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Add timers for sections

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2020-08-24 00:50:23 -04:00
parent 961bc113ed
commit b1961e8a29
6 changed files with 89 additions and 2 deletions
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Firmware/MotorControl/axis.cpp
+14
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@@ -201,11 +201,23 @@ bool Axis::do_updates() {
for (ThermistorCurrentLimiter* thermistor : thermistors_) {
thermistor->update();
}
task_times_.thermistor_update = sample_TIM13();
encoder_.update();
task_times_.encoder_update = sample_TIM13();
sensorless_estimator_.update();
task_times_.sensorless_update = sample_TIM13();
min_endstop_.update();
task_times_.min_endstop_update = sample_TIM13();
max_endstop_.update();
task_times_.max_endstop_update = sample_TIM13();
bool ret = check_for_errors();
task_times_.axis_error_check = sample_TIM13();
odCAN->send_heartbeat(this);
return ret;
}
@@ -347,10 +359,12 @@ bool Axis::run_closed_loop_control_loop() {
float torque_setpoint;
if (!controller_.update(&torque_setpoint))
return error_ |= ERROR_CONTROLLER_FAILED, false;
task_times_.controller_update = sample_TIM13();
float phase_vel = (2*M_PI) * encoder_.vel_estimate_ * motor_.config_.pole_pairs;
if (!motor_.update(torque_setpoint, encoder_.phase_, phase_vel))
return false; // set_error should update axis.error_
task_times_.motor_update = sample_TIM13();
return true;
});