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stm32/can: implement proper RX timestamps

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This commit is contained in:
chemicstry 2023-07-25 12:07:09 +03:00
parent 77e34c5e8a
commit 62ab0bf2e7
4 changed files with 58 additions and 16 deletions
tests/stm32/src/bin
can.rs

13
tests/stm32/src/bin/can.rs
View file

@ -7,6 +7,7 @@
#[path = "../common.rs"]
mod common;
use common::*;
use defmt::assert;
use embassy_executor::Spawner;
use embassy_stm32::bind_interrupts;
use embassy_stm32::can::bxcan::filter::Mask32;
@ -14,6 +15,7 @@ use embassy_stm32::can::bxcan::{Fifo, Frame, StandardId};
use embassy_stm32::can::{Can, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, TxInterruptHandler};
use embassy_stm32::gpio::{Input, Pull};
use embassy_stm32::peripherals::CAN1;
use embassy_time::{Duration, Instant};
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
@ -62,13 +64,18 @@ async fn main(_spawner: Spawner) {
let tx_frame = Frame::new_data(unwrap!(StandardId::new(i as _)), [i]);
info!("Transmitting frame...");
let tx_ts = Instant::now();
can.write(&tx_frame).await;
info!("Receiving frame...");
let (time, rx_frame) = can.read().await.unwrap();
let envelope = can.read().await.unwrap();
info!("loopback time {}", time);
info!("loopback frame {=u8}", rx_frame.data().unwrap()[0]);
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));
i += 1;
if i > 10 {