Add PCNT HIL test (#1746)

Co-authored-by: Dominic Fischer <git@dominicfischer.me>

hil-test/Cargo.toml

@@ -56,6 +56,10 @@ harness = false
 name    = "spi_full_duplex_dma"
 harness = false
 
+[[test]]
+name    = "pcnt"
+harness = false
+
 [[test]]
 name    = "rmt"
 harness = false

hil-test/tests/pcnt.rs

@@ -0,0 +1,121 @@
+//! PCNT tests
+//!
+//! It's assumed GPIO2 is connected to GPIO3
+
+//% CHIPS: esp32 esp32c6 esp32h2 esp32s2 esp32s3
+
+#![no_std]
+#![no_main]
+
+use core::ops::Deref;
+
+use defmt_rtt as _;
+use esp_backtrace as _;
+use esp_hal::{delay::Delay, gpio::GpioPin, pcnt::Pcnt};
+
+struct Context<'d> {
+    pcnt: Pcnt<'d>,
+    gpio2: GpioPin<2>,
+    gpio3: GpioPin<3>,
+    delay: Delay,
+}
+
+#[cfg(test)]
+#[embedded_test::tests]
+mod tests {
+    use esp_hal::{
+        clock::ClockControl,
+        delay::Delay,
+        gpio::{Io, Level, Output, Pull},
+        pcnt::{
+            channel,
+            channel::{CtrlMode, EdgeMode, PcntInputConfig, PcntSource},
+            unit,
+        },
+        peripherals::Peripherals,
+        system::SystemControl,
+    };
+
+    use super::*;
+
+    #[init]
+    fn init() -> Context<'static> {
+        let peripherals = Peripherals::take();
+        let system = SystemControl::new(peripherals.SYSTEM);
+        let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+
+        let mut io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
+
+        Context {
+            pcnt: Pcnt::new(peripherals.PCNT, None),
+            gpio2: io.pins.gpio2,
+            gpio3: io.pins.gpio3,
+            delay: Delay::new(&clocks),
+        }
+    }
+
+    #[test]
+    fn test_increment_on_pos_edge(ctx: Context<'static>) {
+        let mut unit = ctx.pcnt.get_unit(unit::Number::Unit0);
+        unit.configure(unit::Config {
+            low_limit: -100,
+            high_limit: 100,
+            ..Default::default()
+        })
+        .unwrap();
+
+        // Setup channel 0 to increment the count when gpio2 does LOW -> HIGH
+        unit.get_channel(channel::Number::Channel0).configure(
+            PcntSource::always_high(),
+            PcntSource::from_pin(ctx.gpio2, PcntInputConfig { pull: Pull::Down }),
+            channel::Config {
+                lctrl_mode: CtrlMode::Keep,
+                hctrl_mode: CtrlMode::Keep,
+                pos_edge: EdgeMode::Increment,
+                neg_edge: EdgeMode::Hold,
+                invert_ctrl: false,
+                invert_sig: false,
+            },
+        );
+
+        // Disable channel 1.
+        unit.get_channel(channel::Number::Channel1).configure(
+            PcntSource::always_high(),
+            PcntSource::always_high(),
+            channel::Config {
+                lctrl_mode: CtrlMode::Keep,
+                hctrl_mode: CtrlMode::Keep,
+                pos_edge: EdgeMode::Hold,
+                neg_edge: EdgeMode::Hold,
+                invert_ctrl: false,
+                invert_sig: false,
+            },
+        );
+
+        let mut output = Output::new(ctx.gpio3, Level::Low);
+
+        unit.resume();
+
+        assert_eq!(0, unit.get_value());
+
+        output.set_high();
+        ctx.delay.delay_micros(1);
+
+        assert_eq!(1, unit.get_value());
+
+        output.set_low();
+        ctx.delay.delay_micros(1);
+
+        assert_eq!(1, unit.get_value());
+
+        output.set_high();
+        ctx.delay.delay_micros(1);
+
+        assert_eq!(2, unit.get_value());
+
+        output.set_low();
+        ctx.delay.delay_micros(1);
+
+        assert_eq!(2, unit.get_value());
+    }
+}