diff --git a/Firmware/MotorControl/axis.hpp b/Firmware/MotorControl/axis.hpp
index 32f64dbd..12904f09 100644
--- a/Firmware/MotorControl/axis.hpp
+++ b/Firmware/MotorControl/axis.hpp
@@ -48,6 +48,7 @@ public:
         TaskTimer total;
 
         TaskTimer uart_poll;
+        TaskTimer FOC_Current;
     };
 
     static LockinConfig_t default_calibration();
diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp
index 9bdbaa75..5eff545c 100644
--- a/Firmware/MotorControl/motor.cpp
+++ b/Firmware/MotorControl/motor.cpp
@@ -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;
 }
 
diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
index 276a96ee..105b0d4c 100644
--- a/Firmware/odrive-interface.yaml
+++ b/Firmware/odrive-interface.yaml
@@ -479,6 +479,7 @@ interfaces:
       brake_update: TaskTimer
       adc_cb: TaskTimer
       total: TaskTimer
+      FOC_Current: TaskTimer
 
   ODrive.TaskTimer:
     c_is_class: False