Thanks for sharing the fact that things went smoothly: usually people post when they have problems, its nice to hear about the times when things go well too!
Right now there is no CPU utilization counter, but you can make one. In freertos.c, there is an idle thread called defaultTask (it has thread priority of osPriorityIdle). At the start of the program it calls
StartDefaultTask, then quits at the bottom:
//If we get to here, then the default task is done.
Right before that part, you can instead make it call a new function, that you make, that has a loop that simply increments some 64bit number. Ideally we would make this loop with inline assembly, to insure known loop period, but a C loop and measuring the time, and keeping compiler settings the same, should be okay place to start.
Then, in the motor control threads, we can check how many counter loops elapsed between control cycles (the period of which is
CURRENT_MEAS_PERIOD, defined in main.h), and hence get a measure of spare instruction cycles, which could be presented as a percentage.
CURRENT_MEAS_PERIOD is also the answer to your second question