esp-hal/hil-test

hil-test

Hardware-in-loop testing for esp-hal.

For assistance with this package please open an issue or start a discussion.

Quickstart

We use embedded-test as our testing framework, which relies on defmt internally. This allows us to write unit and integration tests much in the same way you would for a normal Rust project, when the standard library is available, and to execute them using Cargo's built-in test runner.

Running Tests Locally

We use [probe-rs] for flashing and running the tests on a target device, however, this MUST be installed from the correct revision, and with the correct features enabled:

cargo install probe-rs-tools \
  --git https://github.com/probe-rs/probe-rs \
  --rev a6dd038 --force --locked

Target device MUST connected via its USB-Serial-JTAG port, or if unavailable (eg. ESP32, ESP32-C2, ESP32-S2) then you must connect a compatible debug probe such as an [ESP-Prog].

You can run all tests for a given device by running the following command from the xtask folder:

cargo xtask run-tests $CHIP

For running a single test on a target, from the xtask folder run:

# Run GPIO tests for ESP32-C6
cargo xtask run-tests esp32c6 --test gpio

Another alternative way of running a single test is, from the hil-tests folder:

# Run GPIO tests for ESP32-C6
CARGO_BUILD_TARGET=riscv32imac-unknown-none-elf \
PROBE_RS_CHIP=esp32c6 \
  cargo +nightly test --features=esp32c6 --test=gpio

• If the --test argument is omitted, then all tests will be run, independently if the tests are supported for that target, for this reason, we encourage using the xtask approach.
• The build target MUST be specified via the CARGO_BUILD_TARGET environment variable or as an argument (--target).
• The chip MUST be specified via the PROBE_RS_CHIP environment variable or as an argument of probe-rs (--chip).

Some tests will require physical connections, please see the current configuration in our runners.

Running Tests Remotes (ie. On Self-Hosted Runners)

The hil.yml workflow builds the test suite for all our available targets and executes them.

Our self hosted runners have the following setup:

• ESP32-C2 (esp32c2-jtag):
  • Devkit: ESP8684-DevKitM-1 connected via UART.
    • GPIO2 and GPIO3 are connected.
  • Probe: ESP-Prog connected with the following connections
  • RPi: Raspbian 12 configured with the following setup
• ESP32-C3 (rustboard):
  • Devkit: ESP32-C3-DevKit-RUST-1 connected via USB-Serial-JTAG.
    • GPIO2 and GPIO3 are connected.
    • GPIO5 and GPIO6 are connected.
  • RPi: Raspbian 12 configured with the following setup
• ESP32-C6 (esp32c6-usb):
  • Devkit: ESP32-C6-DevKitC-1 V1.2 connected via USB-Serial-JTAG (USB port).
    • GPIO2 and GPIO3 are connected.
    • GPIO5 and GPIO6 are connected.
  • RPi: Raspbian 12 configured with the following setup
• ESP32-H2 (esp32h2-usb):
  • Devkit: ESP32-H2-DevKitM-1 connected via USB-Serial-JTAG (USB port).
    • GPIO2 and GPIO3 are connected.
    • GPIO5 and GPIO8 are connected.
  • RPi: Raspbian 12 configured with the following setup
• ESP32-S2 (esp32s2-jtag):
  • Devkit: ESP32-S2-Saola-1 connected via UART.
    • GPIO2 and GPIO3 are connected.
    • GPIO5 and GPIO6 are connected.
  • Probe: ESP-Prog connected with the following connections
  • RPi: Raspbian 12 configured with the following setup
• ESP32-S3 (esp32s3-usb):
  • Devkit: ESP32-S3-DevKitC-1 connected via USB-Serial-JTAG.
    • GPIO2 and GPIO3 are connected.
    • GPIO5 and GPIO6 are connected.
    • GPIO1 and GPIO21 are connected.
    • GPIO43 (TX) and GPIO45 are connected.
  • RPi: Raspbian 12 configured with the following setup

RPi Setup

# Install Rust:
curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain stable -y --profile minimal
# Source the current shell:
. "$HOME/.cargo/env"
# Install dependencies
sudo apt install -y pkg-config libudev-dev
# Install probe-rs
cargo install probe-rs-tools --git https://github.com/probe-rs/probe-rs --rev a6dd038 --force
# Add the udev rules
wget -O - https://probe.rs/files/69-probe-rs.rules | sudo tee /etc/udev/rules.d/69-probe-rs.rules > /dev/null
# Add the user to plugdev group
sudo usermod -a -G plugdev $USER
# Reboot the VM
sudo reboot

Adding New Tests

1. Create a new integration test file (tests/$PERIPHERAL.rs)
2. Add a corresponding [[test]] entry to Cargol.toml (MUST set harness = false)
3. Write the tests
4. Document any necessary physical connections on boards connected to self-hosted runners
5. Add a header in the test stating which targets support the given tests. Eg:

//! AES Test

//% CHIPS: esp32 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3

If the test is supported by all the targets, you can omit the header.

6. Write some documentation at the top of the tests/$PERIPHERAL.rs file with the pins being used and the required connections, if applicable.