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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.

i dont think all functions are able to handled with one pico, i have more time now for testing because the first PCB-s are only shipped on mar.23 and the components is in the coming week.

actually not using PIO now, the UDP data transfer runs on core0 and all io handling runs on the second core, i use the W5100s-evb-pico for the project with the wiznet library (using arduino ide) (for PIO testing i make a frequency generator (later stepgen) and send velocity from 1 of linuxcnc joint to it, it makes 2Mhz signal but dont have a fancy scope to find its jittering. Shock settled on my face, and a small smile appeared at the corner of my mouth when I saw the signal on the scope.