Add async UART HIL test (#1345)

* wip

* Clean up Cargo config/manifest, update dependencies

* Remove TODO comment from test

---------

Co-authored-by: Scott Mabin <scott@mabez.dev>

esp-hal/src/uart.rs

@@ -1763,15 +1763,15 @@ mod asynch {
         T: Instance,
     {
         /// See [`UartRx::read_async`]
-        async fn read_async(&mut self, buf: &mut [u8]) -> Result<usize, Error> {
+        pub async fn read_async(&mut self, buf: &mut [u8]) -> Result<usize, Error> {
             self.rx.read_async(buf).await
         }
 
-        async fn write_async(&mut self, words: &[u8]) -> Result<usize, Error> {
+        pub async fn write_async(&mut self, words: &[u8]) -> Result<usize, Error> {
             self.tx.write_async(words).await
         }
 
-        async fn flush_async(&mut self) -> Result<(), Error> {
+        pub async fn flush_async(&mut self) -> Result<(), Error> {
             self.tx.flush_async().await
         }
     }
@@ -1780,7 +1780,7 @@ mod asynch {
     where
         T: Instance,
     {
-        async fn write_async(&mut self, words: &[u8]) -> Result<usize, Error> {
+        pub async fn write_async(&mut self, words: &[u8]) -> Result<usize, Error> {
             let mut count = 0;
             let mut offset: usize = 0;
             loop {
@@ -1805,7 +1805,7 @@ mod asynch {
             Ok(count)
         }
 
-        async fn flush_async(&mut self) -> Result<(), Error> {
+        pub async fn flush_async(&mut self) -> Result<(), Error> {
             let count = T::get_tx_fifo_count();
             if count > 0 {
                 UartTxFuture::<T>::new(TxEvent::TxDone.into()).await;
@@ -1839,7 +1839,7 @@ mod asynch {
         /// # Ok
         /// When successful, returns the number of bytes written to buf.
         /// This method will never return Ok(0), unless buf.len() == 0.
-        async fn read_async(&mut self, buf: &mut [u8]) -> Result<usize, Error> {
+        pub async fn read_async(&mut self, buf: &mut [u8]) -> Result<usize, Error> {
             if buf.len() == 0 {
                 return Ok(0);
             }

hil-test/Cargo.toml

@@ -20,22 +20,30 @@ harness = false
 name    = "uart"
 harness = false
 
+[[test]]
+name    = "uart_async"
+harness = false
+required-features = ["async", "embassy"]
+
 [dependencies]
-defmt = { version = "0.3.5" }
-defmt-rtt = { version = "0.4.0" }
-esp-hal = { path = "../esp-hal", features = ["embedded-hal", "embedded-hal-02",  "defmt"], optional = true }
-embedded-hal-02       = { version = "0.2.7", package = "embedded-hal", features = ["unproven"] }
+defmt              = { version = "0.3.6" }
+defmt-rtt          = { version = "0.4.0" }
+embassy-time       = { version = "0.3.0", features = ["generic-queue-8"] }
+embedded-hal       = { version = "1.0.0" }
+embedded-hal-02    = { version = "0.2.7", package = "embedded-hal", features = ["unproven"] }
 embedded-hal-async = { version = "1.0.0", optional = true }
-embedded-hal     = { version = "1.0.0" }
-embedded-hal-nb      = { version = "1.0.0", optional = true }
-embassy-executor = { default-features = false, version = "0.5.0", features = ["executor-thread", "arch-riscv32"], optional = true }
-semihosting = "0.1.6"
+embedded-hal-nb    = { version = "1.0.0", optional = true }
+esp-hal            = { path = "../esp-hal", features = ["defmt", "embedded-hal", "embedded-hal-02"], optional = true }
+semihosting        = { git = "https://github.com/taiki-e/semihosting", rev = "c829c19" }
 
 [dev-dependencies]
+embassy-executor   = { version = "0.5.0", default-features = false, features = ["executor-thread", "arch-riscv32"] }
 # Add the `embedded-test/defmt` feature for more verbose testing
-embedded-test = {git = "https://github.com/probe-rs/embedded-test", rev = "8e3f925"}
+embedded-test = {git = "https://github.com/probe-rs/embedded-test", rev = "8e3f925" }
 
 [features]
+default = ["async", "embassy", "embassy-time-timg0"]
+
 # Device support (required!):
 esp32   = ["esp-hal/esp32"]
 esp32c2 = ["esp-hal/esp32c2"]
@@ -45,13 +53,13 @@ esp32h2 = ["esp-hal/esp32h2"]
 esp32s2 = ["esp-hal/esp32s2"]
 esp32s3 = ["esp-hal/esp32s3"]
 # Async & Embassy:
-async = ["dep:embedded-hal-async", "esp-hal?/async"]
-embassy = ["esp-hal?/embassy", "embedded-test/embassy", "dep:embassy-executor"]
+async                      = ["dep:embedded-hal-async", "esp-hal?/async"]
+embassy                    = ["esp-hal?/embassy", "embedded-test/embassy"]
 embassy-executor-interrupt = ["esp-hal?/embassy-executor-interrupt"]
 embassy-executor-thread    = ["esp-hal?/embassy-executor-thread"]
 embassy-time-systick-16mhz = ["esp-hal?/embassy-time-systick-16mhz"]
 embassy-time-systick-80mhz = ["esp-hal?/embassy-time-systick-80mhz"]
-embassy-time-timg0   = ["esp-hal?/embassy-time-timg0"]
+embassy-time-timg0         = ["esp-hal?/embassy-time-timg0"]
 
 # https://doc.rust-lang.org/cargo/reference/profiles.html#test
 # Test and bench profiles inherit from dev and release respectively.
@@ -61,7 +69,7 @@ codegen-units    = 1
 debug            = 2
 debug-assertions = true
 incremental      = false
-opt-level        = 'z'
+opt-level        = "z"
 overflow-checks  = true
 
 [profile.release]
@@ -70,8 +78,5 @@ debug            = 2
 debug-assertions = false
 incremental      = false
 opt-level        = 3
-lto = 'fat'
+lto              = "fat"
 overflow-checks  = false
-
-[patch.crates-io]
-semihosting = { git = "https://github.com/taiki-e/semihosting", rev = "c829c19" }

hil-test/tests/uart_async.rs

@@ -0,0 +1,85 @@
+//! UART Test
+//!
+//! Folowing pins are used:
+//! TX    GPIP2
+//! RX    GPIO4
+//!
+//! Connect TX (GPIO2) and RX (GPIO4) pins.
+
+#![no_std]
+#![no_main]
+
+use defmt_rtt as _;
+use esp_hal::{
+    clock::ClockControl,
+    gpio::IO,
+    peripherals::{Peripherals, UART0},
+    prelude::*,
+    uart::{
+        config::{Config, DataBits, Parity, StopBits},
+        TxRxPins,
+        Uart,
+        UartRx,
+        UartTx,
+    },
+    Async,
+};
+
+struct Context {
+    tx: UartTx<'static, UART0, Async>,
+    rx: UartRx<'static, UART0, Async>,
+}
+
+impl Context {
+    pub fn init() -> Self {
+        let peripherals = Peripherals::take();
+        let system = peripherals.SYSTEM.split();
+        let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+        let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);
+        let pins = TxRxPins::new_tx_rx(
+            io.pins.gpio2.into_push_pull_output(),
+            io.pins.gpio4.into_floating_input(),
+        );
+        let config = Config {
+            baudrate: 115200,
+            data_bits: DataBits::DataBits8,
+            parity: Parity::ParityNone,
+            stop_bits: StopBits::STOP1,
+        };
+
+        let uart = Uart::new_async_with_config(peripherals.UART0, config, Some(pins), &clocks);
+        let (tx, rx) = uart.split();
+
+        Context { rx, tx }
+    }
+}
+
+#[cfg(test)]
+#[embedded_test::tests]
+mod tests {
+    use defmt::assert_eq;
+
+    use super::*;
+
+    #[init]
+    async fn init() -> Context {
+        Context::init()
+    }
+
+    #[test]
+    #[timeout(3)]
+    async fn test_send_receive(mut ctx: Context) {
+        const SEND: &[u8] = &*b"Hello ESP32";
+        let mut buf = [0u8; SEND.len()];
+
+        // Drain the FIFO to clear previous message:
+        ctx.tx.flush_async().await.unwrap();
+        while ctx.rx.drain_fifo(&mut buf[..]) > 0 {}
+
+        ctx.tx.write_async(&SEND).await.unwrap();
+        ctx.tx.flush_async().await.unwrap();
+
+        ctx.rx.read_async(&mut buf[..]).await.unwrap();
+        assert_eq!(&buf[..], SEND);
+    }
+}