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GPIO: do not overwrite interrupt handler (#2486)
* Prefer defmt unwrap * Auto-bind the GPIO interrupt handler * Changelog * Bind interrupt handler when initializing the hal * Remove user handler overhead unless user handler is bound * Add tests * Try to preserve direct-bound handlers * Fix match * Don't rely on the vector table to check direct binding * Fix comment
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,99 @@ | ||
| //! 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); | ||
|
|
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| let (gpio1, gpio2) = hil_test::common_test_pins!(io); | ||
|
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||
| 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); | ||
|
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||
| let timg0 = TimerGroup::new(peripherals.TIMG0); | ||
| esp_hal_embassy::init(timg0.timer0); | ||
|
|
||
| let counter = drive_pins(gpio1, gpio2).await; | ||
|
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||
| // We expect the async API to keep working even if a user handler is set. | ||
| assert_eq!(counter, 5); | ||
| } | ||
| } |