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Those *.tmax times are in CPU clock cycles and probably OK
if the CPU is ~3 GHz

First thing, get some thermal paste to put on that processor, and the one before it, both are getting very hot doing not much, some Intel processors will start throttling at 63C, some a bit later, but nearly 70 you are getting seems to high with such medium load.

try this to mesa_modbus.c.tmpl i think works?

Yes, I would test at say a 100 Hz update rate.

I was just checking the 0.1 Hz update rate, as you said
it did not work, but it seems OK.

So if you can change the update rate from 0 to some positive number
while running and it keeps working, that indicates that at least one
divide by zero issue has been fixed.

The bad data error you have may be unrelated but the divide by zero fix
seems to have solved the very similar error finnengineering had with the stepgens


 

Yes works but it is practically unusable with 10sec intervals
also the problem of random data to encoder input it is unknown if resolves
completely or just happens in these long intervals and it is difficult to detect..
With update-hz set to 0.05 does not work.

i do not post it but i compiled my benchmark to windows also with nearly same results, so the pico is the bottleneck here.