a bit more ellaborate testing

Cargo.toml

@@ -6,7 +6,8 @@ license = "MIT OR Apache-2.0"
 
 [features]
 #motor specifig config
-default = ["orbita3d", "ecx22", "velocity_feedforward", "cmd_filter", "axis_output"] # "gearbox_output" ]
+default = ["velocity_feedforward", "cmd_filter", "axis_output"] # "gearbox_output" ]
+# default = ["orbita3d", "ecx22", "velocity_feedforward", "cmd_filter", "axis_output"] # "gearbox_output" ]
 # default = ["orbita2d", "ec45", "velocity_feedforward", "cmd_filter", "axis_output"] # "gearbox_output" ]
 # default = ["orbita2d", "ec60", "velocity_feedforward","cmd_filter", "axis_output"] #"gearbox_output" ]
 # default = ["orbita3d", "cmd_filter"]
@@ -60,7 +61,7 @@ axis_output = []  # control the motor angle after the gearbox and axis reduction
 
 
 #Pollen fork...
-embassy-stm32 = { version = "0.1.0", git = "https://github.com/pollen-robotics/embassy", branch="poulpe_beta", features = ["nightly", "defmt", "stm32h742vg", "rt", "time-driver-any", "exti", "memory-x","unstable-pac", "unstable-traits"] }
+embassy-stm32 = { version = "0.1.0", git = "https://github.com/pollen-robotics/embassy", branch="poulpe_beta", features = ["nightly", "defmt", "stm32h742vg", "time-driver-any", "exti", "memory-x","unstable-pac", "unstable-traits"] }
 embassy-sync = { version = "0.4.0", git = "https://github.com/pollen-robotics/embassy", branch="poulpe_beta", features = ["defmt"] }
 embassy-executor = { version = "0.3.0", git = "https://github.com/pollen-robotics/embassy", branch="poulpe_beta", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
 
@@ -97,8 +98,6 @@ embedded-hal-async = { version = "=1.0.0-rc.1" }
 embedded-nal-async = { version = "=0.5.0" }
 
 
-# stm32h7xx-hal = { version = "0.15.0", features = ["rt", "stm32h742"] }
-
 
 
 panic-probe = { version = "0.3", features = ["print-defmt"] }
@@ -141,7 +140,6 @@ codegen-units = 1
 debug = 2
 debug-assertions = false # <-
 incremental = false
-lto = 'fat'
 opt-level = 3 # <-
 overflow-checks = false # <-
 

src/motor_control/task.rs

@@ -74,7 +74,9 @@ pub async fn control_loop(config: ActuatorConfig) {
             foc_spi,
             config.a.foc_enable,
             config::BrushlessMotor::ecx22(),
+            config::CurrentSensing::wailer_B2()
 	);
+
     #[cfg(feature = "orbita3d")]
 	let driver_spi = SpiDeviceWithConfig::new(
             &spi_bus,