From ee66ae8dfabcbbd8acc3cd3f1fd440610984273e Mon Sep 17 00:00:00 2001 From: Samuel Sadok Date: Mon, 4 Jan 2021 17:06:00 +0100 Subject: [PATCH] remove deprecated loop_count variable --- Firmware/MotorControl/axis.hpp | 1 - Firmware/odrive-interface.yaml | 1 - tools/odrive/utils.py | 2 +- 3 files changed, 1 insertion(+), 3 deletions(-) diff --git a/Firmware/MotorControl/axis.hpp b/Firmware/MotorControl/axis.hpp index 4f639795..014e9059 100644 --- a/Firmware/MotorControl/axis.hpp +++ b/Firmware/MotorControl/axis.hpp @@ -187,7 +187,6 @@ public: AxisState requested_state_ = AXIS_STATE_STARTUP_SEQUENCE; std::array task_chain_ = { AXIS_STATE_UNDEFINED }; AxisState& current_state_ = task_chain_.front(); - uint32_t loop_counter_ = 0; Homing_t homing_; CAN_t can_; diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml index 7af706dc..96da58bc 100644 --- a/Firmware/odrive-interface.yaml +++ b/Firmware/odrive-interface.yaml @@ -407,7 +407,6 @@ interfaces: last_drv_fault: readonly uint32 current_state: readonly AxisState requested_state: AxisState - loop_counter: readonly uint32 is_homed: {type: bool, c_name: homing_.is_homed} config: c_is_class: False diff --git a/tools/odrive/utils.py b/tools/odrive/utils.py index 77ad8d84..d4985bdf 100755 --- a/tools/odrive/utils.py +++ b/tools/odrive/utils.py @@ -324,7 +324,7 @@ def rate_test(device): numFrames = 10000 vals = [] for _ in range(numFrames): - vals.append(device.axis0.loop_counter) + vals.append(device.n_evt_control_loop) loopsPerFrame = (vals[-1] - vals[0])/numFrames loopsPerSec = (168000000/(6*3500))