rp: add GPIO HIL test.

tests/rp/src/bin/gpio.rs

@@ -0,0 +1,192 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::{assert, *};
+use embassy::executor::Spawner;
+use embassy_rp::gpio::{Flex, Input, Level, Output, OutputOpenDrain, Pull};
+use embassy_rp::Peripherals;
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy::main]
+async fn main(_spawner: Spawner, p: Peripherals) {
+    info!("Hello World!");
+
+    let (mut a, mut b) = (p.PIN_0, p.PIN_1);
+
+    // Test initial output
+    {
+        let b = Input::new(&mut b, Pull::None);
+
+        {
+            let _a = Output::new(&mut a, Level::Low);
+            delay();
+            assert!(b.is_low());
+        }
+        {
+            let _a = Output::new(&mut a, Level::High);
+            delay();
+            assert!(b.is_high());
+        }
+    }
+
+    // Test input no pull
+    {
+        let b = Input::new(&mut b, Pull::None);
+        // no pull, the status is undefined
+
+        let mut a = Output::new(&mut a, Level::Low);
+        delay();
+        assert!(b.is_low());
+        a.set_high();
+        delay();
+        assert!(b.is_high());
+    }
+
+    // Test input pulldown
+    {
+        let b = Input::new(&mut b, Pull::Down);
+        delay();
+        assert!(b.is_low());
+
+        let mut a = Output::new(&mut a, Level::Low);
+        delay();
+        assert!(b.is_low());
+        a.set_high();
+        delay();
+        assert!(b.is_high());
+    }
+
+    // Test input pullup
+    {
+        let b = Input::new(&mut b, Pull::Up);
+        delay();
+        assert!(b.is_high());
+
+        let mut a = Output::new(&mut a, Level::Low);
+        delay();
+        assert!(b.is_low());
+        a.set_high();
+        delay();
+        assert!(b.is_high());
+    }
+
+    // OUTPUT OPEN DRAIN
+    {
+        let mut b = OutputOpenDrain::new(&mut b, Level::High);
+        let mut a = Flex::new(&mut a);
+        a.set_as_input();
+
+        // When an OutputOpenDrain is high, it doesn't drive the pin.
+        a.set_pull(Pull::Up);
+        delay();
+        assert!(a.is_high());
+        a.set_pull(Pull::Down);
+        delay();
+        assert!(a.is_low());
+
+        b.set_low();
+
+        // When an OutputOpenDrain is low, it drives the pin low.
+        a.set_pull(Pull::Up);
+        delay();
+        assert!(a.is_low());
+        a.set_pull(Pull::Down);
+        delay();
+        assert!(a.is_low());
+
+        b.set_high();
+
+        a.set_pull(Pull::Up);
+        delay();
+        assert!(a.is_high());
+        a.set_pull(Pull::Down);
+        delay();
+        assert!(a.is_low());
+    }
+
+    // FLEX
+    // Test initial output
+    {
+        //Flex pin configured as input
+        let mut b = Flex::new(&mut b);
+        b.set_as_input();
+
+        {
+            //Flex pin configured as output
+            let mut a = Flex::new(&mut a); //Flex pin configured as output
+            a.set_low(); // Pin state must be set before configuring the pin, thus we avoid unknown state
+            a.set_as_output();
+            delay();
+            assert!(b.is_low());
+        }
+        {
+            //Flex pin configured as output
+            let mut a = Flex::new(&mut a);
+            a.set_high();
+            a.set_as_output();
+
+            delay();
+            assert!(b.is_high());
+        }
+    }
+
+    // Test input no pull
+    {
+        let mut b = Flex::new(&mut b);
+        b.set_as_input(); // no pull by default.
+
+        let mut a = Flex::new(&mut a);
+        a.set_low();
+        a.set_as_output();
+
+        delay();
+        assert!(b.is_low());
+        a.set_high();
+        delay();
+        assert!(b.is_high());
+    }
+
+    // Test input pulldown
+    {
+        let mut b = Flex::new(&mut b);
+        b.set_as_input();
+        b.set_pull(Pull::Down);
+        delay();
+        assert!(b.is_low());
+
+        let mut a = Flex::new(&mut a);
+        a.set_low();
+        a.set_as_output();
+        delay();
+        assert!(b.is_low());
+        a.set_high();
+        delay();
+        assert!(b.is_high());
+    }
+
+    // Test input pullup
+    {
+        let mut b = Flex::new(&mut b);
+        b.set_as_input();
+        b.set_pull(Pull::Up);
+        delay();
+        assert!(b.is_high());
+
+        let mut a = Flex::new(&mut a);
+        a.set_high();
+        a.set_as_output();
+        delay();
+        assert!(b.is_high());
+        a.set_low();
+        delay();
+        assert!(b.is_low());
+    }
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
+
+fn delay() {
+    cortex_m::asm::delay(10000);
+}