[LEGACY_PROTOCOL] previous endpoint operation still not sent

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I am running 2 axes XY table application written in python running Rpi 3+. The first system running well over a years without any issue on 0.5.1. Recently build a second system and upgrade the firmware to 0.5.3 and start having this random error [LEGACY_PROTOCOL] previous endpoint operation still not send, [LEGACY OBJ] protocol failed with 3 - propagating error to application.

Any one have a suggestion? Thanks

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Are you accessing Odrive from multiple threads? Iā€™m Odrive
The error disappeared by giving exclusive access to.