Test all feature sets (#2901)

* Mark interconnect as unstable

* Explicitly set unstable feature in HIL tests

* WIP append feature set name to artifact

* Add name to feature sets, build all combinations

* Fix tests

* Provide a looping executor for stable async tests

* Fix usb serial jtag

* Hide interconnect types

.github/workflows/hil.yml

@@ -121,26 +121,10 @@ jobs:
       - name: Build tests
         run: cargo xtask build-tests ${{ matrix.target.soc }}
 
-      - name: Prepare artifact
-        run: |
-          # Create the 'tests' directory if it doesn't exist
-          mkdir -p tests
-
-          # Find ELF files in the specified path and move them to 'tests'
-          find "hil-test/target/${{ matrix.target.rust-target }}/release/deps/" -type f -exec file {} + | \
-          grep ELF | \
-          awk -F: '{print $1}' | \
-          xargs -I {} mv {} tests
-
-          # Rename files in 'tests' by removing everything after the first dash
-          for file in tests/*-*; do
-            base_name="$(basename "$file" | cut -d'-' -f1)"
-            mv "$file" "tests/$base_name"
-          done
       - uses: actions/upload-artifact@v4
         with:
           name: tests-${{ matrix.target.soc }}
-          path: /home/runner/work/esp-hal/esp-hal/tests
+          path: /home/runner/work/esp-hal/esp-hal/target/tests/${{ matrix.target.soc }}
           if-no-files-found: error
           overwrite: true
 

esp-hal/src/gpio/interconnect.rs

@@ -212,6 +212,7 @@ fn disconnect_peripheral_output_from_pin(pin: &mut AnyPin, signal: gpio::OutputS
 /// A configurable input signal between a peripheral and a GPIO pin.
 ///
 /// Multiple input signals can be connected to one pin.
+#[instability::unstable]
 pub struct InputSignal {
     pin: AnyPin,
     is_inverted: bool,
@@ -347,6 +348,7 @@ impl DirectInputSignal {
 /// A configurable output signal between a peripheral and a GPIO pin.
 ///
 /// Multiple pins can be connected to one output signal.
+#[instability::unstable]
 pub struct OutputSignal {
     pin: AnyPin,
     is_inverted: bool,
@@ -506,6 +508,7 @@ enum InputConnectionInner {
 /// This is mainly intended for internal use, but it can be used to connect
 /// peripherals within the MCU without external hardware.
 #[derive(Clone)]
+#[doc(hidden)] // FIXME: replace with `#[unstable]` when we can mark delegated methods https://github.com/Kobzol/rust-delegate/issues/77
 pub struct InputConnection(InputConnectionInner);
 
 impl Peripheral for InputConnection {
@@ -614,6 +617,7 @@ enum OutputConnectionInner {
 ///
 /// This is mainly intended for internal use, but it can be used to connect
 /// peripherals within the MCU without external hardware.
+#[doc(hidden)] // FIXME: replace with `#[unstable]` when we can mark delegated methods https://github.com/Kobzol/rust-delegate/issues/77
 pub struct OutputConnection(OutputConnectionInner);
 
 impl Sealed for OutputConnection {}

esp-hal/src/gpio/mod.rs

@@ -79,23 +79,20 @@ use crate::{
     private::{self, Sealed},
 };
 
-pub mod interconnect;
 mod placeholder;
 
 pub use placeholder::NoPin;
 
-#[cfg(soc_etm)]
 crate::unstable_module! {
+    pub mod interconnect;
+
+    #[cfg(soc_etm)]
     pub mod etm;
-}
 
-#[cfg(lp_io)]
+    #[cfg(lp_io)]
-crate::unstable_module! {
     pub mod lp_io;
-}
 
-#[cfg(all(rtc_io, not(esp32)))]
+    #[cfg(all(rtc_io, not(esp32)))]
-crate::unstable_module! {
     pub mod rtc_io;
 }
 
@@ -820,6 +817,7 @@ where
     ///
     /// Peripheral signals allow connecting peripherals together without using
     /// external hardware.
+    #[instability::unstable]
     pub fn split(self) -> (interconnect::InputSignal, interconnect::OutputSignal) {
         (
             interconnect::InputSignal::new(self.degrade_pin(private::Internal)),
@@ -1296,6 +1294,8 @@ impl<'d> Output<'d> {
     ///
     /// Peripheral signals allow connecting peripherals together without using
     /// external hardware.
+    #[inline]
+    #[instability::unstable]
     pub fn split(self) -> (interconnect::InputSignal, interconnect::OutputSignal) {
         self.pin.split()
     }
@@ -1305,6 +1305,7 @@ impl<'d> Output<'d> {
     ///
     /// The input signal can be passed to peripherals in place of an input pin.
     #[inline]
+    #[instability::unstable]
     pub fn peripheral_input(&self) -> interconnect::InputSignal {
         self.pin.peripheral_input()
     }
@@ -1315,6 +1316,7 @@ impl<'d> Output<'d> {
     /// The output signal can be passed to peripherals in place of an output
     /// pin.
     #[inline]
+    #[instability::unstable]
     pub fn into_peripheral_output(self) -> interconnect::OutputSignal {
         self.pin.into_peripheral_output()
     }
@@ -1439,6 +1441,7 @@ impl<'d> Input<'d> {
     ///
     /// The input signal can be passed to peripherals in place of an input pin.
     #[inline]
+    #[instability::unstable]
     pub fn peripheral_input(&self) -> interconnect::InputSignal {
         self.pin.peripheral_input()
     }
@@ -1565,6 +1568,8 @@ impl<'d> Input<'d> {
     ///
     /// Peripheral signals allow connecting peripherals together without using
     /// external hardware.
+    #[inline]
+    #[instability::unstable]
     pub fn split(self) -> (interconnect::InputSignal, interconnect::OutputSignal) {
         self.pin.split()
     }
@@ -1575,6 +1580,7 @@ impl<'d> Input<'d> {
     /// The output signal can be passed to peripherals in place of an output
     /// pin.
     #[inline]
+    #[instability::unstable]
     pub fn into_peripheral_output(self) -> interconnect::OutputSignal {
         self.pin.into_peripheral_output()
     }
@@ -1654,6 +1660,8 @@ impl<'d> OutputOpenDrain<'d> {
     ///
     /// Peripheral signals allow connecting peripherals together without using
     /// external hardware.
+    #[inline]
+    #[instability::unstable]
     pub fn split(self) -> (interconnect::InputSignal, interconnect::OutputSignal) {
         self.pin.split()
     }
@@ -1663,6 +1671,7 @@ impl<'d> OutputOpenDrain<'d> {
     ///
     /// The input signal can be passed to peripherals in place of an input pin.
     #[inline]
+    #[instability::unstable]
     pub fn peripheral_input(&self) -> interconnect::InputSignal {
         self.pin.peripheral_input()
     }
@@ -1673,6 +1682,7 @@ impl<'d> OutputOpenDrain<'d> {
     /// The output signal can be passed to peripherals in place of an output
     /// pin.
     #[inline]
+    #[instability::unstable]
     pub fn into_peripheral_output(self) -> interconnect::OutputSignal {
         self.pin.into_peripheral_output()
     }
@@ -1797,6 +1807,7 @@ impl<'d> Flex<'d> {
     ///
     /// The input signal can be passed to peripherals in place of an input pin.
     #[inline]
+    #[instability::unstable]
     pub fn peripheral_input(&self) -> interconnect::InputSignal {
         self.pin.degrade_pin(private::Internal).split().0
     }
@@ -1963,6 +1974,8 @@ impl<'d> Flex<'d> {
     ///
     /// Peripheral signals allow connecting peripherals together without using
     /// external hardware.
+    #[inline]
+    #[instability::unstable]
     pub fn split(self) -> (interconnect::InputSignal, interconnect::OutputSignal) {
         assert!(self.pin.is_output());
         self.pin.degrade_pin(private::Internal).split()
@@ -1974,6 +1987,7 @@ impl<'d> Flex<'d> {
     /// The output signal can be passed to peripherals in place of an output
     /// pin.
     #[inline]
+    #[instability::unstable]
     pub fn into_peripheral_output(self) -> interconnect::OutputSignal {
         self.split().1
     }
@@ -2028,6 +2042,7 @@ pub(crate) mod internal {
         /// using external hardware.
         #[inline]
         #[allow(unused_braces, reason = "False positive")]
+        #[instability::unstable]
         pub fn split(self) -> (interconnect::InputSignal, interconnect::OutputSignal) {
             handle_gpio_input!(self, target, { target.split() })
         }

hil-test/Cargo.toml

@@ -197,6 +197,7 @@ cfg-if             = "1.0.0"
 critical-section   = "1.1.3"
 defmt              = "0.3.8"
 defmt-rtt          = { version = "0.4.1", optional = true }
+embassy-executor   = "0.6.0"
 embassy-futures    = "0.1.1"
 embassy-sync       = "0.6.0"
 embassy-time       = "0.3.2"
@@ -206,7 +207,7 @@ embedded-hal-async = "1.0.0"
 embedded-hal-nb    = "1.0.0"
 esp-alloc          = { path = "../esp-alloc", optional = true }
 esp-backtrace      = { path = "../esp-backtrace", default-features = false, features = ["exception-handler", "defmt", "semihosting"] }
-esp-hal            = { path = "../esp-hal", features = ["digest", "unstable"], optional = true }
+esp-hal            = { path = "../esp-hal", features = ["digest"], optional = true }
 esp-hal-embassy    = { path = "../esp-hal-embassy", optional = true }
 esp-wifi           = { path = "../esp-wifi", optional = true, features = ["wifi"] }
 portable-atomic    = "1.9.0"
@@ -220,7 +221,7 @@ digest              = { version = "0.10.7", default-features = false }
 elliptic-curve      = { version = "0.13.8", default-features = false, features = ["sec1"] }
 embassy-executor    = { version = "0.6.0", default-features = false }
 # Add the `embedded-test/defmt` feature for more verbose testing
-embedded-test       = { version = "0.5.0", git = "https://github.com/probe-rs/embedded-test.git", rev = "7109473", default-features = false }
+embedded-test       = { version = "0.5.0", git = "https://github.com/probe-rs/embedded-test.git", rev = "7109473", default-features = false, features = ["embassy", "external-executor"] }
 fugit               = "0.3.7"
 hex-literal         = "0.4.1"
 nb                  = "1.1.0"
@@ -234,7 +235,8 @@ esp-build    = { path = "../esp-build" }
 esp-metadata = { path = "../esp-metadata" }
 
 [features]
-default = ["embassy"]
+default = []
+unstable = ["esp-hal/unstable"]
 
 defmt = ["dep:defmt-rtt", "esp-hal/defmt", "embedded-test/defmt"]
 
@@ -286,14 +288,14 @@ esp32s3 = [
 ]
 # Async & Embassy:
 embassy = [
-    "embedded-test/embassy",
-    "embedded-test/external-executor",
     "dep:esp-hal-embassy",
 ]
 generic-queue = [
+    "embassy",
     "embassy-time/generic-queue-64"
 ]
 integrated-timers = [
+    "embassy",
     "esp-hal-embassy/integrated-timers",
 ]
 octal-psram = ["esp-hal/octal-psram", "esp-alloc"]

hil-test/src/lib.rs

@@ -82,3 +82,42 @@ macro_rules! unconnected_pin {
         }
     }};
 }
+
+// A simple looping executor to test async code without esp-hal-embassy (which
+// needs `esp-hal/unstable`).
+#[cfg(not(feature = "embassy"))]
+mod executor {
+    use core::marker::PhantomData;
+
+    use embassy_executor::{raw, Spawner};
+
+    #[export_name = "__pender"]
+    fn __pender(_: *mut ()) {}
+
+    pub struct Executor {
+        inner: raw::Executor,
+        not_send: PhantomData<*mut ()>,
+    }
+
+    impl Executor {
+        pub fn new() -> Self {
+            Self {
+                inner: raw::Executor::new(core::ptr::null_mut()),
+                not_send: PhantomData,
+            }
+        }
+
+        pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
+            init(self.inner.spawner());
+
+            loop {
+                unsafe { self.inner.poll() };
+            }
+        }
+    }
+}
+
+#[cfg(feature = "embassy")]
+pub use esp_hal_embassy::Executor;
+#[cfg(not(feature = "embassy"))]
+pub use executor::Executor;

hil-test/tests/aes.rs

@@ -1,6 +1,7 @@
 //! AES Test
 
 //% CHIPS: esp32 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/aes_dma.rs

@@ -1,6 +1,7 @@
 //! AES DMA Test
 
 //% CHIPS: esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/clock_monitor.rs

@@ -1,6 +1,7 @@
 //! Clock Monitor Test
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/crc.rs

@@ -1,6 +1,7 @@
 //! CRC and MD5 Tests
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/critical_section.rs

@@ -1,6 +1,7 @@
 //! Ensure invariants of locks are upheld.
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 // TODO: add multi-core tests
 

hil-test/tests/delay.rs

@@ -1,6 +1,7 @@
 //! Delay Test
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/delay_async.rs

@@ -4,6 +4,7 @@
 //! `embedded_hal_async::delay::DelayNs` trait.
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]
@@ -69,7 +70,7 @@ async fn test_async_delay_ms(mut timer: impl DelayNs, duration: u32) {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 2, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 2, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;
 

hil-test/tests/dma_macros.rs

@@ -1,6 +1,7 @@
 //! DMA macro tests
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/dma_mem2mem.rs

@@ -1,6 +1,7 @@
 //! DMA Mem2Mem Tests
 
 //% CHIPS: esp32c2 esp32c3 esp32c6 esp32h2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/ecc.rs

@@ -1,6 +1,7 @@
 //! ECC Test
 
 //% CHIPS: esp32c2 esp32c6 esp32h2
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/embassy_interrupt_executor.rs

@@ -2,8 +2,8 @@
 //! code.
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
-//% FEATURES: integrated-timers
+//% FEATURES(integrated): unstable embassy integrated-timers
-//% FEATURES: generic-queue
+//% FEATURES(generic): unstable embassy generic-queue
 
 #![no_std]
 #![no_main]
@@ -48,7 +48,7 @@ struct Context {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod test {
     use super::*;
 

hil-test/tests/embassy_interrupt_spi_dma.rs

@@ -1,8 +1,8 @@
 //! Reproduction and regression test for a sneaky issue.
 
 //% CHIPS: esp32 esp32s2 esp32s3 esp32c3 esp32c6 esp32h2
-//% FEATURES: integrated-timers
+//% FEATURES(integrated): unstable embassy integrated-timers
-//% FEATURES: generic-queue
+//% FEATURES(generic): unstable embassy generic-queue
 
 #![no_std]
 #![no_main]
@@ -75,7 +75,7 @@ async fn interrupt_driven_task(mut i2s_tx: esp_hal::i2s::master::I2sTx<'static,
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod test {
     use super::*;
 

hil-test/tests/embassy_timers_executors.rs

@@ -1,8 +1,8 @@
 //! Embassy timer and executor Test
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
-//% FEATURES: integrated-timers
+//% FEATURES(integrated): unstable embassy integrated-timers
-//% FEATURES: generic-queue
+//% FEATURES(generic): unstable embassy generic-queue
 
 #![no_std]
 #![no_main]
@@ -122,7 +122,7 @@ fn set_up_embassy_with_systimer(peripherals: Peripherals) {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod test {
     use super::*;
     use crate::test_cases::*;

hil-test/tests/esp_wifi_floats.rs

@@ -1,7 +1,7 @@
 //! Cp0Disable exception regression test
 
 //% CHIPS: esp32 esp32s2 esp32s3
-//% FEATURES: esp-wifi esp-alloc
+//% FEATURES: unstable esp-wifi esp-alloc
 
 #![no_std]
 #![no_main]

hil-test/tests/get_time.rs

@@ -1,6 +1,7 @@
 //! time::now Test
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/gpio.rs

@@ -1,7 +1,8 @@
 //! GPIO Test
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
-//% FEATURES: generic-queue
+//% FEATURES: unstable embassy generic-queue
+//% FEATURES(stable):
 
 #![no_std]
 #![no_main]
@@ -9,14 +10,22 @@
 use core::cell::RefCell;
 
 use critical_section::Mutex;
+#[cfg(feature = "unstable")]
+use embassy_time::{Duration, Timer};
 use esp_hal::{
     delay::Delay,
-    gpio::{AnyPin, Input, Io, Level, Output, Pin, Pull},
+    gpio::{AnyPin, Input, Level, Output, OutputOpenDrain, Pin, Pull},
-    interrupt::InterruptConfigurable,
     macros::handler,
+};
+#[cfg(feature = "unstable")]
+use esp_hal::{
+    gpio::{Event, Flex, Io},
+    interrupt::InterruptConfigurable,
     timer::timg::TimerGroup,
 };
 use hil_test as _;
+#[cfg(feature = "unstable")]
+use portable_atomic::{AtomicUsize, Ordering};
 
 static COUNTER: Mutex<RefCell<u32>> = Mutex::new(RefCell::new(0));
 static INPUT_PIN: Mutex<RefCell<Option<Input>>> = Mutex::new(RefCell::new(None));
@@ -39,27 +48,28 @@ pub fn interrupt_handler() {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod tests {
-    use embassy_time::{Duration, Timer};
-    use esp_hal::gpio::{Event, Flex, OutputOpenDrain};
-    use portable_atomic::{AtomicUsize, Ordering};
-
     use super::*;
 
     #[init]
     fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let mut io = Io::new(peripherals.IO_MUX);
-        io.set_interrupt_handler(interrupt_handler);
-
         let delay = Delay::new();
 
         let (gpio1, gpio2) = hil_test::common_test_pins!(peripherals);
 
-        let timg0 = TimerGroup::new(peripherals.TIMG0);
+        #[cfg(feature = "unstable")]
-        esp_hal_embassy::init(timg0.timer0);
+        {
+            // Interrupts are unstable
+            let mut io = Io::new(peripherals.IO_MUX);
+            io.set_interrupt_handler(interrupt_handler);
+
+            // Timers are unstable
+            let timg0 = TimerGroup::new(peripherals.TIMG0);
+            esp_hal_embassy::init(timg0.timer0);
+        }
 
         Context {
             test_gpio1: gpio1.degrade(),
@@ -69,6 +79,7 @@ mod tests {
     }
 
     #[test]
+    #[cfg(feature = "unstable")] // Timers are unstable
     async fn async_edge(ctx: Context) {
         let counter = AtomicUsize::new(0);
         let Context {
@@ -147,53 +158,6 @@ mod tests {
         assert_eq!(test_gpio2.is_set_high(), true);
     }
 
-    #[test]
-    fn gpio_output_embedded_hal_0_2(ctx: Context) {
-        let test_gpio1 = Input::new(ctx.test_gpio1, Pull::Down);
-        let mut test_gpio2 = Output::new(ctx.test_gpio2, Level::Low);
-
-        fn set<T>(pin: &mut T, state: bool)
-        where
-            T: embedded_hal::digital::OutputPin,
-        {
-            if state {
-                pin.set_high().ok();
-            } else {
-                pin.set_low().ok();
-            }
-        }
-
-        fn toggle<T>(pin: &mut T)
-        where
-            T: embedded_hal::digital::StatefulOutputPin,
-        {
-            pin.toggle().ok();
-        }
-
-        // `StatefulOutputPin`:
-        assert_eq!(test_gpio2.is_set_low(), true);
-        assert_eq!(test_gpio2.is_set_high(), false);
-        assert_eq!(test_gpio1.is_low(), true);
-        assert_eq!(test_gpio1.is_high(), false);
-        set(&mut test_gpio2, true);
-        assert_eq!(test_gpio2.is_set_low(), false);
-        assert_eq!(test_gpio2.is_set_high(), true);
-        assert_eq!(test_gpio1.is_low(), false);
-        assert_eq!(test_gpio1.is_high(), true);
-
-        // `ToggleableOutputPin`:
-        toggle(&mut test_gpio2);
-        assert_eq!(test_gpio2.is_set_low(), true);
-        assert_eq!(test_gpio2.is_set_high(), false);
-        assert_eq!(test_gpio1.is_low(), true);
-        assert_eq!(test_gpio1.is_high(), false);
-        toggle(&mut test_gpio2);
-        assert_eq!(test_gpio2.is_set_low(), false);
-        assert_eq!(test_gpio2.is_set_high(), true);
-        assert_eq!(test_gpio1.is_low(), false);
-        assert_eq!(test_gpio1.is_high(), true);
-    }
-
     #[test]
     fn gpio_output_embedded_hal_1_0(ctx: Context) {
         let test_gpio1 = Input::new(ctx.test_gpio1, Pull::Down);
@@ -242,6 +206,7 @@ mod tests {
     }
 
     #[test]
+    #[cfg(feature = "unstable")] // Interrupts are unstable
     fn gpio_interrupt(ctx: Context) {
         let mut test_gpio1 = Input::new(ctx.test_gpio1, Pull::Down);
         let mut test_gpio2 = Output::new(ctx.test_gpio2, Level::Low);
@@ -325,6 +290,7 @@ mod tests {
     }
 
     #[test]
+    #[cfg(feature = "unstable")]
     fn gpio_flex(ctx: Context) {
         let mut test_gpio1 = Flex::new(ctx.test_gpio1);
         let mut test_gpio2 = Flex::new(ctx.test_gpio2);
@@ -401,6 +367,7 @@ mod tests {
     }
 
     #[test]
+    #[cfg(feature = "unstable")]
     fn interrupt_executor_is_not_frozen(ctx: Context) {
         use esp_hal::interrupt::{software::SoftwareInterrupt, Priority};
         use esp_hal_embassy::InterruptExecutor;

hil-test/tests/gpio_custom_handler.rs

@@ -6,7 +6,7 @@
 //! async API works for user handlers automatically.
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
-//% FEATURES: integrated-timers
+//% FEATURES: unstable integrated-timers
 
 #![no_std]
 #![no_main]
@@ -66,7 +66,7 @@ async fn drive_pins(gpio1: impl Into<AnyPin>, gpio2: impl Into<AnyPin>) -> usize
 }
 
 #[cfg(test)]
-#[embedded_test::tests(executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(executor = hil_test::Executor::new())]
 mod tests {
 
     use super::*;

hil-test/tests/i2c.rs

@@ -1,6 +1,7 @@
 //! I2C test
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/i2s.rs

@@ -4,7 +4,7 @@
 //! with loopback mode enabled).
 
 //% CHIPS: esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
-//% FEATURES: generic-queue
+//% FEATURES: unstable generic-queue
 // FIXME: re-enable on ESP32 when it no longer fails spuriously
 
 #![no_std]
@@ -97,7 +97,7 @@ fn enable_loopback() {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;
 

hil-test/tests/init.rs

@@ -1,6 +1,7 @@
 //! Initialization tests
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/interrupt.rs

@@ -3,6 +3,7 @@
 //! "Disabled" for now - see https://github.com/esp-rs/esp-hal/pull/1635#issuecomment-2137405251
 
 //% CHIPS: esp32c2 esp32c3 esp32c6 esp32h2
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/lcd_cam.rs

@@ -1,6 +1,7 @@
 //! LCD_CAM Camera and DPI tests
 
 //% CHIPS: esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/lcd_cam_i8080.rs

@@ -1,6 +1,7 @@
 //! lcd_cam i8080 tests
 
 //% CHIPS: esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/lcd_cam_i8080_async.rs

@@ -1,7 +1,7 @@
 //! lcd_cam i8080 tests
 
 //% CHIPS: esp32s3
-//% FEATURES: generic-queue
+//% FEATURES: unstable generic-queue
 
 #![no_std]
 #![no_main]
@@ -28,7 +28,7 @@ struct Context<'d> {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;
 

hil-test/tests/parl_io_tx.rs

@@ -1,6 +1,8 @@
 //! PARL_IO TX test
 
 //% CHIPS: esp32c6 esp32h2
+//% FEATURES: unstable
+
 #![no_std]
 #![no_main]
 

hil-test/tests/parl_io_tx_async.rs

@@ -1,7 +1,7 @@
 //! PARL_IO TX async test
 
 //% CHIPS: esp32c6 esp32h2
-//% FEATURES: generic-queue
+//% FEATURES: unstable generic-queue
 
 #![no_std]
 #![no_main]
@@ -43,7 +43,7 @@ struct Context {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod tests {
     use defmt::info;
 

hil-test/tests/pcnt.rs

@@ -1,6 +1,7 @@
 //! PCNT tests
 
 //% CHIPS: esp32 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/qspi.rs

@@ -1,6 +1,7 @@
 //! QSPI Test Suite
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/rmt.rs

@@ -1,6 +1,7 @@
 //! RMT Loopback Test
 
 //% CHIPS: esp32 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/rsa.rs

@@ -1,6 +1,7 @@
 //! RSA Test
 
 //% CHIPS: esp32 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/rsa_async.rs

@@ -1,6 +1,7 @@
 //! Async RSA Test
 
 //% CHIPS: esp32 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]
@@ -48,7 +49,7 @@ const fn compute_mprime(modulus: &U512) -> u32 {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 5, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 5, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;
 

hil-test/tests/sha.rs

@@ -1,19 +1,21 @@
 //! SHA Test
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]
 
 use digest::{Digest, Update};
 #[cfg(not(feature = "esp32"))]
+use esp_hal::clock::CpuClock;
+#[cfg(not(feature = "esp32"))]
 use esp_hal::sha::Sha224;
 #[cfg(any(feature = "esp32", feature = "esp32s2", feature = "esp32s3"))]
 use esp_hal::sha::{Sha384, Sha512};
 #[cfg(any(feature = "esp32s2", feature = "esp32s3"))]
 use esp_hal::sha::{Sha512_224, Sha512_256};
 use esp_hal::{
-    clock::CpuClock,
     rng::Rng,
     sha::{Sha, Sha1, Sha256, ShaAlgorithm, ShaDigest},
 };

hil-test/tests/spi_full_duplex.rs

@@ -1,7 +1,7 @@
 //! SPI Full Duplex test suite.
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
-//% FEATURES: generic-queue
+//% FEATURES: unstable generic-queue
 
 // FIXME: add async test cases that don't rely on PCNT
 
@@ -48,7 +48,7 @@ struct Context {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;
 

hil-test/tests/spi_half_duplex_read.rs

@@ -1,6 +1,7 @@
 //! SPI Half Duplex Read Test
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/spi_half_duplex_write.rs

@@ -1,6 +1,7 @@
 //! SPI Half Duplex Write Test
 
 //% CHIPS: esp32 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/spi_half_duplex_write_psram.rs

@@ -1,6 +1,7 @@
 //! SPI Half Duplex Write Test
-//% FEATURES: octal-psram
+
 //% CHIPS: esp32s3
+//% FEATURES: unstable octal-psram
 
 #![no_std]
 #![no_main]

hil-test/tests/spi_slave.rs

@@ -4,6 +4,7 @@
 //! testing Mode 1.
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]
@@ -94,7 +95,7 @@ impl BitbangSpi {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 10, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 10, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;
 

hil-test/tests/systimer.rs

@@ -2,6 +2,7 @@
 
 // esp32 disabled as it does not have a systimer
 //% CHIPS: esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/twai.rs

@@ -1,6 +1,7 @@
 //! TWAI test
 
 //% CHIPS: esp32 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/uart.rs

@@ -1,6 +1,7 @@
 //! UART Test
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/uart_async.rs

@@ -1,7 +1,7 @@
 //! UART Test
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
-//% FEATURES: generic-queue
+//% FEATURES: unstable embassy generic-queue
 
 #![no_std]
 #![no_main]
@@ -17,7 +17,7 @@ struct Context {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;
 

hil-test/tests/uart_regression.rs

@@ -1,6 +1,7 @@
 //! Misc UART TX/RX regression tests
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/uart_tx_rx.rs

@@ -1,6 +1,7 @@
 //! UART TX/RX Test
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]

hil-test/tests/uart_tx_rx_async.rs

@@ -1,7 +1,7 @@
 //! UART TX/RX Async Test
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
-//% FEATURES: generic-queue
+//% FEATURES: unstable generic-queue
 
 #![no_std]
 #![no_main]
@@ -18,7 +18,7 @@ struct Context {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;
 

hil-test/tests/usb_serial_jtag.rs

@@ -1,6 +1,7 @@
 //! USB Serial JTAG tests
 
 //% CHIPS: esp32c3 esp32c6 esp32h2 esp32s3
+//% FEATURES: unstable
 
 #![no_std]
 #![no_main]
@@ -8,16 +9,13 @@
 #[cfg(test)]
 #[embedded_test::tests(default_timeout = 3)]
 mod tests {
-    use esp_hal::{timer::timg::TimerGroup, usb_serial_jtag::UsbSerialJtag};
+    use esp_hal::usb_serial_jtag::UsbSerialJtag;
     use hil_test as _;
 
     #[test]
     fn creating_peripheral_does_not_break_debug_connection() {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let timg0 = TimerGroup::new(peripherals.TIMG0);
-        esp_hal_embassy::init(timg0.timer0);
-
         _ = UsbSerialJtag::new(peripherals.USB_DEVICE)
             .into_async()
             .split();

xtask/Cargo.toml

@@ -17,5 +17,6 @@ log          = "0.4.22"
 minijinja    = "2.5.0"
 semver       = { version = "1.0.23",  features = ["serde"] }
 serde        = { version = "1.0.215", features = ["derive"] }
+serde_json   = "1.0.70"
 strum        = { version = "0.26.3",  features = ["derive"] }
 toml_edit    = "0.22.22"

xtask/src/cargo.rs

@@ -2,27 +2,39 @@
 
 use std::{
     ffi::OsStr,
-    path::Path,
+    path::{Path, PathBuf},
     process::{Command, Stdio},
 };
 
 use anyhow::{bail, Result};
+use serde::{Deserialize, Serialize};
 
 use crate::windows_safe_path;
 
-#[derive(Clone, Copy, Debug, PartialEq)]
+#[derive(Clone, Debug, PartialEq)]
 pub enum CargoAction {
-    Build,
+    Build(PathBuf),
     Run,
 }
 
+#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
+pub struct Artifact {
+    pub executable: PathBuf,
+}
+
 /// Execute cargo with the given arguments and from the specified directory.
 pub fn run(args: &[String], cwd: &Path) -> Result<()> {
-    run_with_env::<[(&str, &str); 0], _, _>(args, cwd, [])
+    run_with_env::<[(&str, &str); 0], _, _>(args, cwd, [], false)?;
+    Ok(())
 }
 
 /// Execute cargo with the given arguments and from the specified directory.
-pub fn run_with_env<I, K, V>(args: &[String], cwd: &Path, envs: I) -> Result<()>
+pub fn run_and_capture(args: &[String], cwd: &Path) -> Result<String> {
+    run_with_env::<[(&str, &str); 0], _, _>(args, cwd, [], true)
+}
+
+/// Execute cargo with the given arguments and from the specified directory.
+pub fn run_with_env<I, K, V>(args: &[String], cwd: &Path, envs: I, capture: bool) -> Result<String>
 where
     I: IntoIterator<Item = (K, V)>,
     K: AsRef<OsStr>,
@@ -38,19 +50,26 @@ where
     // using now or in future!
     let cwd = windows_safe_path(cwd);
 
-    let status = Command::new(get_cargo())
+    let output = Command::new(get_cargo())
         .args(args)
         .current_dir(cwd)
         .envs(envs)
-        .stdout(Stdio::inherit())
+        .stdout(if capture {
-        .stderr(Stdio::inherit())
+            Stdio::piped()
-        .stdin(Stdio::inherit())
+        } else {
-        .status()?;
+            Stdio::inherit()
+        })
+        .stderr(if capture {
+            Stdio::piped()
+        } else {
+            Stdio::inherit()
+        })
+        .output()?;
 
     // Make sure that we return an appropriate exit code here, as Github Actions
     // requires this in order to function correctly:
-    if status.success() {
+    if output.status.success() {
-        Ok(())
+        Ok(String::from_utf8_lossy(&output.stdout).to_string())
     } else {
         bail!("Failed to execute cargo subcommand")
     }
@@ -145,16 +164,16 @@ impl CargoArgsBuilder {
     }
 
     #[must_use]
-    pub fn build(self) -> Vec<String> {
+    pub fn build(&self) -> Vec<String> {
         let mut args = vec![];
 
-        if let Some(toolchain) = self.toolchain {
+        if let Some(ref toolchain) = self.toolchain {
             args.push(format!("+{toolchain}"));
         }
 
-        args.push(self.subcommand);
+        args.push(self.subcommand.clone());
 
-        if let Some(target) = self.target {
+        if let Some(ref target) = self.target {
             args.push(format!("--target={target}"));
         }
 
@@ -162,8 +181,8 @@ impl CargoArgsBuilder {
             args.push(format!("--features={}", self.features.join(",")));
         }
 
-        for arg in self.args {
+        for arg in self.args.iter() {
-            args.push(arg);
+            args.push(arg.clone());
         }
 
         args

xtask/src/lib.rs

@@ -58,6 +58,7 @@ pub enum Package {
 pub struct Metadata {
     example_path: PathBuf,
     chip: Chip,
+    feature_set_name: String,
     feature_set: Vec<String>,
     tag: Option<String>,
     description: Option<String>,
@@ -67,6 +68,7 @@ impl Metadata {
     pub fn new(
         example_path: &Path,
         chip: Chip,
+        feature_set_name: String,
         feature_set: Vec<String>,
         tag: Option<String>,
         description: Option<String>,
@@ -74,6 +76,7 @@ impl Metadata {
         Self {
             example_path: example_path.to_path_buf(),
             chip,
+            feature_set_name,
             feature_set,
             tag,
             description,
@@ -161,6 +164,7 @@ pub fn build_documentation(workspace: &Path, package: Package, chip: Chip) -> Re
         &args,
         &package_path,
         [("RUSTDOCFLAGS", "--cfg docsrs --cfg not_really_docsrs")],
+        false,
     )?;
 
     let docs_path = windows_safe_path(
@@ -212,7 +216,7 @@ fn apply_feature_rules(package: &Package, config: &Config) -> Vec<String> {
 }
 
 /// Load all examples at the given path, and parse their metadata.
-pub fn load_examples(path: &Path, action: CargoAction) -> Result<Vec<Metadata>> {
+pub fn load_examples(path: &Path) -> Result<Vec<Metadata>> {
     let mut examples = Vec::new();
 
     for entry in fs::read_dir(path)? {
@@ -248,7 +252,7 @@ pub fn load_examples(path: &Path, action: CargoAction) -> Result<Vec<Metadata>>
                     .split_ascii_whitespace()
                     .map(|s| Chip::from_str(s, false).unwrap())
                     .collect::<Vec<_>>();
-            } else if key == "FEATURES" {
+            } else if let Some(feature_set_name) = key.strip_prefix("FEATURES") {
                 // Base feature set required to run the example.
                 // If multiple are specified, we compile the same example multiple times.
                 let mut values = value
@@ -259,7 +263,20 @@ pub fn load_examples(path: &Path, action: CargoAction) -> Result<Vec<Metadata>>
                 // Sort the features so they are in a deterministic order:
                 values.sort();
 
-                feature_sets.push(values);
+                let feature_set_name = feature_set_name.trim_matches(&['(', ')']).to_string();
+
+                if feature_sets
+                    .iter()
+                    .any(|(name, _)| name == &feature_set_name)
+                {
+                    bail!(
+                        "Duplicate feature set name '{}' in {}",
+                        feature_set_name,
+                        path.display()
+                    );
+                }
+
+                feature_sets.push((feature_set_name, values));
             } else if key.starts_with("CHIP-FEATURES(") {
                 // Additional features required for specific chips.
                 // These are appended to the base feature set(s).
@@ -289,15 +306,10 @@ pub fn load_examples(path: &Path, action: CargoAction) -> Result<Vec<Metadata>>
         }
 
         if feature_sets.is_empty() {
-            feature_sets.push(Vec::new());
+            feature_sets.push((String::new(), Vec::new()));
         }
-        if action == CargoAction::Build {
+
-            // Only build the first feature set for each example.
+        for (feature_set_name, feature_set) in feature_sets {
-            // Rebuilding with a different feature set just wastes time because the latter
-            // one will overwrite the former one(s).
-            feature_sets.truncate(1);
-        }
-        for feature_set in feature_sets {
             for chip in &chips {
                 let mut feature_set = feature_set.clone();
                 if let Some(chip_features) = chip_features.get(chip) {
@@ -310,6 +322,7 @@ pub fn load_examples(path: &Path, action: CargoAction) -> Result<Vec<Metadata>>
                 examples.push(Metadata::new(
                     &path,
                     *chip,
+                    feature_set_name.clone(),
                     feature_set.clone(),
                     tag.clone(),
                     description.clone(),
@@ -331,7 +344,7 @@ pub fn execute_app(
     target: &str,
     app: &Metadata,
     action: CargoAction,
-    mut repeat: usize,
+    repeat: usize,
     debug: bool,
 ) -> Result<()> {
     log::info!(
@@ -348,52 +361,79 @@ pub fn execute_app(
 
     let package = app.example_path().strip_prefix(package_path)?;
     log::info!("Package: {}", package.display());
-    let (bin, subcommand) = if action == CargoAction::Build {
-        repeat = 1; // Do not repeat builds in a loop
-        let bin = if package.starts_with("src/bin") {
-            format!("--bin={}", app.name())
-        } else if package.starts_with("tests") {
-            format!("--test={}", app.name())
-        } else {
-            format!("--example={}", app.name())
-        };
-        (bin, "build")
-    } else if package.starts_with("src/bin") {
-        (format!("--bin={}", app.name()), "run")
-    } else if package.starts_with("tests") {
-        (format!("--test={}", app.name()), "test")
-    } else {
-        (format!("--example={}", app.name()), "run")
-    };
 
     let mut builder = CargoArgsBuilder::default()
-        .subcommand(subcommand)
         .target(target)
-        .features(&features)
+        .features(&features);
-        .arg(bin);
+
+    let bin_arg = if package.starts_with("src/bin") {
+        format!("--bin={}", app.name())
+    } else if package.starts_with("tests") {
+        format!("--test={}", app.name())
+    } else {
+        format!("--example={}", app.name())
+    };
+    builder.add_arg(bin_arg);
+
+    let subcommand = if matches!(action, CargoAction::Build(_)) {
+        "build"
+    } else if package.starts_with("tests") {
+        "test"
+    } else {
+        "run"
+    };
+    builder = builder.subcommand(subcommand);
 
     if !debug {
         builder.add_arg("--release");
     }
 
-    if subcommand == "test" && chip == Chip::Esp32c2 {
-        builder.add_arg("--").add_arg("--speed").add_arg("15000");
-    }
-
     // If targeting an Xtensa device, we must use the '+esp' toolchain modifier:
     if target.starts_with("xtensa") {
         builder = builder.toolchain("esp");
         builder.add_arg("-Zbuild-std=core,alloc");
     }
 
+    if subcommand == "test" && chip == Chip::Esp32c2 {
+        builder.add_arg("--").add_arg("--speed").add_arg("15000");
+    }
+
     let args = builder.build();
     log::debug!("{args:#?}");
 
-    for i in 0..repeat {
+    if let CargoAction::Build(out_dir) = action {
-        if repeat != 1 {
-            log::info!("Run {}/{}", i + 1, repeat);
-        }
         cargo::run(&args, package_path)?;
+
+        // Now that the build has succeeded and we printed the output, we can
+        // rerun the build again quickly enough to capture JSON. We'll use this to
+        // copy the binary to the output directory.
+        builder.add_arg("--message-format=json");
+        let args = builder.build();
+        let output = cargo::run_and_capture(&args, package_path)?;
+        for line in output.lines() {
+            if let Ok(artifact) = serde_json::from_str::<cargo::Artifact>(line) {
+                let out_dir = out_dir.join(&chip.to_string());
+                std::fs::create_dir_all(&out_dir)?;
+
+                let basename = app.name();
+                let name = if app.feature_set_name.is_empty() {
+                    basename
+                } else {
+                    format!("{}_{}", basename, app.feature_set_name)
+                };
+
+                let output_file = out_dir.join(name);
+                std::fs::copy(artifact.executable, &output_file)?;
+                log::info!("Output ready: {}", output_file.display());
+            }
+        }
+    } else {
+        for i in 0..repeat {
+            if repeat != 1 {
+                log::info!("Run {}/{}", i + 1, repeat);
+            }
+            cargo::run(&args, package_path)?;
+        }
     }
 
     Ok(())

xtask/src/main.rs

@@ -181,12 +181,20 @@ fn main() -> Result<()> {
 
     let workspace = std::env::current_dir()?;
 
+    let out_path = Path::new("target");
+
     match Cli::parse() {
         Cli::BuildDocumentation(args) => build_documentation(&workspace, args),
         Cli::BuildDocumentationIndex(args) => build_documentation_index(&workspace, args),
-        Cli::BuildExamples(args) => examples(&workspace, args, CargoAction::Build),
+        Cli::BuildExamples(args) => examples(
+            &workspace,
+            args,
+            CargoAction::Build(out_path.join("examples")),
+        ),
         Cli::BuildPackage(args) => build_package(&workspace, args),
-        Cli::BuildTests(args) => tests(&workspace, args, CargoAction::Build),
+        Cli::BuildTests(args) => {
+            tests(&workspace, args, CargoAction::Build(out_path.join("tests")))
+        }
         Cli::BumpVersion(args) => bump_version(&workspace, args),
         Cli::FmtPackages(args) => fmt_packages(&workspace, args),
         Cli::GenerateEfuseFields(args) => generate_efuse_src(&workspace, args),
@@ -227,7 +235,7 @@ fn examples(workspace: &Path, mut args: ExampleArgs, action: CargoAction) -> Res
     };
 
     // Load all examples which support the specified chip and parse their metadata:
-    let mut examples = xtask::load_examples(&example_path, action)?
+    let mut examples = xtask::load_examples(&example_path)?
         .iter()
         .filter_map(|example| {
             if example.supports_chip(args.chip) {
@@ -243,13 +251,18 @@ fn examples(workspace: &Path, mut args: ExampleArgs, action: CargoAction) -> Res
 
     // Execute the specified action:
     match action {
-        CargoAction::Build => build_examples(args, examples, &package_path),
+        CargoAction::Build(out_path) => build_examples(args, examples, &package_path, out_path),
         CargoAction::Run if args.example.is_some() => run_example(args, examples, &package_path),
         CargoAction::Run => run_examples(args, examples, &package_path),
     }
 }
 
-fn build_examples(args: ExampleArgs, examples: Vec<Metadata>, package_path: &Path) -> Result<()> {
+fn build_examples(
+    args: ExampleArgs,
+    examples: Vec<Metadata>,
+    package_path: &Path,
+    out_path: PathBuf,
+) -> Result<()> {
     // Determine the appropriate build target for the given package and chip:
     let target = target_triple(args.package, &args.chip)?;
 
@@ -265,7 +278,7 @@ fn build_examples(args: ExampleArgs, examples: Vec<Metadata>, package_path: &Pat
                 args.chip,
                 target,
                 example,
-                CargoAction::Build,
+                CargoAction::Build(out_path.clone()),
                 1,
                 args.debug,
             )?;
@@ -282,7 +295,7 @@ fn build_examples(args: ExampleArgs, examples: Vec<Metadata>, package_path: &Pat
                 args.chip,
                 target,
                 example,
-                CargoAction::Build,
+                CargoAction::Build(out_path.clone()),
                 1,
                 args.debug,
             )
@@ -400,7 +413,7 @@ fn tests(workspace: &Path, args: TestArgs, action: CargoAction) -> Result<()> {
     let target = target_triple(Package::HilTest, &args.chip)?;
 
     // Load all tests which support the specified chip and parse their metadata:
-    let mut tests = xtask::load_examples(&package_path.join("tests"), action)?
+    let mut tests = xtask::load_examples(&package_path.join("tests"))?
         .into_iter()
         .filter(|example| example.supports_chip(args.chip))
         .collect::<Vec<_>>();
@@ -420,7 +433,7 @@ fn tests(workspace: &Path, args: TestArgs, action: CargoAction) -> Result<()> {
                 args.chip,
                 target,
                 test,
-                action,
+                action.clone(),
                 args.repeat.unwrap_or(1),
                 false,
             )?;
@@ -436,7 +449,7 @@ fn tests(workspace: &Path, args: TestArgs, action: CargoAction) -> Result<()> {
                 args.chip,
                 target,
                 &test,
-                action,
+                action.clone(),
                 args.repeat.unwrap_or(1),
                 false,
             )