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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.

Looks promising. Many LinuxCNC hardware interfaces run at 1kHz, and that works fine for most purposes.
Are you using the PIOs to handle the communications? Maybe there are gains to be made there?

Does the Pi-Pico handle UDP natively?

With the new processor, latency seems better. But the test started without internet (I had a problem with the internet).

 

But it seems the main problem is the communication with the mesa card. Please see the attached picture.
I get this as soon as I start LinuxCNC. Why are ping times good, but in LinuxCNC it is so slow?

 

A quick way to verify that you have fixed the divide by 0 issue
is to set the update rate to 0 in say halshow, and the set it back to say 1
If communication continues at 1 Hz, then the issue has been fixed.

(I say this because at least in a RIP installation the
mesa_modbus.c.tmpl file used is not the one in the
LinuxCNC sources)