Add tests

hil-test/Cargo.toml

@@ -55,6 +55,10 @@ harness = false
 name    = "gpio"
 harness = false
 
+[[test]]
+name    = "gpio_custom_handler"
+harness = false
+
 [[test]]
 name    = "interrupt"
 harness = false

hil-test/tests/gpio_custom_handler.rs

@@ -0,0 +1,98 @@
+//! GPIO interrupt handler tests
+//! 
+//! This test checks that during HAL initialization we do not overwrite custom GPIO interrupt
+//! handlers. We also check that binding a custom interrupt handler explicitly overwrites the
+//! handler set by the user, as well as the async API works for user handlers automatically.
+
+//% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: integrated-timers
+
+#![no_std]
+#![no_main]
+
+use embassy_time::{Duration, Timer};
+use esp_hal::{
+    gpio::{AnyPin, Input, Io, Level, Output, Pull},
+    macros::handler,
+    timer::timg::TimerGroup,
+    InterruptConfigurable,
+};
+use hil_test as _;
+use portable_atomic::{AtomicUsize, Ordering};
+
+#[no_mangle]
+unsafe extern "C" fn GPIO() {
+    // do nothing, prevents binding the default handler
+}
+
+#[handler]
+pub fn interrupt_handler() {
+    // Do nothing
+}
+
+async fn drive_pins(gpio1: impl Into<AnyPin>, gpio2: impl Into<AnyPin>) -> usize {
+    let counter = AtomicUsize::new(0);
+    let mut test_gpio1 = Input::new(gpio1.into(), Pull::Down);
+    let mut test_gpio2 = Output::new(gpio2.into(), Level::Low);
+    embassy_futures::select::select(
+        async {
+            loop {
+                test_gpio1.wait_for_rising_edge().await;
+                counter.fetch_add(1, Ordering::SeqCst);
+            }
+        },
+        async {
+            for _ in 0..5 {
+                test_gpio2.set_high();
+                Timer::after(Duration::from_millis(25)).await;
+                test_gpio2.set_low();
+                Timer::after(Duration::from_millis(25)).await;
+            }
+        },
+    )
+    .await;
+
+    counter.load(Ordering::SeqCst)
+}
+
+#[cfg(test)]
+#[embedded_test::tests(executor = esp_hal_embassy::Executor::new())]
+mod tests {
+
+    use super::*;
+
+    #[test]
+    async fn default_handler_does_not_run_because_gpio_is_defined() {
+        let peripherals = esp_hal::init(esp_hal::Config::default());
+
+        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
+
+        let (gpio1, gpio2) = hil_test::common_test_pins!(io);
+
+        let timg0 = TimerGroup::new(peripherals.TIMG0);
+        esp_hal_embassy::init(timg0.timer0);
+
+        let counter = drive_pins(gpio1, gpio2).await;
+
+        // GPIO is bound to something else, so we don't expect the async API to work.
+        assert_eq!(counter, 0);
+    }
+
+    #[test]
+    async fn default_handler_runs_because_handler_is_set() {
+        let peripherals = esp_hal::init(esp_hal::Config::default());
+
+        let mut io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
+        io.set_interrupt_handler(interrupt_handler);
+
+        let (gpio1, gpio2) = hil_test::common_test_pins!(io);
+
+        let timg0 = TimerGroup::new(peripherals.TIMG0);
+        esp_hal_embassy::init(timg0.timer0);
+
+        let counter = drive_pins(gpio1, gpio2).await;
+
+        // GPIO is bound to something else, so we don't expect the async API to work.
+        assert_eq!(counter, 5);
+    }
+}