Add Delay HIL test (#1415)

* Add  HIL test

* fmt

hil-test/Cargo.toml

@@ -57,6 +57,10 @@ harness = false
 name    = "get_time"
 harness = false
 
+[[test]]
+name    = "delay"
+harness = false
+
 [dependencies]
 cfg-if             = "1.0.0"
 critical-section   = "1.1.2"

hil-test/tests/delay.rs

@@ -0,0 +1,80 @@
+//! Delay Test
+
+#![no_std]
+#![no_main]
+
+use defmt_rtt as _;
+use embedded_hal::delay::DelayNs;
+use esp_backtrace as _;
+use esp_hal::{clock::ClockControl, delay::Delay, peripherals::Peripherals, system::SystemControl};
+
+struct Context {
+    delay: Delay,
+}
+
+impl Context {
+    pub fn init() -> Self {
+        let peripherals = Peripherals::take();
+        let system = SystemControl::new(peripherals.SYSTEM);
+        let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+
+        let delay = Delay::new(&clocks);
+
+        Context { delay }
+    }
+}
+
+#[cfg(test)]
+#[embedded_test::tests]
+mod tests {
+    use super::*;
+
+    #[init]
+    fn init() -> Context {
+        Context::init()
+    }
+
+    #[test]
+    #[timeout(1)]
+    fn delay_ns(mut ctx: Context) {
+        let t1 = esp_hal::time::current_time();
+        ctx.delay.delay_ns(600_000_000);
+        let t2 = esp_hal::time::current_time();
+
+        assert!(t2 > t1);
+        assert!((t2 - t1).to_nanos() >= 600_000_000u64);
+    }
+
+    #[test]
+    #[timeout(1)]
+    fn delay_700millis(ctx: Context) {
+        let t1 = esp_hal::time::current_time();
+        ctx.delay.delay_millis(700);
+        let t2 = esp_hal::time::current_time();
+
+        assert!(t2 > t1);
+        assert!((t2 - t1).to_millis() >= 700u64);
+    }
+
+    #[test]
+    #[timeout(2)]
+    fn delay_1_500_000us(mut ctx: Context) {
+        let t1 = esp_hal::time::current_time();
+        ctx.delay.delay_us(1_500_000);
+        let t2 = esp_hal::time::current_time();
+
+        assert!(t2 > t1);
+        assert!((t2 - t1).to_micros() >= 1_500_000u64);
+    }
+
+    #[test]
+    #[timeout(5)]
+    fn delay_3_000ms(mut ctx: Context) {
+        let t1 = esp_hal::time::current_time();
+        ctx.delay.delay_ms(3000);
+        let t2 = esp_hal::time::current_time();
+
+        assert!(t2 > t1);
+        assert!((t2 - t1).to_millis() >= 3000u64);
+    }
+}

hil-test/tests/gpio.rs

@@ -19,8 +19,8 @@ use esp_hal::{
     gpio::{GpioPin, Input, Io, Output, OutputPin, PullDown, PushPull, Unknown},
     macros::handler,
     peripherals::Peripherals,
-    timer::TimerGroup,
     system::SystemControl,
+    timer::TimerGroup,
 };
 
 static COUNTER: Mutex<RefCell<u32>> = Mutex::new(RefCell::new(0));

hil-test/tests/uart_async.rs

@@ -15,9 +15,9 @@ use esp_hal::{
     clock::ClockControl,
     gpio::Io,
     peripherals::{Peripherals, UART0},
+    system::SystemControl,
     uart::{config::Config, TxRxPins, Uart, UartRx, UartTx},
     Async,
-    system::SystemControl,
 };
 
 struct Context {