2025-05-12 07:08:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:15 [info] PreTrigger: 0
2025-05-12 07:08:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:17 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:17 [info] currentZPosition:-0.0166995
2025-05-12 07:08:17 [info] tubeContactPos:-0.0167 contactPositions:{-0.0167,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:17 [debug] Diagnostics for board 50:
2025-05-12 07:08:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:17 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:37 ago, cause: power up
2025-05-12 07:08:17 [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
2025-05-12 07:08:17 [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
2025-05-12 07:08:17 [debug] Moves scheduled 2753, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=394, frequency (Hz): min=627, max=18292
Sync err accum 94, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294916275 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:08:17 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 25996, writes 11 timeouts 1
2025-05-12 07:08:17 [debug] Last sensors broadcast 0x00000000 found 0 145 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 291, adv 36257/37175
2025-05-12 07:08:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:17 [info] ProbeTriggered: 0
2025-05-12 07:08:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:17 [info] PreTrigger: 0
2025-05-12 07:08:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:18 [debug] Stopped at height -0.016 mm
2025-05-12 07:08:18 [info] currentZPosition:-0.0157055
2025-05-12 07:08:18 [info] tubeContactPos:-0.0157 contactPositions:{-0.0157,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:18 [debug] Diagnostics for board 50:
2025-05-12 07:08:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:18 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:39 ago, cause: power up
2025-05-12 07:08:18 [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
2025-05-12 07:08:18 [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
2025-05-12 07:08:18 [debug] Moves scheduled 2757, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=420, frequency (Hz): min=1984, max=17857
Sync err accum 77, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294917781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:08:18 [debug] Driver 0: pos -12141, 10060.2 steps/mm, standstill, SG min 0, mspos 728, reads 22652, writes 0 timeouts 0
2025-05-12 07:08:18 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 288, adv 35722/37175
2025-05-12 07:08:18 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4628, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:18 [info] ProbeTriggered: 1000
2025-05-12 07:08:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:19 [info] PreTrigger: 0
2025-05-12 07:08:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:21 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:21 [info] currentZPosition:-0.0167989
2025-05-12 07:08:21 [info] tubeContactPos:-0.0168 contactPositions:{-0.0168,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:21 [debug] Diagnostics for board 50:
2025-05-12 07:08:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:21 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:41 ago, cause: power up
2025-05-12 07:08:21 [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
2025-05-12 07:08:21 [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
2025-05-12 07:08:21 [debug] Moves scheduled 2761, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=378, frequency (Hz): min=1898, max=17857
Sync err accum 64, peak jitter -3/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294917648 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:08:21 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 27123, writes 0 timeouts 0
2025-05-12 07:08:21 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 284, adv 36085/37178
2025-05-12 07:08:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:21 [info] ProbeTriggered: 0
2025-05-12 07:08:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:21 [info] PreTrigger: 0
2025-05-12 07:08:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:23 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:23 [info] currentZPosition:-0.0166995
2025-05-12 07:08:23 [info] tubeContactPos:-0.0167 contactPositions:{-0.0167,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:23 [debug] Diagnostics for board 50:
2025-05-12 07:08:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:23 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:43 ago, cause: power up
2025-05-12 07:08:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:08:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:08:23 [debug] Moves scheduled 2765, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=442, frequency (Hz): min=1879, max=18292
Sync err accum 81, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294911706 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:08:23 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 23850, writes 0 timeouts 0
2025-05-12 07:08:23 [debug] Last sensors broadcast 0x00000000 found 0 170 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 287, adv 35916/37171
2025-05-12 07:08:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:23 [info] ProbeTriggered: 0
2025-05-12 07:08:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:23 [info] PreTrigger: 1000
2025-05-12 07:08:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:25 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:25 [info] currentZPosition:-0.0174948
2025-05-12 07:08:25 [info] tubeContactPos:-0.0175 contactPositions:{-0.0175,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:25 [debug] Diagnostics for board 50:
2025-05-12 07:08:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:25 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:45 ago, cause: power up
2025-05-12 07:08:25 [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
2025-05-12 07:08:25 [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
2025-05-12 07:08:25 [debug] Moves scheduled 2769, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=457, frequency (Hz): min=1585, max=18292
Sync err accum 99, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294915349 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:08:25 [debug] Driver 0: pos -12158, 10060.2 steps/mm, standstill, SG min 0, mspos 1000, reads 26811, writes 0 timeouts 0
2025-05-12 07:08:25 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 114, 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 288, adv 35928/37172
2025-05-12 07:08:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:25 [info] ProbeTriggered: 0
2025-05-12 07:08:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:25 [info] PreTrigger: 1000
2025-05-12 07:08:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:27 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:27 [info] currentZPosition:-0.0168983
2025-05-12 07:08:27 [info] tubeContactPos:-0.0169 contactPositions:{-0.0169,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:27 [debug] Diagnostics for board 50:
2025-05-12 07:08:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:27 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:47 ago, cause: power up
2025-05-12 07:08:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:08:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:08:27 [debug] Moves scheduled 2773, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=453, frequency (Hz): min=508, max=18292
Sync err accum 108, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294917180 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:08:27 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 23213, writes 11 timeouts 1
2025-05-12 07:08:27 [debug] Last sensors broadcast 0x00000000 found 0 17 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 287, adv 36080/37172
2025-05-12 07:08:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:27 [info] ProbeTriggered: 0
2025-05-12 07:08:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:27 [info] PreTrigger: 1000
2025-05-12 07:08:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:29 [debug] Stopped at height -0.018 mm
2025-05-12 07:08:29 [info] currentZPosition:-0.0175942
2025-05-12 07:08:29 [info] tubeContactPos:-0.0176 contactPositions:{-0.0176,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:29 [debug] Diagnostics for board 50:
2025-05-12 07:08:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:29 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:50 ago, cause: power up
2025-05-12 07:08:29 [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
2025-05-12 07:08:29 [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
2025-05-12 07:08:29 [debug] Moves scheduled 2777, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=333, frequency (Hz): min=2167, max=17857
Sync err accum 114, peak jitter 0/1, peak Rx delay 188, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294915152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:08:29 [debug] Driver 0: pos -12159, 10060.2 steps/mm, standstill, SG min 0, mspos 1016, reads 26680, writes 0 timeouts 0
2025-05-12 07:08:29 [debug] Last sensors broadcast 0x00000000 found 0 194 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 285, adv 35767/37175
2025-05-12 07:08:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:29 [info] ProbeTriggered: 0
2025-05-12 07:08:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:29 [info] PreTrigger: 1000
2025-05-12 07:08:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:31 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:31 [info] currentZPosition:-0.0171966
2025-05-12 07:08:31 [info] tubeContactPos:-0.0172 contactPositions:{-0.0172,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:31 [debug] Diagnostics for board 50:
2025-05-12 07:08:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:31 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:51 ago, cause: power up
2025-05-12 07:08:31 [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
2025-05-12 07:08:31 [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
2025-05-12 07:08:31 [debug] Moves scheduled 2781, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=448, frequency (Hz): min=2000, max=17857
Sync err accum 115, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294912750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:08:31 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 23338, writes 0 timeouts 0
2025-05-12 07:08:31 [debug] Last sensors broadcast 0x00000000 found 0 115 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 285, adv 36283/37175
2025-05-12 07:08:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:31 [info] ProbeTriggered: 0
2025-05-12 07:08:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:31 [info] PreTrigger: 0
2025-05-12 07:08:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:33 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:33 [info] currentZPosition:-0.0170972
2025-05-12 07:08:33 [info] tubeContactPos:-0.0171 contactPositions:{-0.0171,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:33 [debug] Diagnostics for board 50:
2025-05-12 07:08:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:33 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:54 ago, cause: power up
2025-05-12 07:08:33 [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
2025-05-12 07:08:33 [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
2025-05-12 07:08:33 [debug] Moves scheduled 2785, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=346, frequency (Hz): min=2155, max=17857
Sync err accum 110, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294916173 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:08:33 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 25700, writes 0 timeouts 0
2025-05-12 07:08:33 [debug] Last sensors broadcast 0x00000000 found 0 211 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 291, adv 36375/37177
2025-05-12 07:08:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:33 [info] ProbeTriggered: 0
2025-05-12 07:08:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:33 [info] PreTrigger: 0
2025-05-12 07:08:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:35 [debug] Stopped at height -0.018 mm
2025-05-12 07:08:35 [info] currentZPosition:-0.0178924
2025-05-12 07:08:35 [info] tubeContactPos:-0.0179 contactPositions:{-0.0179,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:35 [debug] Diagnostics for board 50:
2025-05-12 07:08:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:35 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.5%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:56 ago, cause: power up
2025-05-12 07:08:35 [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
2025-05-12 07:08:35 [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
2025-05-12 07:08:35 [debug] Moves scheduled 2789, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=433, frequency (Hz): min=1861, max=17045
Sync err accum 102, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294916358 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:08:35 [debug] Driver 0: pos -12160, 10060.2 steps/mm, standstill, SG min 0, mspos 8, reads 24720, writes 0 timeouts 0
2025-05-12 07:08:35 [debug] Last sensors broadcast 0x00000000 found 0 243 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 285, adv 35758/37173
2025-05-12 07:08:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4626, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:35 [info] ProbeTriggered: 0
2025-05-12 07:08:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:35 [info] PreTrigger: 0
2025-05-12 07:08:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:37 [debug] Stopped at height -0.018 mm
2025-05-12 07:08:37 [info] currentZPosition:-0.0175942
2025-05-12 07:08:37 [info] tubeContactPos:-0.0176 contactPositions:{-0.0176,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:37 [debug] Diagnostics for board 50:
2025-05-12 07:08:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:37 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:24:58 ago, cause: power up
2025-05-12 07:08:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:08:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:08:37 [debug] Moves scheduled 2793, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=496, frequency (Hz): min=1893, max=17441
Sync err accum 95, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294912902 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:08:37 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 25241, writes 0 timeouts 0
2025-05-12 07:08:37 [debug] Last sensors broadcast 0x00000000 found 0 62 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 283, adv 36236/37177
2025-05-12 07:08:37 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:37 [info] ProbeTriggered: 0
2025-05-12 07:08:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:37 [info] PreTrigger: 1000
2025-05-12 07:08:37 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:37 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:39 [debug] Stopped at height -0.018 mm
2025-05-12 07:08:39 [info] currentZPosition:-0.0180912
2025-05-12 07:08:39 [info] tubeContactPos:-0.0181 contactPositions:{-0.0181,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:39 [debug] Diagnostics for board 50:
2025-05-12 07:08:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:39 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.5%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:00 ago, cause: power up
2025-05-12 07:08:39 [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
2025-05-12 07:08:39 [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
2025-05-12 07:08:39 [debug] Moves scheduled 2797, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=442, frequency (Hz): min=1777, max=17857
Sync err accum 80, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294911184 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:08:39 [debug] Driver 0: pos -12160, 10060.2 steps/mm, standstill, SG min 0, mspos 8, reads 24441, writes 0 timeouts 0
2025-05-12 07:08:39 [debug] Last sensors broadcast 0x00000000 found 0 70 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 285, adv 35981/37176
2025-05-12 07:08:39 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4630, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:39 [info] ProbeTriggered: 0
2025-05-12 07:08:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:39 [info] PreTrigger: 1000
2025-05-12 07:08:39 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:39 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:41 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:41 [info] currentZPosition:-0.0174948
2025-05-12 07:08:41 [info] tubeContactPos:-0.0175 contactPositions:{-0.0175,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:41 [debug] Diagnostics for board 50:
2025-05-12 07:08:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:41 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.5%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:02 ago, cause: power up
2025-05-12 07:08:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:08:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:08:41 [debug] Moves scheduled 2801, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=460, frequency (Hz): min=791, max=17441
Sync err accum 61, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294913444 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:08:41 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 24862, writes 11 timeouts 1
2025-05-12 07:08:41 [debug] Last sensors broadcast 0x00000000 found 0 112 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 285, adv 36085/37176
2025-05-12 07:08:41 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:41 [info] ProbeTriggered: 0
2025-05-12 07:08:41 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:41 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:42 [info] PreTrigger: 0
2025-05-12 07:08:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:43 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:43 [info] currentZPosition:-0.0173954
2025-05-12 07:08:43 [info] tubeContactPos:-0.0174 contactPositions:{-0.0174,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:43 [debug] Diagnostics for board 50:
2025-05-12 07:08:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:43 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:04 ago, cause: power up
2025-05-12 07:08:43 [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
2025-05-12 07:08:43 [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
2025-05-12 07:08:43 [debug] Moves scheduled 2805, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=446, frequency (Hz): min=633, max=17857
Sync err accum 77, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294762433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:08:43 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 26144, writes 11 timeouts 1
2025-05-12 07:08:43 [debug] Last sensors broadcast 0x00000000 found 0 8 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 285, adv 36415/37174
2025-05-12 07:08:43 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:43 [info] ProbeTriggered: 0
2025-05-12 07:08:43 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:43 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:44 [info] PreTrigger: 0
2025-05-12 07:08:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:45 [debug] Stopped at height -0.018 mm
2025-05-12 07:08:45 [info] currentZPosition:-0.0181906
2025-05-12 07:08:45 [info] tubeContactPos:-0.0182 contactPositions:{-0.0182,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:45 [debug] Diagnostics for board 50:
2025-05-12 07:08:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:45 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:06 ago, cause: power up
2025-05-12 07:08:45 [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
2025-05-12 07:08:45 [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
2025-05-12 07:08:45 [debug] Moves scheduled 2809, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=429, frequency (Hz): min=859, max=17441
Sync err accum 91, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294914788 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 07:08:45 [debug] Driver 0: pos -12159, 10060.2 steps/mm, standstill, SG min 0, mspos 1016, reads 26743, writes 11 timeouts 1
2025-05-12 07:08:45 [debug] Last sensors broadcast 0x00000000 found 0 199 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 287, adv 35905/37173
2025-05-12 07:08:45 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:45 [info] ProbeTriggered: 0
2025-05-12 07:08:45 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:45 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:46 [info] PreTrigger: 1000
2025-05-12 07:08:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:47 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:47 [info] currentZPosition:-0.0167989
2025-05-12 07:08:48 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:48 [info] currentZPosition:-0.0172960
2025-05-12 07:08:48 [info] tubeContactPos:-0.0173 contactPositions:{-0.0168,-0.0173,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:08:48 [debug] Diagnostics for board 50:
2025-05-12 07:08:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:48 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:08 ago, cause: power up
2025-05-12 07:08:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:08:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:08:48 [debug] Moves scheduled 2815, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=430, frequency (Hz): min=611, max=18292
Sync err accum 98, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294915191 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:08:48 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 28973, writes 22 timeouts 2
2025-05-12 07:08:48 [debug] Last sensors broadcast 0x00000000 found 0 70 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 291, adv 36130/37173
2025-05-12 07:08:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:48 [info] ProbeTriggered: 0
2025-05-12 07:08:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:48 [info] PreTrigger: 1000
2025-05-12 07:08:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:50 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:50 [info] currentZPosition:-0.0169978
2025-05-12 07:08:50 [info] tubeContactPos:-0.0170 contactPositions:{-0.0170,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:50 [debug] Diagnostics for board 50:
2025-05-12 07:08:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:50 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:25:10 ago, cause: power up
2025-05-12 07:08:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:08:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:08:50 [debug] Moves scheduled 2819, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=458, frequency (Hz): min=1918, max=17857
Sync err accum 103, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294915240 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:08:50 [debug] Driver 0: pos -12146, 10060.2 steps/mm, standstill, SG min 0, mspos 808, reads 25245, writes 0 timeouts 0
2025-05-12 07:08:50 [debug] Last sensors broadcast 0x00000000 found 0 136 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 289, adv 35755/37173
2025-05-12 07:08:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:50 [info] ProbeTriggered: 0
2025-05-12 07:08:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:50 [info] PreTrigger: 1000
2025-05-12 07:08:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:52 [debug] Stopped at height -0.018 mm
2025-05-12 07:08:52 [info] currentZPosition:-0.0178924
2025-05-12 07:08:52 [info] tubeContactPos:-0.0179 contactPositions:{-0.0179,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:52 [debug] Diagnostics for board 50:
2025-05-12 07:08:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:52 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:13 ago, cause: power up
2025-05-12 07:08:52 [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
2025-05-12 07:08:52 [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
2025-05-12 07:08:52 [debug] Moves scheduled 2823, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=405, frequency (Hz): min=2124, max=17045
Sync err accum 98, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294911939 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:08:52 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 25063, writes 0 timeouts 0
2025-05-12 07:08:52 [debug] Last sensors broadcast 0x00000000 found 0 179 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 288, adv 36350/37176
2025-05-12 07:08:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:52 [info] ProbeTriggered: 0
2025-05-12 07:08:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:52 [info] PreTrigger: 1000
2025-05-12 07:08:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:54 [debug] Stopped at height -0.017 mm
2025-05-12 07:08:54 [info] currentZPosition:-0.0168983
2025-05-12 07:08:54 [info] tubeContactPos:-0.0169 contactPositions:{-0.0169,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:54 [debug] Diagnostics for board 50:
2025-05-12 07:08:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:54 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:15 ago, cause: power up
2025-05-12 07:08:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:08:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:08:54 [debug] Moves scheduled 2827, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=429, frequency (Hz): min=1773, max=18292
Sync err accum 91, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294911041 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:08:54 [debug] Driver 0: pos -12143, 10060.2 steps/mm, standstill, SG min 0, mspos 760, reads 24408, writes 0 timeouts 0
2025-05-12 07:08:54 [debug] Last sensors broadcast 0x00000000 found 0 179 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 284, adv 36352/37175
2025-05-12 07:08:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:54 [info] ProbeTriggered: 0
2025-05-12 07:08:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:54 [info] PreTrigger: 0
2025-05-12 07:08:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:56 [debug] Stopped at height -0.018 mm
2025-05-12 07:08:56 [info] currentZPosition:-0.0180912
2025-05-12 07:08:56 [info] tubeContactPos:-0.0181 contactPositions:{-0.0181,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:56 [debug] Diagnostics for board 50:
2025-05-12 07:08:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:56 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:17 ago, cause: power up
2025-05-12 07:08:56 [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
2025-05-12 07:08:56 [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
2025-05-12 07:08:56 [debug] Moves scheduled 2831, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=400, frequency (Hz): min=2218, max=17441
Sync err accum 79, peak jitter -2/0, peak Rx delay 197, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294912739 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:08:56 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 25339, writes 0 timeouts 0
2025-05-12 07:08:56 [debug] Last sensors broadcast 0x00000000 found 0 247 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 285, adv 35829/37178
2025-05-12 07:08:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:56 [info] ProbeTriggered: 0
2025-05-12 07:08:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:56 [info] PreTrigger: 1000
2025-05-12 07:08:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:58 [debug] Stopped at height -0.018 mm
2025-05-12 07:08:58 [info] currentZPosition:-0.0177930
2025-05-12 07:08:58 [info] tubeContactPos:-0.0178 contactPositions:{-0.0178,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:08:58 [debug] Diagnostics for board 50:
2025-05-12 07:08:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:08:58 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 00:25:19 ago, cause: power up
2025-05-12 07:08:58 [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
2025-05-12 07:08:58 [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
2025-05-12 07:08:58 [debug] Moves scheduled 2835, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=389, frequency (Hz): min=725, max=18292
Sync err accum 63, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294915990 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:08:58 [debug] Driver 0: pos -12150, 10060.2 steps/mm, standstill, SG min 0, mspos 872, reads 25248, writes 22 timeouts 2
2025-05-12 07:08:58 [debug] Last sensors broadcast 0x00000000 found 0 67 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 288, adv 36205/37176
2025-05-12 07:08:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4628, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:08:58 [info] ProbeTriggered: 0
2025-05-12 07:08:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:08:58 [info] PreTrigger: 1000
2025-05-12 07:08:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:08:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:00 [debug] Stopped at height -0.018 mm
2025-05-12 07:09:00 [info] currentZPosition:-0.0176936
2025-05-12 07:09:00 [info] tubeContactPos:-0.0177 contactPositions:{-0.0177,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:00 [debug] Diagnostics for board 50:
2025-05-12 07:09:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:00 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:21 ago, cause: power up
2025-05-12 07:09:00 [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
2025-05-12 07:09:00 [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
2025-05-12 07:09:00 [debug] Moves scheduled 2839, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=332, frequency (Hz): min=2083, max=17441
Sync err accum 72, peak jitter -1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294910335 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:09:00 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 23812, writes 0 timeouts 0
2025-05-12 07:09:00 [debug] Last sensors broadcast 0x00000000 found 0 13 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 285, adv 36001/37173
2025-05-12 07:09:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:00 [info] ProbeTriggered: 0
2025-05-12 07:09:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:00 [info] PreTrigger: 1000
2025-05-12 07:09:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:02 [debug] Stopped at height -0.019 mm
2025-05-12 07:09:02 [info] currentZPosition:-0.0192840
2025-05-12 07:09:03 [debug] Stopped at height -0.018 mm
2025-05-12 07:09:03 [info] currentZPosition:-0.0178924
2025-05-12 07:09:03 [info] tubeContactPos:-0.0179 contactPositions:{-0.0193,-0.0179,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:09:03 [debug] Diagnostics for board 50:
2025-05-12 07:09:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:03 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:23 ago, cause: power up
2025-05-12 07:09:03 [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
2025-05-12 07:09:03 [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
2025-05-12 07:09:03 [debug] Moves scheduled 2845, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=456, frequency (Hz): min=1861, max=17857
Sync err accum 88, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294919949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:09:03 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 32113, writes 0 timeouts 0
2025-05-12 07:09:03 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 126, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 36029/37171
2025-05-12 07:09:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:03 [info] ProbeTriggered: 0
2025-05-12 07:09:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:03 [info] PreTrigger: 1000
2025-05-12 07:09:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:05 [debug] Stopped at height -0.019 mm
2025-05-12 07:09:05 [info] currentZPosition:-0.0192840
2025-05-12 07:09:05 [debug] Stopped at height -0.019 mm
2025-05-12 07:09:05 [info] currentZPosition:-0.0192840
2025-05-12 07:09:05 [info] tubeContactPos:-0.01928400 contactPositions:{-0.0193,-0.0193,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 07:09:05 [debug] Diagnostics for board 50:
2025-05-12 07:09:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:05 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:26 ago, cause: power up
2025-05-12 07:09:05 [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
2025-05-12 07:09:05 [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
2025-05-12 07:09:05 [debug] Moves scheduled 2851, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=441, frequency (Hz): min=638, max=18292
Sync err accum 97, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294915608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 07:09:05 [debug] Driver 0: pos -12161, 10060.2 steps/mm, standstill, SG min 0, mspos 24, reads 31779, writes 11 timeouts 1
2025-05-12 07:09:05 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 117, 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 287, adv 36178/37173
2025-05-12 07:09:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:05 [info] ProbeTriggered: 0
2025-05-12 07:09:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:06 [info] PreTrigger: 1000
2025-05-12 07:09:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:07 [debug] Stopped at height -0.018 mm
2025-05-12 07:09:07 [info] currentZPosition:-0.0183894
2025-05-12 07:09:07 [info] tubeContactPos:-0.0184 contactPositions:{-0.0184,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:07 [debug] Diagnostics for board 50:
2025-05-12 07:09:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:07 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:28 ago, cause: power up
2025-05-12 07:09:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:09:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:09:07 [debug] Moves scheduled 2855, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=537, frequency (Hz): min=604, max=17441
Sync err accum 98, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294911217 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:09:07 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 24642, writes 11 timeouts 1
2025-05-12 07:09:07 [debug] Last sensors broadcast 0x00000000 found 0 237 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 286, adv 35879/37170
2025-05-12 07:09:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:07 [info] ProbeTriggered: 0
2025-05-12 07:09:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:08 [info] PreTrigger: 1000
2025-05-12 07:09:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:09 [debug] Stopped at height -0.019 mm
2025-05-12 07:09:09 [info] currentZPosition:-0.0188864
2025-05-12 07:09:09 [info] tubeContactPos:-0.0189 contactPositions:{-0.0189,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:09 [debug] Diagnostics for board 50:
2025-05-12 07:09:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:09 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:30 ago, cause: power up
2025-05-12 07:09:09 [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
2025-05-12 07:09:09 [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
2025-05-12 07:09:09 [debug] Moves scheduled 2859, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=374, frequency (Hz): min=651, max=17857
Sync err accum 99, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294914716 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 07:09:09 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 24531, writes 11 timeouts 1
2025-05-12 07:09:09 [debug] Last sensors broadcast 0x00000000 found 0 241 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 285, adv 36419/37177
2025-05-12 07:09:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4625, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:09 [info] ProbeTriggered: 0
2025-05-12 07:09:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:10 [info] PreTrigger: 1000
2025-05-12 07:09:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:11 [debug] Stopped at height -0.020 mm
2025-05-12 07:09:11 [info] currentZPosition:-0.0195822
2025-05-12 07:09:11 [info] tubeContactPos:-0.0196 contactPositions:{-0.0196,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:11 [debug] Diagnostics for board 50:
2025-05-12 07:09:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:11 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:32 ago, cause: power up
2025-05-12 07:09:11 [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
2025-05-12 07:09:11 [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
2025-05-12 07:09:11 [debug] Moves scheduled 2863, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=457, frequency (Hz): min=1943, max=17857
Sync err accum 92, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294910079 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:09:11 [debug] Driver 0: pos -12162, 10060.2 steps/mm, standstill, SG min 0, mspos 40, reads 26518, writes 0 timeouts 0
2025-05-12 07:09:11 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 122, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 285, adv 35736/37175
2025-05-12 07:09:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4626, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:11 [info] ProbeTriggered: 0
2025-05-12 07:09:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:12 [info] PreTrigger: 1000
2025-05-12 07:09:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:13 [debug] Stopped at height -0.019 mm
2025-05-12 07:09:13 [info] currentZPosition:-0.0194828
2025-05-12 07:09:13 [info] tubeContactPos:-0.0195 contactPositions:{-0.0195,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:13 [debug] Diagnostics for board 50:
2025-05-12 07:09:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:13 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:34 ago, cause: power up
2025-05-12 07:09:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:09:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:09:13 [debug] Moves scheduled 2867, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=381, frequency (Hz): min=2066, max=18292
Sync err accum 81, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294912568 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:09:13 [debug] Driver 0: pos -12160, 10060.2 steps/mm, standstill, SG min 0, mspos 8, reads 23828, writes 0 timeouts 0
2025-05-12 07:09:13 [debug] Last sensors broadcast 0x00000000 found 0 198 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 284, adv 35845/37175
2025-05-12 07:09:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:13 [info] ProbeTriggered: 0
2025-05-12 07:09:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:14 [info] PreTrigger: 1000
2025-05-12 07:09:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:15 [debug] Stopped at height -0.019 mm
2025-05-12 07:09:15 [info] currentZPosition:-0.0186876
2025-05-12 07:09:15 [info] tubeContactPos:-0.0187 contactPositions:{-0.0187,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:15 [debug] Diagnostics for board 50:
2025-05-12 07:09:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:15 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:36 ago, cause: power up
2025-05-12 07:09:15 [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
2025-05-12 07:09:15 [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
2025-05-12 07:09:15 [debug] Moves scheduled 2871, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=408, frequency (Hz): min=2136, max=17441
Sync err accum 66, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294912648 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:09:15 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 25767, writes 0 timeouts 0
2025-05-12 07:09:15 [debug] Last sensors broadcast 0x00000000 found 0 216 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 285, adv 36318/37173
2025-05-12 07:09:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:15 [info] ProbeTriggered: 0
2025-05-12 07:09:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:16 [info] PreTrigger: 1000
2025-05-12 07:09:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:17 [debug] Stopped at height -0.019 mm
2025-05-12 07:09:17 [info] currentZPosition:-0.0190852
2025-05-12 07:09:17 [info] tubeContactPos:-0.0191 contactPositions:{-0.0191,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:17 [debug] Diagnostics for board 50:
2025-05-12 07:09:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:17 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:38 ago, cause: power up
2025-05-12 07:09:17 [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
2025-05-12 07:09:17 [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
2025-05-12 07:09:17 [debug] Moves scheduled 2875, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=694, frequency (Hz): min=1386, max=17441
Sync err accum 70, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4294909276 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:09:17 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 24431, writes 0 timeouts 0
2025-05-12 07:09:17 [debug] Last sensors broadcast 0x00000000 found 0 214 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 294, adv 36060/37173
2025-05-12 07:09:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4630, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:17 [info] ProbeTriggered: 0
2025-05-12 07:09:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:18 [info] PreTrigger: 1000
2025-05-12 07:09:18 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:18 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:20 [debug] Stopped at height -0.020 mm
2025-05-12 07:09:20 [info] currentZPosition:-0.0196816
2025-05-12 07:09:20 [info] tubeContactPos:-0.0197 contactPositions:{-0.0197,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:20 [debug] Diagnostics for board 50:
2025-05-12 07:09:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:20 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:40 ago, cause: power up
2025-05-12 07:09:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:09:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:09:20 [debug] Moves scheduled 2879, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=406, frequency (Hz): min=677, max=17857
Sync err accum 84, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294910687 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:09:20 [debug] Driver 0: pos -12159, 10060.2 steps/mm, standstill, SG min 0, mspos 1016, reads 26382, writes 11 timeouts 1
2025-05-12 07:09:20 [debug] Last sensors broadcast 0x00000000 found 0 127 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 286, adv 36154/37172
2025-05-12 07:09:20 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:20 [info] ProbeTriggered: 0
2025-05-12 07:09:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:20 [info] PreTrigger: 0
2025-05-12 07:09:20 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:20 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:21 [debug] Stopped at height -0.019 mm
2025-05-12 07:09:21 [info] currentZPosition:-0.0193834
2025-05-12 07:09:21 [info] tubeContactPos:-0.0194 contactPositions:{-0.0194,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:21 [debug] Diagnostics for board 50:
2025-05-12 07:09:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:21 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:42 ago, cause: power up
2025-05-12 07:09:21 [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
2025-05-12 07:09:21 [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
2025-05-12 07:09:21 [debug] Moves scheduled 2883, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=413, frequency (Hz): min=2118, max=18292
Sync err accum 93, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294910695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:09:21 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 23439, writes 0 timeouts 0
2025-05-12 07:09:21 [debug] Last sensors broadcast 0x00000000 found 0 50 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 289, adv 36258/37168
2025-05-12 07:09:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:22 [info] ProbeTriggered: 0
2025-05-12 07:09:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:22 [info] PreTrigger: 1000
2025-05-12 07:09:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:23 [debug] Stopped at height -0.019 mm
2025-05-12 07:09:23 [info] currentZPosition:-0.0187870
2025-05-12 07:09:23 [info] tubeContactPos:-0.0188 contactPositions:{-0.0188,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:23 [debug] Diagnostics for board 50:
2025-05-12 07:09:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:23 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:44 ago, cause: power up
2025-05-12 07:09:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:09:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:09:23 [debug] Moves scheduled 2887, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=397, frequency (Hz): min=2351, max=17857
Sync err accum 104, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294918312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:09:23 [debug] Driver 0: pos -12148, 10060.2 steps/mm, standstill, SG min 0, mspos 840, reads 24861, writes 0 timeouts 0
2025-05-12 07:09:23 [debug] Last sensors broadcast 0x00000000 found 0 81 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 290, adv 36000/37173
2025-05-12 07:09:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4629, no error
Lin: Encoder reverse polarity: no, raw count 65175
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:24 [info] ProbeTriggered: 0
2025-05-12 07:09:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:24 [info] PreTrigger: 1000
2025-05-12 07:09:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:25 [debug] Stopped at height -0.019 mm
2025-05-12 07:09:25 [info] currentZPosition:-0.0192840
2025-05-12 07:09:25 [info] tubeContactPos:-0.0193 contactPositions:{-0.0193,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:25 [debug] Diagnostics for board 50:
2025-05-12 07:09:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:25 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:46 ago, cause: power up
2025-05-12 07:09:25 [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
2025-05-12 07:09:25 [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
2025-05-12 07:09:25 [debug] Moves scheduled 2891, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=453, frequency (Hz): min=525, max=18292
Sync err accum 105, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294915800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:09:25 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 24511, writes 11 timeouts 1
2025-05-12 07:09:25 [debug] Last sensors broadcast 0x00000000 found 0 86 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 291, adv 35667/37174
2025-05-12 07:09:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:26 [info] ProbeTriggered: 0
2025-05-12 07:09:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:26 [info] PreTrigger: 0
2025-05-12 07:09:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:28 [debug] Stopped at height -0.019 mm
2025-05-12 07:09:28 [info] currentZPosition:-0.0191846
2025-05-12 07:09:28 [info] tubeContactPos:-0.0192 contactPositions:{-0.0192,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:28 [debug] Diagnostics for board 50:
2025-05-12 07:09:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:28 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:48 ago, cause: power up
2025-05-12 07:09:28 [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
2025-05-12 07:09:28 [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
2025-05-12 07:09:28 [debug] Moves scheduled 2895, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=510, frequency (Hz): min=1530, max=17857
Sync err accum 104, peak jitter -1/1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294916053 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:09:28 [debug] Driver 0: pos -12151, 10060.2 steps/mm, standstill, SG min 0, mspos 888, reads 25467, writes 0 timeouts 0
2025-05-12 07:09:28 [debug] Last sensors broadcast 0x00000000 found 0 173 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 306, adv 35832/37172
2025-05-12 07:09:28 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -361
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4635, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:28 [info] ProbeTriggered: 0
2025-05-12 07:09:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:28 [info] PreTrigger: 1000
2025-05-12 07:09:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:30 [debug] Stopped at height -0.020 mm
2025-05-12 07:09:30 [info] currentZPosition:-0.0195822
2025-05-12 07:09:30 [info] tubeContactPos:-0.0196 contactPositions:{-0.0196,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:30 [debug] Diagnostics for board 50:
2025-05-12 07:09:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:30 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:50 ago, cause: power up
2025-05-12 07:09:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:09:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:09:30 [debug] Moves scheduled 2899, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=405, frequency (Hz): min=1937, max=18292
Sync err accum 101, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294911772 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:09:30 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 24369, writes 0 timeouts 0
2025-05-12 07:09:30 [debug] Last sensors broadcast 0x00000000 found 0 164 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 290, adv 35922/37174
2025-05-12 07:09:30 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:30 [info] ProbeTriggered: 0
2025-05-12 07:09:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:30 [info] PreTrigger: 0
2025-05-12 07:09:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:32 [debug] Stopped at height -0.019 mm
2025-05-12 07:09:32 [info] currentZPosition:-0.0194828
2025-05-12 07:09:32 [info] tubeContactPos:-0.0195 contactPositions:{-0.0195,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:32 [debug] Diagnostics for board 50:
2025-05-12 07:09:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:32 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:52 ago, cause: power up
2025-05-12 07:09:32 [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
2025-05-12 07:09:32 [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
2025-05-12 07:09:32 [debug] Moves scheduled 2903, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=448, frequency (Hz): min=877, max=17441
Sync err accum 88, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294919789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:09:32 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 25596, writes 11 timeouts 1
2025-05-12 07:09:32 [debug] Last sensors broadcast 0x00000000 found 0 5 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 285, adv 35685/37173
2025-05-12 07:09:32 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:32 [info] ProbeTriggered: 0
2025-05-12 07:09:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:32 [info] PreTrigger: 1000
2025-05-12 07:09:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:34 [debug] Stopped at height -0.019 mm
2025-05-12 07:09:34 [info] currentZPosition:-0.0191846
2025-05-12 07:09:34 [info] tubeContactPos:-0.0192 contactPositions:{-0.0192,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:34 [debug] Diagnostics for board 50:
2025-05-12 07:09:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:34 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:54 ago, cause: power up
2025-05-12 07:09:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:09:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:09:34 [debug] Moves scheduled 2907, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=528, frequency (Hz): min=1716, max=17045
Sync err accum 74, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294913568 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:09:34 [debug] Driver 0: pos -12149, 10060.2 steps/mm, standstill, SG min 0, mspos 856, reads 23479, writes 0 timeouts 0
2025-05-12 07:09:34 [debug] Last sensors broadcast 0x00000000 found 0 180 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 285, adv 36103/37174
2025-05-12 07:09:34 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4630, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:34 [info] ProbeTriggered: 0
2025-05-12 07:09:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 429d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:34 [info] PreTrigger: 1000
2025-05-12 07:09:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:36 [debug] Stopped at height -0.020 mm
2025-05-12 07:09:36 [info] currentZPosition:-0.0200792
2025-05-12 07:09:36 [info] tubeContactPos:-0.0201 contactPositions:{-0.0201,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:36 [debug] Diagnostics for board 50:
2025-05-12 07:09:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:36 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:56 ago, cause: power up
2025-05-12 07:09:36 [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
2025-05-12 07:09:36 [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
2025-05-12 07:09:36 [debug] Moves scheduled 2911, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=422, frequency (Hz): min=631, max=17441
Sync err accum 66, peak jitter -2/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294910389 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:09:36 [debug] Driver 0: pos -12157, 10060.2 steps/mm, standstill, SG min 0, mspos 984, reads 26724, writes 22 timeouts 2
2025-05-12 07:09:36 [debug] Last sensors broadcast 0x00000000 found 0 120 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 290, adv 36282/37176
2025-05-12 07:09:36 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9029, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:36 [info] ProbeTriggered: 0
2025-05-12 07:09:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:36 [info] PreTrigger: 1000
2025-05-12 07:09:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:38 [debug] Stopped at height -0.020 mm
2025-05-12 07:09:38 [info] currentZPosition:-0.0202780
2025-05-12 07:09:38 [info] tubeContactPos:-0.0203 contactPositions:{-0.0203,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:38 [debug] Diagnostics for board 50:
2025-05-12 07:09:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:38 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.5%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:25:58 ago, cause: power up
2025-05-12 07:09:38 [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
2025-05-12 07:09:38 [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
2025-05-12 07:09:38 [debug] Moves scheduled 2915, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=444, frequency (Hz): min=723, max=17441
Sync err accum 78, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294912657 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:09:38 [debug] Driver 0: pos -12158, 10060.2 steps/mm, standstill, SG min 0, mspos 1000, reads 24028, writes 11 timeouts 1
2025-05-12 07:09:38 [debug] Last sensors broadcast 0x00000000 found 0 94 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 285, adv 36325/37172
2025-05-12 07:09:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:38 [info] ProbeTriggered: 0
2025-05-12 07:09:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:38 [info] PreTrigger: 1000
2025-05-12 07:09:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:40 [debug] Stopped at height -0.020 mm
2025-05-12 07:09:40 [info] currentZPosition:-0.0200792
2025-05-12 07:09:40 [info] tubeContactPos:-0.0201 contactPositions:{-0.0201,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:40 [debug] Diagnostics for board 50:
2025-05-12 07:09:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:40 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:01 ago, cause: power up
2025-05-12 07:09:40 [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
2025-05-12 07:09:40 [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
2025-05-12 07:09:40 [debug] Moves scheduled 2919, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=421, frequency (Hz): min=621, max=18292
Sync err accum 86, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294912243 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 07:09:40 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 25304, writes 11 timeouts 1
2025-05-12 07:09:40 [debug] Last sensors broadcast 0x00000000 found 0 169 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 285, adv 36106/37176
2025-05-12 07:09:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4628, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:40 [info] ProbeTriggered: 0
2025-05-12 07:09:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:40 [info] PreTrigger: 1000
2025-05-12 07:09:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:42 [debug] Stopped at height -0.021 mm
2025-05-12 07:09:42 [info] currentZPosition:-0.0205762
2025-05-12 07:09:42 [info] tubeContactPos:-0.0206 contactPositions:{-0.0206,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:42 [debug] Diagnostics for board 50:
2025-05-12 07:09:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:42 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:03 ago, cause: power up
2025-05-12 07:09:42 [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
2025-05-12 07:09:42 [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
2025-05-12 07:09:42 [debug] Moves scheduled 2923, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=461, frequency (Hz): min=1609, max=17857
Sync err accum 91, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294912045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:09:42 [debug] Driver 0: pos -12159, 10060.2 steps/mm, standstill, SG min 0, mspos 1016, reads 24609, writes 0 timeouts 0
2025-05-12 07:09:42 [debug] Last sensors broadcast 0x00000000 found 0 179 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 289, adv 35765/37175
2025-05-12 07:09:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:42 [info] ProbeTriggered: 0
2025-05-12 07:09:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:42 [info] PreTrigger: 0
2025-05-12 07:09:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:44 [debug] Stopped at height -0.020 mm
2025-05-12 07:09:44 [info] currentZPosition:-0.0198804
2025-05-12 07:09:44 [info] tubeContactPos:-0.0199 contactPositions:{-0.0199,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:44 [debug] Diagnostics for board 50:
2025-05-12 07:09:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:44 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:05 ago, cause: power up
2025-05-12 07:09:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:09:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:09:44 [debug] Moves scheduled 2927, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=604, frequency (Hz): min=691, max=17857
Sync err accum 90, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294916372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:09:44 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 24869, writes 11 timeouts 1
2025-05-12 07:09:44 [debug] Last sensors broadcast 0x00000000 found 0 211 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 288, adv 35954/37178
2025-05-12 07:09:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:44 [info] ProbeTriggered: 0
2025-05-12 07:09:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:44 [info] PreTrigger: 0
2025-05-12 07:09:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:46 [debug] Stopped at height -0.022 mm
2025-05-12 07:09:46 [info] currentZPosition:-0.0216696
2025-05-12 07:09:46 [debug] Stopped at height -0.021 mm
2025-05-12 07:09:46 [info] currentZPosition:-0.0212720
2025-05-12 07:09:46 [info] tubeContactPos:-0.02147084 contactPositions:{-0.0217,-0.0213,0,0,0,0,0,0,0,0} Success Two Point Average at 0 touches
2025-05-12 07:09:46 [debug] Diagnostics for board 50:
2025-05-12 07:09:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:46 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:07 ago, cause: power up
2025-05-12 07:09:46 [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
2025-05-12 07:09:46 [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
2025-05-12 07:09:46 [debug] Moves scheduled 2933, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=445, frequency (Hz): min=1893, max=18292
Sync err accum 78, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294918364 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:09:46 [debug] Driver 0: pos -12165, 10060.2 steps/mm, standstill, SG min 0, mspos 88, reads 31938, writes 0 timeouts 0
2025-05-12 07:09:46 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 160, send timeouts 0, received 37, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 289, adv 35991/37177
2025-05-12 07:09:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -354
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:47 [info] ProbeTriggered: 0
2025-05-12 07:09:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:47 [info] PreTrigger: 0
2025-05-12 07:09:47 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:47 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:48 [debug] Stopped at height -0.021 mm
2025-05-12 07:09:48 [info] currentZPosition:-0.0207750
2025-05-12 07:09:48 [info] tubeContactPos:-0.0208 contactPositions:{-0.0208,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:49 [debug] Diagnostics for board 50:
2025-05-12 07:09:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:49 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:09 ago, cause: power up
2025-05-12 07:09:49 [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
2025-05-12 07:09:49 [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
2025-05-12 07:09:49 [debug] Moves scheduled 2937, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=376, frequency (Hz): min=667, max=18292
Sync err accum 69, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294909610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:09:49 [debug] Driver 0: pos -12160, 10060.2 steps/mm, standstill, SG min 0, mspos 8, reads 24787, writes 11 timeouts 1
2025-05-12 07:09:49 [debug] Last sensors broadcast 0x00000000 found 0 105 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 291, adv 35767/37176
2025-05-12 07:09:49 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4627, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:49 [info] ProbeTriggered: 0
2025-05-12 07:09:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:49 [info] PreTrigger: 1000
2025-05-12 07:09:49 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:49 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:50 [debug] Stopped at height -0.020 mm
2025-05-12 07:09:50 [info] currentZPosition:-0.0200792
2025-05-12 07:09:50 [info] tubeContactPos:-0.0201 contactPositions:{-0.0201,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:50 [debug] Diagnostics for board 50:
2025-05-12 07:09:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:50 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:11 ago, cause: power up
2025-05-12 07:09:50 [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
2025-05-12 07:09:50 [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
2025-05-12 07:09:50 [debug] Moves scheduled 2941, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=554, frequency (Hz): min=1651, max=18292
Sync err accum 66, peak jitter -3/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4294906334 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:09:50 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 23088, writes 0 timeouts 0
2025-05-12 07:09:50 [debug] Last sensors broadcast 0x00000000 found 0 248 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 287, adv 36143/37176
2025-05-12 07:09:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4627, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:50 [info] ProbeTriggered: 0
2025-05-12 07:09:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:51 [info] PreTrigger: 0
2025-05-12 07:09:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:53 [debug] Stopped at height -0.021 mm
2025-05-12 07:09:53 [info] currentZPosition:-0.0211726
2025-05-12 07:09:53 [info] tubeContactPos:-0.0212 contactPositions:{-0.0212,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:53 [debug] Diagnostics for board 50:
2025-05-12 07:09:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:53 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:13 ago, cause: power up
2025-05-12 07:09:53 [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
2025-05-12 07:09:53 [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
2025-05-12 07:09:53 [debug] Moves scheduled 2945, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=445, frequency (Hz): min=1856, max=18292
Sync err accum 74, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294914354 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:09:53 [debug] Driver 0: pos -12162, 10060.2 steps/mm, standstill, SG min 0, mspos 40, reads 26909, writes 0 timeouts 0
2025-05-12 07:09:53 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 111, 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 288, adv 36368/37174
2025-05-12 07:09:53 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:53 [info] ProbeTriggered: 0
2025-05-12 07:09:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:53 [info] PreTrigger: 1000
2025-05-12 07:09:53 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:53 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:55 [debug] Stopped at height -0.021 mm
2025-05-12 07:09:55 [info] currentZPosition:-0.0208744
2025-05-12 07:09:55 [info] tubeContactPos:-0.0209 contactPositions:{-0.0209,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:55 [debug] Diagnostics for board 50:
2025-05-12 07:09:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:55 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:15 ago, cause: power up
2025-05-12 07:09:55 [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
2025-05-12 07:09:55 [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
2025-05-12 07:09:55 [debug] Moves scheduled 2949, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=384, frequency (Hz): min=796, max=17857
Sync err accum 77, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294911344 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:09:55 [debug] Driver 0: pos -12158, 10060.2 steps/mm, standstill, SG min 0, mspos 1000, reads 23518, writes 11 timeouts 1
2025-05-12 07:09:55 [debug] Last sensors broadcast 0x00000000 found 0 133 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 306, adv 36360/37173
2025-05-12 07:09:55 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:55 [info] ProbeTriggered: 0
2025-05-12 07:09:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:55 [info] PreTrigger: 0
2025-05-12 07:09:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:57 [debug] Stopped at height -0.021 mm
2025-05-12 07:09:57 [info] currentZPosition:-0.0212720
2025-05-12 07:09:57 [info] tubeContactPos:-0.0213 contactPositions:{-0.0213,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:57 [debug] Diagnostics for board 50:
2025-05-12 07:09:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:57 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:17 ago, cause: power up
2025-05-12 07:09:57 [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
2025-05-12 07:09:57 [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
2025-05-12 07:09:57 [debug] Moves scheduled 2953, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=553, frequency (Hz): min=1494, max=17441
Sync err accum 76, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294907324 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:09:57 [debug] Driver 0: pos -12161, 10060.2 steps/mm, standstill, SG min 0, mspos 24, reads 26084, writes 0 timeouts 0
2025-05-12 07:09:57 [debug] Last sensors broadcast 0x00000000 found 0 19 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 283, adv 36234/37175
2025-05-12 07:09:57 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -354
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:57 [info] ProbeTriggered: 0
2025-05-12 07:09:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:57 [info] PreTrigger: 1000
2025-05-12 07:09:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:59 [debug] Stopped at height -0.022 mm
2025-05-12 07:09:59 [info] currentZPosition:-0.0217691
2025-05-12 07:09:59 [info] tubeContactPos:-0.0218 contactPositions:{-0.0218,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:09:59 [debug] Diagnostics for board 50:
2025-05-12 07:09:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:09:59 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:19 ago, cause: power up
2025-05-12 07:09:59 [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
2025-05-12 07:09:59 [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
2025-05-12 07:09:59 [debug] Moves scheduled 2957, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=386, frequency (Hz): min=1824, max=17857
Sync err accum 67, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294919042 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:09:59 [debug] Driver 0: pos -12166, 10060.2 steps/mm, standstill, SG min 0, mspos 104, reads 24535, writes 0 timeouts 0
2025-05-12 07:09:59 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 121, 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 284, adv 35840/37177
2025-05-12 07:09:59 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4626, no error
Lin: Encoder reverse polarity: no, raw count 65183
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:09:59 [info] ProbeTriggered: 0
2025-05-12 07:09:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:09:59 [info] PreTrigger: 1000
2025-05-12 07:09:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:09:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:01 [debug] Stopped at height -0.021 mm
2025-05-12 07:10:01 [info] currentZPosition:-0.0209738
2025-05-12 07:10:01 [info] tubeContactPos:-0.0210 contactPositions:{-0.0210,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:01 [debug] Diagnostics for board 50:
2025-05-12 07:10:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:01 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:21 ago, cause: power up
2025-05-12 07:10:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:10:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:10:01 [debug] Moves scheduled 2961, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=509, frequency (Hz): min=1700, max=17857
Sync err accum 70, peak jitter -2/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294909309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:10:01 [debug] Driver 0: pos -12157, 10060.2 steps/mm, standstill, SG min 0, mspos 984, reads 24640, writes 0 timeouts 0
2025-05-12 07:10:01 [debug] Last sensors broadcast 0x00000000 found 0 42 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 288, adv 36055/37178
2025-05-12 07:10:01 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9029, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:01 [info] ProbeTriggered: 0
2025-05-12 07:10:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:01 [info] PreTrigger: 1000
2025-05-12 07:10:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 09951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:03 [debug] Stopped at height -0.021 mm
2025-05-12 07:10:03 [info] currentZPosition:-0.0207750
2025-05-12 07:10:03 [info] tubeContactPos:-0.0208 contactPositions:{-0.0208,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:03 [debug] Diagnostics for board 50:
2025-05-12 07:10:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:03 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:23 ago, cause: power up
2025-05-12 07:10:03 [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
2025-05-12 07:10:03 [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
2025-05-12 07:10:03 [debug] Moves scheduled 2965, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=402, frequency (Hz): min=1794, max=17857
Sync err accum 80, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4294916335 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:10:03 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 23597, writes 0 timeouts 0
2025-05-12 07:10:03 [debug] Last sensors broadcast 0x00000000 found 0 226 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 285, adv 35715/37176
2025-05-12 07:10:03 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:03 [info] ProbeTriggered: 0
2025-05-12 07:10:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:03 [info] PreTrigger: 0
2025-05-12 07:10:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:05 [debug] Stopped at height -0.021 mm
2025-05-12 07:10:05 [info] currentZPosition:-0.0212720
2025-05-12 07:10:05 [info] tubeContactPos:-0.0213 contactPositions:{-0.0213,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:05 [debug] Diagnostics for board 50:
2025-05-12 07:10:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:05 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:25 ago, cause: power up
2025-05-12 07:10:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:10:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:10:05 [debug] Moves scheduled 2969, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=378, frequency (Hz): min=1884, max=17045
Sync err accum 89, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294913609 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:10:05 [debug] Driver 0: pos -12158, 10060.2 steps/mm, standstill, SG min 0, mspos 1000, reads 26180, writes 0 timeouts 0
2025-05-12 07:10:05 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, 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 288, adv 35911/37169
2025-05-12 07:10:05 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:05 [info] ProbeTriggered: 0
2025-05-12 07:10:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:05 [info] PreTrigger: 1000
2025-05-12 07:10:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:07 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:07 [info] currentZPosition:-0.0218685
2025-05-12 07:10:07 [info] tubeContactPos:-0.0219 contactPositions:{-0.0219,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:07 [debug] Diagnostics for board 50:
2025-05-12 07:10:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:07 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:27 ago, cause: power up
2025-05-12 07:10:07 [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
2025-05-12 07:10:07 [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
2025-05-12 07:10:07 [debug] Moves scheduled 2973, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=360, frequency (Hz): min=530, max=18292
Sync err accum 91, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294915095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:10:07 [debug] Driver 0: pos -12163, 10060.2 steps/mm, standstill, SG min 0, mspos 56, reads 24612, writes 11 timeouts 1
2025-05-12 07:10:07 [debug] Last sensors broadcast 0x00000000 found 0 129 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 285, adv 36321/37174
2025-05-12 07:10:07 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:07 [info] ProbeTriggered: 0
2025-05-12 07:10:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:07 [info] PreTrigger: 1000
2025-05-12 07:10:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:09 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:09 [info] currentZPosition:-0.0218685
2025-05-12 07:10:09 [info] tubeContactPos:-0.0219 contactPositions:{-0.0219,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:09 [debug] Diagnostics for board 50:
2025-05-12 07:10:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:09 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:30 ago, cause: power up
2025-05-12 07:10:09 [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
2025-05-12 07:10:09 [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
2025-05-12 07:10:09 [debug] Moves scheduled 2977, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=506, frequency (Hz): min=1875, max=17441
Sync err accum 85, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294911948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:10:09 [debug] Driver 0: pos -12162, 10060.2 steps/mm, standstill, SG min 0, mspos 40, reads 25610, writes 0 timeouts 0
2025-05-12 07:10:09 [debug] Last sensors broadcast 0x00000000 found 0 223 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 290, adv 35726/37175
2025-05-12 07:10:09 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9053, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:09 [info] ProbeTriggered: 0
2025-05-12 07:10:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:09 [info] PreTrigger: 1000
2025-05-12 07:10:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:11 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:11 [info] currentZPosition:-0.0219679
2025-05-12 07:10:11 [info] tubeContactPos:-0.0220 contactPositions:{-0.0220,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:11 [debug] Diagnostics for board 50:
2025-05-12 07:10:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:11 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:32 ago, cause: power up
2025-05-12 07:10:11 [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
2025-05-12 07:10:11 [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
2025-05-12 07:10:11 [debug] Moves scheduled 2981, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=430, frequency (Hz): min=1953, max=18292
Sync err accum 76, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916852 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:10:11 [debug] Driver 0: pos -12162, 10060.2 steps/mm, standstill, SG min 0, mspos 40, reads 23961, writes 0 timeouts 0
2025-05-12 07:10:11 [debug] Last sensors broadcast 0x00000000 found 0 188 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 284, adv 35767/37176
2025-05-12 07:10:11 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65182
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:11 [info] ProbeTriggered: 0
2025-05-12 07:10:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:11 [info] PreTrigger: 1000
2025-05-12 07:10:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:13 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:13 [info] currentZPosition:-0.0219679
2025-05-12 07:10:13 [info] tubeContactPos:-0.0220 contactPositions:{-0.0220,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:13 [debug] Diagnostics for board 50:
2025-05-12 07:10:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:13 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:34 ago, cause: power up
2025-05-12 07:10:13 [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
2025-05-12 07:10:13 [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
2025-05-12 07:10:13 [debug] Moves scheduled 2985, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=424, frequency (Hz): min=1569, max=17857
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 4294909852 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:10:13 [debug] Driver 0: pos -12161, 10060.2 steps/mm, standstill, SG min 0, mspos 24, reads 25588, writes 0 timeouts 0
2025-05-12 07:10:13 [debug] Last sensors broadcast 0x00000000 found 0 32 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 284, adv 36331/37178
2025-05-12 07:10:13 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:13 [info] ProbeTriggered: 0
2025-05-12 07:10:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:13 [info] PreTrigger: 0
2025-05-12 07:10:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:15 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:15 [info] currentZPosition:-0.0217691
2025-05-12 07:10:15 [info] tubeContactPos:-0.0218 contactPositions:{-0.0218,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:15 [debug] Diagnostics for board 50:
2025-05-12 07:10:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:15 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.5%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:36 ago, cause: power up
2025-05-12 07:10:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:10:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:10:15 [debug] Moves scheduled 2989, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=410, frequency (Hz): min=2112, max=17441
Sync err accum 77, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294912495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:10:15 [debug] Driver 0: pos -12158, 10060.2 steps/mm, standstill, SG min 0, mspos 1000, reads 23566, writes 0 timeouts 0
2025-05-12 07:10:15 [debug] Last sensors broadcast 0x00000000 found 0 218 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 284, adv 35979/37177
2025-05-12 07:10:15 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4627, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:15 [info] ProbeTriggered: 0
2025-05-12 07:10:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 019d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:15 [info] PreTrigger: 1000
2025-05-12 07:10:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:17 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:17 [info] currentZPosition:-0.0218685
2025-05-12 07:10:17 [info] tubeContactPos:-0.0219 contactPositions:{-0.0219,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:17 [debug] Diagnostics for board 50:
2025-05-12 07:10:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:17 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:38 ago, cause: power up
2025-05-12 07:10:17 [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
2025-05-12 07:10:17 [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
2025-05-12 07:10:17 [debug] Moves scheduled 2993, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=421, frequency (Hz): min=515, max=18292
Sync err accum 93, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294916391 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curren
2025-05-12 07:10:17 [debug] Driver 0: pos -12158, 10060.2 steps/mm, standstill, SG min 0, mspos 1000, reads 25734, writes 11 timeouts 1
2025-05-12 07:10:17 [debug] Last sensors broadcast 0x00000000 found 0 72 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 286, adv 36158/37176
2025-05-12 07:10:17 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -354
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:17 [info] ProbeTriggered: 0
2025-05-12 07:10:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:17 [info] PreTrigger: 1000
2025-05-12 07:10:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 49951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:19 [debug] Stopped at height -0.021 mm
2025-05-12 07:10:19 [info] currentZPosition:-0.0213714
2025-05-12 07:10:19 [info] tubeContactPos:-0.0214 contactPositions:{-0.0214,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:19 [debug] Diagnostics for board 50:
2025-05-12 07:10:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:19 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:40 ago, cause: power up
2025-05-12 07:10:19 [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
2025-05-12 07:10:19 [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
2025-05-12 07:10:19 [debug] Moves scheduled 2997, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=441, frequency (Hz): min=1898, max=17857
Sync err accum 105, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294915445 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:10:19 [debug] Driver 0: pos -12152, 10060.2 steps/mm, standstill, SG min 0, mspos 904, reads 23315, writes 0 timeouts 0
2025-05-12 07:10:19 [debug] Last sensors broadcast 0x00000000 found 0 226 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 287, adv 36174/37174
2025-05-12 07:10:19 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4628, no error
Lin: Encoder reverse polarity: no, raw count 65176
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:19 [info] ProbeTriggered: 0
2025-05-12 07:10:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:19 [info] PreTrigger: 0
2025-05-12 07:10:19 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:19 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:21 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:21 [info] currentZPosition:-0.0217691
2025-05-12 07:10:21 [info] tubeContactPos:-0.0218 contactPositions:{-0.0218,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:21 [debug] Diagnostics for board 50:
2025-05-12 07:10:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:21 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:42 ago, cause: power up
2025-05-12 07:10:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:10:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:10:21 [debug] Moves scheduled 3001, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=450, frequency (Hz): min=2077, max=17857
Sync err accum 107, peak jitter -1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4294918189 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:10:21 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 26045, writes 0 timeouts 0
2025-05-12 07:10:21 [debug] Last sensors broadcast 0x00000000 found 0 103 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 287, adv 36007/37170
2025-05-12 07:10:21 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:21 [info] ProbeTriggered: 0
2025-05-12 07:10:21 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:21 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 039d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:22 [info] PreTrigger: 1000
2025-05-12 07:10:22 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:22 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:23 [debug] Stopped at height -0.023 mm
2025-05-12 07:10:23 [info] currentZPosition:-0.0226637
2025-05-12 07:10:23 [info] tubeContactPos:-0.0227 contactPositions:{-0.0227,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:23 [debug] Diagnostics for board 50:
2025-05-12 07:10:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:23 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:44 ago, cause: power up
2025-05-12 07:10:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:10:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:10:23 [debug] Moves scheduled 3005, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=460, frequency (Hz): min=1434, max=17857
Sync err accum 107, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294909253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:10:23 [debug] Driver 0: pos -12163, 10060.2 steps/mm, standstill, SG min 0, mspos 56, reads 25117, writes 0 timeouts 0
2025-05-12 07:10:23 [debug] Last sensors broadcast 0x00000000 found 0 153 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 287, adv 36385/37172
2025-05-12 07:10:23 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:23 [info] ProbeTriggered: 0
2025-05-12 07:10:23 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:23 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:24 [info] PreTrigger: 1000
2025-05-12 07:10:24 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:24 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:25 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:25 [info] currentZPosition:-0.0222661
2025-05-12 07:10:25 [info] tubeContactPos:-0.0223 contactPositions:{-0.0223,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:25 [debug] Diagnostics for board 50:
2025-05-12 07:10:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:25 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:46 ago, cause: power up
2025-05-12 07:10:25 [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
2025-05-12 07:10:25 [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
2025-05-12 07:10:25 [debug] Moves scheduled 3009, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=486, frequency (Hz): min=1820, max=18292
Sync err accum 102, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294916910 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:10:25 [debug] Driver 0: pos -12158, 10060.2 steps/mm, standstill, SG min 0, mspos 1000, reads 24971, writes 0 timeouts 0
2025-05-12 07:10:25 [debug] Last sensors broadcast 0x00000000 found 0 202 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 288, adv 35829/37175
2025-05-12 07:10:25 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4630, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:25 [info] ProbeTriggered: 0
2025-05-12 07:10:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:25 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:26 [info] PreTrigger: 0
2025-05-12 07:10:26 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:26 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:27 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:27 [info] currentZPosition:-0.0223655
2025-05-12 07:10:27 [info] tubeContactPos:-0.0224 contactPositions:{-0.0224,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:27 [debug] Diagnostics for board 50:
2025-05-12 07:10:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:27 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.5%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:48 ago, cause: power up
2025-05-12 07:10:27 [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
2025-05-12 07:10:27 [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
2025-05-12 07:10:27 [debug] Moves scheduled 3013, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=493, frequency (Hz): min=502, max=17441
Sync err accum 90, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294913209 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:10:27 [debug] Driver 0: pos -12158, 10060.2 steps/mm, standstill, SG min 0, mspos 1000, reads 23988, writes 11 timeouts 1
2025-05-12 07:10:27 [debug] Last sensors broadcast 0x00000000 found 0 170 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 291, adv 35786/37176
2025-05-12 07:10:27 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -359
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:27 [info] ProbeTriggered: 0
2025-05-12 07:10:27 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:27 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:28 [info] PreTrigger: 0
2025-05-12 07:10:28 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:28 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:29 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:29 [info] currentZPosition:-0.0220673
2025-05-12 07:10:29 [info] tubeContactPos:-0.0221 contactPositions:{-0.0221,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:29 [debug] Diagnostics for board 50:
2025-05-12 07:10:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:29 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:50 ago, cause: power up
2025-05-12 07:10:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:10:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:10:29 [debug] Moves scheduled 3017, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=380, frequency (Hz): min=2252, max=18292
Sync err accum 73, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294911964 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:10:29 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 25221, writes 0 timeouts 0
2025-05-12 07:10:29 [debug] Last sensors broadcast 0x00000000 found 0 232 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 288, adv 36408/37178
2025-05-12 07:10:29 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:29 [info] ProbeTriggered: 0
2025-05-12 07:10:29 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:29 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:30 [info] PreTrigger: 1000
2025-05-12 07:10:30 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:30 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 499d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:31 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:31 [info] currentZPosition:-0.0223655
2025-05-12 07:10:31 [info] tubeContactPos:-0.0224 contactPositions:{-0.0224,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:31 [debug] Diagnostics for board 50:
2025-05-12 07:10:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:31 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:52 ago, cause: power up
2025-05-12 07:10:31 [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
2025-05-12 07:10:31 [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
2025-05-12 07:10:31 [debug] Moves scheduled 3021, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=397, frequency (Hz): min=825, max=17045
Sync err accum 63, peak jitter -3/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 14 ticks, enabled, next step interrupt due in 4294910979 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:10:31 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 24305, writes 11 timeouts 1
2025-05-12 07:10:31 [debug] Last sensors broadcast 0x00000000 found 0 224 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 288, adv 35971/37175
2025-05-12 07:10:31 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:31 [info] ProbeTriggered: 0
2025-05-12 07:10:31 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:31 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:32 [info] PreTrigger: 1000
2025-05-12 07:10:32 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:32 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:33 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:33 [info] currentZPosition:-0.0224649
2025-05-12 07:10:33 [info] tubeContactPos:-0.0225 contactPositions:{-0.0225,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:33 [debug] Diagnostics for board 50:
2025-05-12 07:10:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:33 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:54 ago, cause: power up
2025-05-12 07:10:33 [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
2025-05-12 07:10:33 [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
2025-05-12 07:10:33 [debug] Moves scheduled 3025, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=422, frequency (Hz): min=2049, max=18292
Sync err accum 84, peak jitter 1/3, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294914047 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:10:33 [debug] Driver 0: pos -12157, 10060.2 steps/mm, standstill, SG min 0, mspos 984, reads 25740, writes 0 timeouts 0
2025-05-12 07:10:33 [debug] Last sensors broadcast 0x00000000 found 0 82 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 301, adv 36253/37169
2025-05-12 07:10:33 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:33 [info] ProbeTriggered: 0
2025-05-12 07:10:33 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:33 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:34 [info] PreTrigger: 0
2025-05-12 07:10:34 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:34 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:35 [debug] Stopped at height -0.023 mm
2025-05-12 07:10:35 [info] currentZPosition:-0.0227631
2025-05-12 07:10:35 [info] tubeContactPos:-0.0228 contactPositions:{-0.0228,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:35 [debug] Diagnostics for board 50:
2025-05-12 07:10:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:35 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:56 ago, cause: power up
2025-05-12 07:10:35 [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
2025-05-12 07:10:35 [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
2025-05-12 07:10:35 [debug] Moves scheduled 3029, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 39, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=437, frequency (Hz): min=1666, max=17857
Sync err accum 98, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294918249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:10:35 [debug] Driver 0: pos -12160, 10060.2 steps/mm, standstill, SG min 0, mspos 8, reads 24280, writes 0 timeouts 0
2025-05-12 07:10:35 [debug] Last sensors broadcast 0x00000000 found 0 75 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 288, adv 36203/37169
2025-05-12 07:10:35 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:35 [info] ProbeTriggered: 0
2025-05-12 07:10:35 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:35 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:36 [info] PreTrigger: 1000
2025-05-12 07:10:36 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:36 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:37 [debug] Stopped at height -0.021 mm
2025-05-12 07:10:37 [info] currentZPosition:-0.0212720
2025-05-12 07:10:38 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:38 [info] currentZPosition:-0.0223655
2025-05-12 07:10:38 [info] tubeContactPos:-0.0224 contactPositions:{-0.0213,-0.0224,0,0,0,0,0,0,0,0} Success Single Point at 0 touches
2025-05-12 07:10:38 [debug] Diagnostics for board 50:
2025-05-12 07:10:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:38 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:26:58 ago, cause: power up
2025-05-12 07:10:38 [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
2025-05-12 07:10:38 [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
2025-05-12 07:10:38 [debug] Moves scheduled 3035, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=421, frequency (Hz): min=1861, max=17857
Sync err accum 108, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294918214 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:10:38 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 31483, writes 0 timeouts 0
2025-05-12 07:10:38 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 106, 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 285, adv 36083/37175
2025-05-12 07:10:38 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4630, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:38 [info] ProbeTriggered: 0
2025-05-12 07:10:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:38 [info] PreTrigger: 1000
2025-05-12 07:10:38 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:38 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:40 [debug] Stopped at height -0.023 mm
2025-05-12 07:10:40 [info] currentZPosition:-0.0227631
2025-05-12 07:10:40 [info] tubeContactPos:-0.0228 contactPositions:{-0.0228,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:40 [debug] Diagnostics for board 50:
2025-05-12 07:10:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:40 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:00 ago, cause: power up
2025-05-12 07:10:40 [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
2025-05-12 07:10:40 [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
2025-05-12 07:10:40 [debug] Moves scheduled 3039, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=496, frequency (Hz): min=1768, max=17857
Sync err accum 111, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294915465 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:10:40 [debug] Driver 0: pos -12161, 10060.2 steps/mm, standstill, SG min 0, mspos 24, reads 24418, writes 0 timeouts 0
2025-05-12 07:10:40 [debug] Last sensors broadcast 0x00000000 found 0 145 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 291, adv 36374/37177
2025-05-12 07:10:40 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4629, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:40 [info] ProbeTriggered: 0
2025-05-12 07:10:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:40 [info] PreTrigger: 1000
2025-05-12 07:10:40 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:40 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:42 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:42 [info] currentZPosition:-0.0223655
2025-05-12 07:10:42 [info] tubeContactPos:-0.0224 contactPositions:{-0.0224,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:42 [debug] Diagnostics for board 50:
2025-05-12 07:10:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:42 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.5%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:03 ago, cause: power up
2025-05-12 07:10:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:10:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:10:42 [debug] Moves scheduled 3043, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=432, frequency (Hz): min=1833, max=18292
Sync err accum 109, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:10:42 [debug] Driver 0: pos -12157, 10060.2 steps/mm, standstill, SG min 0, mspos 984, reads 25024, writes 0 timeouts 0
2025-05-12 07:10:42 [debug] Last sensors broadcast 0x00000000 found 0 200 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 285, adv 35920/37175
2025-05-12 07:10:42 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4637, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:42 [info] ProbeTriggered: 0
2025-05-12 07:10:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:42 [info] PreTrigger: 1000
2025-05-12 07:10:42 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:42 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:44 [debug] Stopped at height -0.023 mm
2025-05-12 07:10:44 [info] currentZPosition:-0.0226637
2025-05-12 07:10:44 [info] tubeContactPos:-0.0227 contactPositions:{-0.0227,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:44 [debug] Diagnostics for board 50:
2025-05-12 07:10:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:44 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:05 ago, cause: power up
2025-05-12 07:10:44 [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
2025-05-12 07:10:44 [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
2025-05-12 07:10:44 [debug] Moves scheduled 3047, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 15, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=465, frequency (Hz): min=1720, max=18292
Sync err accum 104, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4294916741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:10:44 [debug] Driver 0: pos -12160, 10060.2 steps/mm, standstill, SG min 0, mspos 8, reads 24382, writes 0 timeouts 0
2025-05-12 07:10:44 [debug] Last sensors broadcast 0x00000000 found 0 199 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 284, adv 35829/37175
2025-05-12 07:10:44 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:44 [info] ProbeTriggered: 1000
2025-05-12 07:10:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 409d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:44 [info] PreTrigger: 1000
2025-05-12 07:10:44 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:44 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:46 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:46 [info] currentZPosition:-0.0222661
2025-05-12 07:10:46 [info] tubeContactPos:-0.0223 contactPositions:{-0.0223,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:46 [debug] Diagnostics for board 50:
2025-05-12 07:10:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:46 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:07 ago, cause: power up
2025-05-12 07:10:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:10:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:10:46 [debug] Moves scheduled 3051, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=438, frequency (Hz): min=1824, max=18292
Sync err accum 92, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294915009 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:10:46 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 25133, writes 0 timeouts 0
2025-05-12 07:10:46 [debug] Last sensors broadcast 0x00000000 found 0 10 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 285, adv 35747/37177
2025-05-12 07:10:46 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4630, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:46 [info] ProbeTriggered: 0
2025-05-12 07:10:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:46 [info] PreTrigger: 0
2025-05-12 07:10:46 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:46 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48951701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:48 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:48 [info] currentZPosition:-0.0219679
2025-05-12 07:10:48 [info] tubeContactPos:-0.0220 contactPositions:{-0.0220,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:48 [debug] Diagnostics for board 50:
2025-05-12 07:10:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:48 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.5%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:09 ago, cause: power up
2025-05-12 07:10:48 [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
2025-05-12 07:10:48 [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
2025-05-12 07:10:48 [debug] Moves scheduled 3055, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 37, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=466, frequency (Hz): min=1662, max=18292
Sync err accum 75, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294909821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:10:48 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 23724, writes 0 timeouts 0
2025-05-12 07:10:48 [debug] Last sensors broadcast 0x00000000 found 0 208 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 285, adv 36023/37178
2025-05-12 07:10:48 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:48 [info] ProbeTriggered: 0
2025-05-12 07:10:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:48 [info] PreTrigger: 0
2025-05-12 07:10:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:48 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:50 [debug] Stopped at height -0.023 mm
2025-05-12 07:10:50 [info] currentZPosition:-0.0227631
2025-05-12 07:10:50 [info] tubeContactPos:-0.0228 contactPositions:{-0.0228,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:50 [debug] Diagnostics for board 50:
2025-05-12 07:10:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:50 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:11 ago, cause: power up
2025-05-12 07:10:50 [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
2025-05-12 07:10:50 [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
2025-05-12 07:10:50 [debug] Moves scheduled 3059, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=444, frequency (Hz): min=1889, max=17857
Sync err accum 60, peak jitter -3/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4294912686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:10:50 [debug] Driver 0: pos -12161, 10060.2 steps/mm, standstill, SG min 0, mspos 24, reads 26677, writes 0 timeouts 0
2025-05-12 07:10:50 [debug] Last sensors broadcast 0x00000000 found 0 134 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 285, adv 36333/37178
2025-05-12 07:10:50 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4628, no error
Lin: Encoder reverse polarity: no, raw count 65179
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:50 [info] ProbeTriggered: 0
2025-05-12 07:10:50 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:50 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 009d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:51 [info] PreTrigger: 0
2025-05-12 07:10:51 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:51 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 489d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:52 [debug] Stopped at height -0.022 mm
2025-05-12 07:10:52 [info] currentZPosition:-0.0221667
2025-05-12 07:10:52 [info] tubeContactPos:-0.0222 contactPositions:{-0.0222,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:52 [debug] Diagnostics for board 50:
2025-05-12 07:10:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:52 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.4%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:13 ago, cause: power up
2025-05-12 07:10:52 [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
2025-05-12 07:10:52 [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
2025-05-12 07:10:52 [debug] Moves scheduled 3063, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=344, frequency (Hz): min=561, max=18292
Sync err accum 75, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294914697 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curre
2025-05-12 07:10:52 [debug] Driver 0: pos -12155, 10060.2 steps/mm, standstill, SG min 0, mspos 952, reads 23167, writes 11 timeouts 1
2025-05-12 07:10:52 [debug] Last sensors broadcast 0x00000000 found 0 43 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 288, adv 36213/37174
2025-05-12 07:10:52 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:52 [info] ProbeTriggered: 0
2025-05-12 07:10:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 40953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:52 [info] PreTrigger: 1000
2025-05-12 07:10:52 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:52 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a9d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:54 [debug] Stopped at height -0.023 mm
2025-05-12 07:10:54 [info] currentZPosition:-0.0229619
2025-05-12 07:10:54 [info] tubeContactPos:-0.0230 contactPositions:{-0.0230,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:54 [debug] Diagnostics for board 50:
2025-05-12 07:10:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:54 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.5%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:15 ago, cause: power up
2025-05-12 07:10:54 [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
2025-05-12 07:10:54 [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
2025-05-12 07:10:54 [debug] Moves scheduled 3067, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=588, frequency (Hz): min=1524, max=17857
Sync err accum 92, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294910295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:10:54 [debug] Driver 0: pos -12163, 10060.2 steps/mm, standstill, SG min 0, mspos 56, reads 26550, writes 0 timeouts 0
2025-05-12 07:10:54 [debug] Last sensors broadcast 0x00000000 found 0 222 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 287, adv 36155/37174
2025-05-12 07:10:54 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -354
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9057, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:54 [info] ProbeTriggered: 0
2025-05-12 07:10:54 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:54 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00153f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:55 [info] PreTrigger: 1000
2025-05-12 07:10:55 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:55 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b9d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:56 [debug] Stopped at height -0.023 mm
2025-05-12 07:10:56 [info] currentZPosition:-0.0226637
2025-05-12 07:10:56 [info] tubeContactPos:-0.0227 contactPositions:{-0.0227,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:56 [debug] Diagnostics for board 50:
2025-05-12 07:10:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:56 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:17 ago, cause: power up
2025-05-12 07:10:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:10:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:10:56 [debug] Moves scheduled 3071, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=398, frequency (Hz): min=2066, max=17857
Sync err accum 103, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294916970 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:10:56 [debug] Driver 0: pos -12160, 10060.2 steps/mm, standstill, SG min 0, mspos 8, reads 23621, writes 0 timeouts 0
2025-05-12 07:10:56 [debug] Last sensors broadcast 0x00000000 found 0 157 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 284, adv 35685/37176
2025-05-12 07:10:56 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:56 [info] ProbeTriggered: 0
2025-05-12 07:10:56 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:56 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 41953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:57 [info] PreTrigger: 1000
2025-05-12 07:10:57 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:57 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:58 [debug] Stopped at height -0.023 mm
2025-05-12 07:10:58 [info] currentZPosition:-0.0225643
2025-05-12 07:10:58 [info] tubeContactPos:-0.0226 contactPositions:{-0.0226,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:10:58 [debug] Diagnostics for board 50:
2025-05-12 07:10:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:10:58 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.4%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:19 ago, cause: power up
2025-05-12 07:10:58 [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
2025-05-12 07:10:58 [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
2025-05-12 07:10:58 [debug] Moves scheduled 3075, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1467, max=17857
Sync err accum 106, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4294915147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-05-12 07:10:58 [debug] Driver 0: pos -12159, 10060.2 steps/mm, standstill, SG min 0, mspos 1016, reads 25328, writes 0 timeouts 0
2025-05-12 07:10:58 [debug] Last sensors broadcast 0x00000000 found 0 238 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 290, adv 36008/37173
2025-05-12 07:10:58 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4640, no error
Lin: Encoder reverse polarity: no, raw count 65181
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:10:58 [info] ProbeTriggered: 0
2025-05-12 07:10:58 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:58 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:10:59 [info] PreTrigger: 1000
2025-05-12 07:10:59 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:10:59 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 099d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:00 [debug] Stopped at height -0.023 mm
2025-05-12 07:11:00 [info] currentZPosition:-0.0228625
2025-05-12 07:11:00 [info] tubeContactPos:-0.0229 contactPositions:{-0.0229,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:11:00 [debug] Diagnostics for board 50:
2025-05-12 07:11:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:11:00 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.5%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:21 ago, cause: power up
2025-05-12 07:11:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:11:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:11:00 [debug] Moves scheduled 3079, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 37, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=482, frequency (Hz): min=1623, max=17857
Sync err accum 108, peak jitter 0/1, peak Rx delay 190, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4294916879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:11:00 [debug] Driver 0: pos -12162, 10060.2 steps/mm, standstill, SG min 0, mspos 40, reads 24309, writes 0 timeouts 0
2025-05-12 07:11:00 [debug] Last sensors broadcast 0x00000000 found 0 235 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 291, adv 35830/37173
2025-05-12 07:11:00 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -355
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4636, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:11:00 [info] ProbeTriggered: 0
2025-05-12 07:11:00 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:00 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 03953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:01 [info] PreTrigger: 1000
2025-05-12 07:11:01 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:01 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4a953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:02 [debug] Stopped at height -0.022 mm
2025-05-12 07:11:02 [info] currentZPosition:-0.0220673
2025-05-12 07:11:02 [info] tubeContactPos:-0.0221 contactPositions:{-0.0221,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:11:02 [debug] Diagnostics for board 50:
2025-05-12 07:11:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:11:02 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.4%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,3.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:23 ago, cause: power up
2025-05-12 07:11:02 [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
2025-05-12 07:11:02 [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
2025-05-12 07:11:02 [debug] Moves scheduled 3083, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=749, frequency (Hz): min=1250, max=17857
Sync err accum 102, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 4294914042 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cu
2025-05-12 07:11:02 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 24447, writes 0 timeouts 0
2025-05-12 07:11:02 [debug] Last sensors broadcast 0x00000000 found 0 247 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 285, adv 35836/37176
2025-05-12 07:11:02 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:11:02 [info] ProbeTriggered: 0
2025-05-12 07:11:02 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:02 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 43953701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:03 [info] PreTrigger: 0
2025-05-12 07:11:03 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:03 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:04 [debug] Stopped at height -0.022 mm
2025-05-12 07:11:04 [info] currentZPosition:-0.0220673
2025-05-12 07:11:04 [info] tubeContactPos:-0.0221 contactPositions:{-0.0221,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:11:04 [debug] Diagnostics for board 50:
2025-05-12 07:11:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:11:04 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.6%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:25 ago, cause: power up
2025-05-12 07:11:04 [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
2025-05-12 07:11:04 [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
2025-05-12 07:11:04 [debug] Moves scheduled 3087, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=420, frequency (Hz): min=493, max=18292
Sync err accum 88, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294912657 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:11:04 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 24028, writes 11 timeouts 1
2025-05-12 07:11:04 [debug] Last sensors broadcast 0x00000000 found 0 216 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 284, adv 36031/37178
2025-05-12 07:11:04 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4641, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:11:04 [info] ProbeTriggered: 0
2025-05-12 07:11:04 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:04 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 01953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:05 [info] PreTrigger: 1000
2025-05-12 07:11:05 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00002000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:05 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b9d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:06 [debug] Stopped at height -0.022 mm
2025-05-12 07:11:06 [info] currentZPosition:-0.0219679
2025-05-12 07:11:06 [info] tubeContactPos:-0.0220 contactPositions:{-0.0220,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:11:06 [debug] Diagnostics for board 50:
2025-05-12 07:11:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:11:06 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:27 ago, cause: power up
2025-05-12 07:11:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:11:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:11:06 [debug] Moves scheduled 3091, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=376, frequency (Hz): min=568, max=18292
Sync err accum 72, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294914333 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:11:06 [debug] Driver 0: pos -12153, 10060.2 steps/mm, standstill, SG min 0, mspos 920, reads 25534, writes 22 timeouts 2
2025-05-12 07:11:06 [debug] Last sensors broadcast 0x00000000 found 0 51 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 292, adv 35675/37177
2025-05-12 07:11:06 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -360
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4634, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:11:06 [info] ProbeTriggered: 0
2025-05-12 07:11:06 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:06 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 439d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:07 [info] PreTrigger: 0
2025-05-12 07:11:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:07 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 089d1701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:08 [debug] Stopped at height -0.022 mm
2025-05-12 07:11:08 [info] currentZPosition:-0.0222661
2025-05-12 07:11:08 [info] tubeContactPos:-0.0223 contactPositions:{-0.0223,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:11:08 [debug] Diagnostics for board 50:
2025-05-12 07:11:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:11:08 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:29 ago, cause: power up
2025-05-12 07:11:08 [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
2025-05-12 07:11:08 [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
2025-05-12 07:11:08 [debug] Moves scheduled 3095, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=406, frequency (Hz): min=1641, max=17857
Sync err accum 65, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4294912507 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:11:08 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 24426, writes 0 timeouts 0
2025-05-12 07:11:08 [debug] Last sensors broadcast 0x00000000 found 0 50 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 289, adv 36249/37174
2025-05-12 07:11:08 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -357
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:11:08 [info] ProbeTriggered: 0
2025-05-12 07:11:08 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:08 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 02953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:09 [info] PreTrigger: 1000
2025-05-12 07:11:09 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:09 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 4b1d1f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:10 [debug] Stopped at height -0.023 mm
2025-05-12 07:11:10 [info] currentZPosition:-0.0228625
2025-05-12 07:11:10 [info] tubeContactPos:-0.0229 contactPositions:{-0.0229,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:11:10 [debug] Diagnostics for board 50:
2025-05-12 07:11:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:11:10 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.9%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,1.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:31 ago, cause: power up
2025-05-12 07:11:10 [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
2025-05-12 07:11:10 [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
2025-05-12 07:11:10 [debug] Moves scheduled 3099, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 14, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=422, frequency (Hz): min=1720, max=17441
Sync err accum 86, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4294910328 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:11:10 [debug] Driver 0: pos -12161, 10060.2 steps/mm, standstill, SG min 0, mspos 24, reads 26407, writes 0 timeouts 0
2025-05-12 07:11:10 [debug] Last sensors broadcast 0x00000000 found 0 201 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 323, adv 36259/37173
2025-05-12 07:11:10 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -356
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9048, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4633, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:11:10 [info] ProbeTriggered: 0
2025-05-12 07:11:10 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:10 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 419d3701 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:11 [info] PreTrigger: 1000
2025-05-12 07:11:11 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:11 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0a951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:12 [debug] Stopped at height -0.022 mm
2025-05-12 07:11:12 [info] currentZPosition:-0.0223655
2025-05-12 07:11:12 [info] tubeContactPos:-0.0224 contactPositions:{-0.0224,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:11:12 [debug] Diagnostics for board 50:
2025-05-12 07:11:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:11:12 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.5%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,31.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:33 ago, cause: power up
2025-05-12 07:11:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:11:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:11:12 [debug] Moves scheduled 3103, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=460, frequency (Hz): min=1847, max=17441
Sync err accum 101, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 11 ticks, enabled, next step interrupt due in 4294913268 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, cur
2025-05-12 07:11:12 [debug] Driver 0: pos -12156, 10060.2 steps/mm, standstill, SG min 0, mspos 968, reads 23284, writes 0 timeouts 0
2025-05-12 07:11:12 [debug] Last sensors broadcast 0x00000000 found 0 113 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 289, adv 35697/37174
2025-05-12 07:11:12 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4631, no error
Lin: Encoder reverse polarity: no, raw count 65178
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:11:12 [info] ProbeTriggered: 0
2025-05-12 07:11:12 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:12 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 029d3f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:13 [info] PreTrigger: 1000
2025-05-12 07:11:13 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:13 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 0b951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:14 [debug] Stopped at height -0.022 mm
2025-05-12 07:11:14 [info] currentZPosition:-0.0221667
2025-05-12 07:11:14 [info] tubeContactPos:-0.0222 contactPositions:{-0.0222,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:11:14 [debug] Diagnostics for board 50:
2025-05-12 07:11:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:11:14 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.7%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:35 ago, cause: power up
2025-05-12 07:11:14 [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
2025-05-12 07:11:14 [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
2025-05-12 07:11:14 [debug] Moves scheduled 3107, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 13, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=489, frequency (Hz): min=1928, max=17441
Sync err accum 111, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4294919563 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:11:14 [debug] Driver 0: pos -12154, 10060.2 steps/mm, standstill, SG min 0, mspos 936, reads 25378, writes 0 timeouts 0
2025-05-12 07:11:14 [debug] Last sensors broadcast 0x00000000 found 0 186 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 285, adv 36085/37172
2025-05-12 07:11:14 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4632, no error
Lin: Encoder reverse polarity: no, raw count 65177
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:11:14 [info] ProbeTriggered: 0
2025-05-12 07:11:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:14 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 40140401 40140401 40140401 40140401 42953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:15 [info] PreTrigger: 1000
2025-05-12 07:11:15 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:15 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 48140401 48140401 48140401 48140401 48953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:16 [debug] Stopped at height -0.023 mm
2025-05-12 07:11:16 [info] currentZPosition:-0.0227631
2025-05-12 07:11:16 [info] tubeContactPos:-0.0228 contactPositions:{-0.0228,0,0,0,0,0,0,0,0,0} Success First contact
2025-05-12 07:11:16 [debug] Diagnostics for board 50:
2025-05-12 07:11:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.3 (2025-04-29 14:20:58)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-05-12 07:11:16 [debug] Never used RAM 51300, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(2,nWait 6,64.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,2.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,64) MAIN(1,running,32.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.9%,255), total 100.0%
Owned mutexes:
Last reset 00:27:37 ago, cause: power up
2025-05-12 07:11:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-05-12 07:11:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-05-12 07:11:16 [debug] Moves scheduled 3111, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 12, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=364, frequency (Hz): min=2054, max=17857
Sync err accum 118, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4294910931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 22.1C, curr
2025-05-12 07:11:16 [debug] Driver 0: pos -12160, 10060.2 steps/mm, standstill, SG min 0, mspos 8, reads 24793, writes 0 timeouts 0
2025-05-12 07:11:16 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 288, adv 35848/37175
2025-05-12 07:11:16 [debug] Closed loop driver 0 mode: open loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position -358
Shaft: Encoder reverse polarity: yes, full rotations 0, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 15, mag 4628, no error
Lin: Encoder reverse polarity: no, raw count 65180
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-05-12 07:11:16 [info] ProbeTriggered: 0
2025-05-12 07:11:16 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:16 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 00140401 00140401 00140401 00140401 00953f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:17 [info] PreTrigger: 1000
2025-05-12 07:11:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 07:11:17 [debug] Address 0x41008000: c8040422 c8040422 c8040422 c8040422 08140401 08140401 08140401 08140401 08951f01 00000000 00000000 00000000 01011100 00022022 88002022 07000066
2025-05-12 07:11:18 [debug] Stopped at height -0.021 mm
2025-05-12 07:11:18 [info] currentZPosition:-0.0209738
2025-05-12 07:11:18 [warn] Error: G30: Probe already triggered at start of probing move
2025-05-12 07:11:18 [info] currentZPosition:-0.0184888
2025-05-12 07:11:19 [warn] Error: G30: Probe already triggered at start of probing move
2025-05-12 07:11:19 [info] currentZPosition:-0.0159043
2025-05-12 07:11:19 [warn] Error: G30: Probe already triggered at start of probing move
2025-05-12 07:11:19 [info] currentZPosition:-0.0133199
2025-05-12 07:11:19 [warn] Error: G30: Probe already triggered at start of probing move
2025-05-12 07:11:19 [info] currentZPosition:-0.0107354
2025-05-12 07:11:19 [warn] Error: G30: Probe already triggered at start of probing move
2025-05-12 07:11:19 [info] currentZPosition:-0.00815097
2025-05-12 07:11:20 [info] tubeContactPos:-0.0228 contactPositions:{-0.0210,-0.0185,-0.0159,-0.0133,-0.0107,-0.00815,0,0,0,0} Failed 5 touches
2025-05-12 07:11:20 [debug] Done printing file
2025-05-12 07:11:20 [debug] Done printing file
2025-05-12 07:11:20 [warn] Cancelled printing file 0:/gcodes/NV00044073A.g, print time was 0h 26m
2025-05-12 07:11:20 [debug] Unable to get consistent touch location: {-0.0210,-0.0185,-0.0159,-0.0133,-0.0107,-0.00815,0,0,0,0} contactSpread: -0.0128 FiveContact Accept: 0.0025400
2025-05-12 08:02:16 [warn] Ethernet running, IP address = 192.168.1.14
2025-05-12 08:02:22 [warn] HTTP client 192.168.1.2 login succeeded (session key 3290587692)
2025-05-12 08:04:00 [info] Stuck Probe Confirmed
2025-05-12 08:04:07 [debug] Address 0x40002800: 00000002 00000000 00000000 00002008 00002008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 08:05:25 [info] Before changing probe state
2025-05-12 08:05:25 [debug] Address 0x40002800: 00000002 00000000 00000000 00000008 00000008 00000000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 08:06:14 [info] After changing probe state
2025-05-12 08:06:14 [debug] Address 0x40002800: 00000002 00000000 00000000 00000008 00000008 00002000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 08:06:48 [info] After changing probe 2nd time probe not triggered
2025-05-12 08:06:48 [debug] Address 0x40002800: 00000002 00000000 00000000 00000008 00000008 00002000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 08:07:17 [info] After changing probe 3rd time probe triggered
2025-05-12 08:07:17 [debug] Address 0x40002800: 00000002 00000000 00000000 00000008 00000008 00002000 00000000 0000b000 00b00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2025-05-12 08:07:43 [info] Event logging stopped