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Add HIL testing #3851

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Run time

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Job	Run time
esp-riscv-rt	46s
esp-hal (esp32c2)	1m 33s
esp-lp-hal (esp32c6)	1m 13s
esp-hal (esp32c3)	1m 43s
esp-lp-hal (esp32s2)	1m 7s
esp-hal (esp32c6)	2m 29s
esp-lp-hal (esp32s3)	1m 11s
esp-hal (esp32h2)	1m 44s
esp-hal (esp32p4)	1m 25s
clippy-riscv	1m 58s
esp-hal (esp32)	4m 41s
clippy-xtensa	2m 59s
esp-hal (esp32s2)	5m 42s
esp-hal (esp32s3)	5m 53s
msrv-riscv	1m 52s
msrv-xtensa	3m 29s
rustfmt	20s
	40m 5s