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stm32/can: Fix latency measurement in tests

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This commit is contained in:
chemicstry 2023-07-31 13:24:10 +03:00
parent ad85beb677
commit 83ab8e057a
1 changed files with 13 additions and 3 deletions
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16
tests/stm32/src/bin/can.rs
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@ -67,15 +67,25 @@ async fn main(_spawner: Spawner) {
let tx_ts = Instant::now();
can.write(&tx_frame).await;
info!("Receiving frame...");
let envelope = can.read().await.unwrap();
info!("Frame received!");
info!("loopback time {}", envelope.ts);
info!("loopback frame {=u8}", envelope.frame.data().unwrap()[0]);
// Theoretical minimum latency is 55us, actual is usually ~80us
let latency = envelope.ts.saturating_duration_since(tx_ts);
assert!(Duration::from_micros(50) < latency && latency < Duration::from_micros(100));
info!("loopback latency {} us", latency.as_micros());
// Theoretical minimum latency is 55us, actual is usually ~80us
const MIN_LATENCY: Duration = Duration::from_micros(50);
const MAX_LATENCY: Duration = Duration::from_micros(150);
assert!(
MIN_LATENCY < latency && latency < MAX_LATENCY,
"{} < {} < {}",
MIN_LATENCY,
latency,
MAX_LATENCY
);
i += 1;
if i > 10 {