Add FOC_Current timer

2026-08-19 02:43:27 +08:00 · 2020-08-27 18:09:44 -04:00
parent c834533be6
commit ea03574ce3
3 changed files with 4 additions and 0 deletions
@@ -48,6 +48,7 @@ public:
        TaskTimer total;

        TaskTimer uart_poll;
+        TaskTimer FOC_Current;
    };

    static LockinConfig_t default_calibration();
@@ -292,6 +292,7 @@ bool Motor::FOC_voltage(float v_d, float v_q, float pwm_phase) {
 }

 bool Motor::FOC_current(float Id_des, float Iq_des, float I_phase, float pwm_phase, float phase_vel) {
+    axis_->task_times_.FOC_Current.beginTimer();
    // Syntactic sugar
    CurrentControl_t& ictrl = current_control_;

@@ -404,6 +405,7 @@ bool Motor::FOC_current(float Id_des, float Iq_des, float I_phase, float pwm_pha
        }
    }

+    axis_->task_times_.FOC_Current.stopTimer();
    return true;
 }

@@ -479,6 +479,7 @@ interfaces:
      brake_update: TaskTimer
      adc_cb: TaskTimer
      total: TaskTimer
+      FOC_Current: TaskTimer

  ODrive.TaskTimer:
    c_is_class: False