Use embedded-test for tests which allows getting rid of using steal()

Author: usbalbin

.cargo/config.toml

@@ -1,9 +1,5 @@
 [target.thumbv7em-none-eabihf]
 runner = 'probe-rs run --connect-under-reset'
-rustflags = [
-  "-C", "link-arg=-Tlink.x",
-  "-C", "link-arg=-Tdefmt.x",
-]
 
 [build]
 target = "thumbv7em-none-eabihf"

Cargo.toml

@@ -55,7 +55,7 @@ optional = true
 [dev-dependencies]
 cortex-m-rt = "0.7.2"
 defmt-rtt = "0.4.0"
-defmt-test = "0.3.2"
+embedded-test = "0.6.1"
 cortex-m-rtic = "1.1.4"
 cortex-m-semihosting = "0.3.5"
 panic-probe = { version = "0.3.0", features = ["print-defmt"] }
@@ -104,6 +104,7 @@ defmt = [
     "nb/defmt-0-3",
     "embedded-hal/defmt-03",
     "embedded-io/defmt-03",
+    "embedded-test/defmt",
 ]
 cordic = ["dep:fixed"]
 adc3 = []

build.rs

@@ -0,0 +1,14 @@
+use std::env;
+
+fn main() {
+    // stm32 specific
+    println!("cargo:rustc-link-arg=-Tlink.x");
+
+    // add linker script for embedded-test!!
+    println!("cargo::rustc-link-arg-tests=-Tembedded-test.x");
+
+    // Check if the `defmt` feature is enabled, and if so link its linker script
+    if env::var("CARGO_FEATURE_DEFMT").is_ok() {
+        println!("cargo:rustc-link-arg=-Tdefmt.x");
+    }
+}

examples/utils/logger.rs

@@ -12,6 +12,7 @@ cfg_if::cfg_if! {
 
 cfg_if::cfg_if! {
     if #[cfg(feature = "log-itm")] {
+        #[cfg(not(test))]
         use panic_itm as _;
 
         use lazy_static::lazy_static;
@@ -57,6 +58,7 @@ cfg_if::cfg_if! {
     }
     else if #[cfg(feature = "defmt")] {
         use defmt_rtt as _; // global logger
+        #[cfg(not(test))]
         use panic_probe as _;
         #[allow(unused_imports)]
         pub use defmt::Logger;
@@ -67,6 +69,7 @@ cfg_if::cfg_if! {
         pub fn init() {}
     }
     else if #[cfg(feature = "log-semihost")] {
+        #[cfg(not(test))]
         use panic_semihosting as _;
 
         use lazy_static::lazy_static;
@@ -104,6 +107,7 @@ cfg_if::cfg_if! {
         }
     }
     else {
+        #[cfg(not(test))]
         use panic_halt as _;
 
         #[allow(dead_code)]

tests/common/mod.rs

@@ -21,7 +21,7 @@ impl<const CYCLES_PER_US: u32> Timer<CYCLES_PER_US> {
 
 #[allow(dead_code)]
 pub fn is_pax_low(pin: u8) -> bool {
-    let gpioa = unsafe { &*GPIOA::PTR };
+    let gpioa = unsafe { &*stm32::GPIOA::PTR };
     gpioa.idr().read().idr(pin).is_low()
 }
 

tests/nucleo-g474.rs

@@ -16,7 +16,7 @@ use stm32g4xx_hal as hal;
 pub const F_SYS: HertzU32 = HertzU32::MHz(16);
 pub const CYCLES_PER_US: u32 = F_SYS.raw() / 1_000_000;
 
-#[defmt_test::tests]
+#[embedded_test::tests]
 mod tests {
     use embedded_hal::pwm::SetDutyCycle;
     use fixed::types::I1F15;
@@ -45,9 +45,8 @@ mod tests {
     fn gpio_push_pull() {
         use super::*;
 
-        // TODO: Is it ok to steal these?
-        let cp = unsafe { stm32::CorePeripherals::steal() };
-        let dp = unsafe { stm32::Peripherals::steal() };
+        let cp = stm32::CorePeripherals::take().unwrap();
+        let dp = stm32::Peripherals::take().unwrap();
         let mut rcc = dp.RCC.constrain();
         let mut delay = cp.SYST.delay(&rcc.clocks);
         defmt::dbg!(rcc.clocks.sys_clk);
@@ -70,9 +69,8 @@ mod tests {
     fn gpio_open_drain() {
         use super::*;
 
-        // TODO: Is it ok to steal these?
-        let cp = unsafe { stm32::CorePeripherals::steal() };
-        let dp = unsafe { stm32::Peripherals::steal() };
+        let cp = stm32::CorePeripherals::take().unwrap();
+        let dp = stm32::Peripherals::take().unwrap();
         let mut rcc = dp.RCC.constrain();
         let mut delay = cp.SYST.delay(&rcc.clocks);
 
@@ -102,9 +100,8 @@ mod tests {
     fn pwm() {
         use super::*;
 
-        // TODO: Is it ok to steal these?
-        let mut cp = unsafe { stm32::CorePeripherals::steal() };
-        let dp = unsafe { stm32::Peripherals::steal() };
+        let mut cp = stm32::CorePeripherals::take().unwrap();
+        let dp = stm32::Peripherals::take().unwrap();
         let timer = Timer::enable_timer(&mut cp);
 
         let mut rcc = dp.RCC.constrain();
@@ -171,7 +168,7 @@ mod tests {
 
         use super::*;
 
-        let dp = unsafe { stm32::Peripherals::steal() };
+        let dp = stm32::Peripherals::take().unwrap();
         let mut rcc = dp.RCC.constrain();
 
         let mut cordic = dp
@@ -205,9 +202,8 @@ mod tests {
     fn adc() {
         use super::*;
 
-        // TODO: Is it ok to steal these?
-        let cp = unsafe { stm32::CorePeripherals::steal() };
-        let dp = unsafe { stm32::Peripherals::steal() };
+        let cp = stm32::CorePeripherals::take().unwrap();
+        let dp = stm32::Peripherals::take().unwrap();
         let mut rcc = dp.RCC.constrain();
         let mut delay = cp.SYST.delay(&rcc.clocks);
 
@@ -246,9 +242,8 @@ mod tests {
             dma::{channel::DMAExt, config::DmaConfig, TransferExt},
         };
 
-        // TODO: Is it ok to steal these?
-        let cp = unsafe { stm32::CorePeripherals::steal() };
-        let dp = unsafe { stm32::Peripherals::steal() };
+        let cp = stm32::CorePeripherals::take().unwrap();
+        let dp = stm32::Peripherals::take().unwrap();
         let mut rcc = dp.RCC.constrain();
         let mut delay = cp.SYST.delay(&rcc.clocks);
 

tests/nucleo-g474_w_jumpers.rs

@@ -19,7 +19,7 @@ use stm32g4xx_hal::rcc::{self, RccExt};
 use hal::stm32;
 use stm32g4xx_hal as hal;
 
-#[defmt_test::tests]
+#[embedded_test::tests]
 mod tests {
     use embedded_hal::delay::DelayNs;
     use stm32g4xx_hal::{
@@ -311,9 +311,8 @@ fn setup_opamp_comp_dac() -> Peripherals {
     //op1+ PA1 -> A1
     //DAC1_OUT1 PA4 -> A2
 
-    // TODO: Is it ok to steal these?
-    let cp = unsafe { stm32::CorePeripherals::steal() };
-    let dp = unsafe { stm32::Peripherals::steal() };
+    let cp = stm32::CorePeripherals::take().unwrap();
+    let dp = stm32::Peripherals::take().unwrap();
     let mut rcc = dp.RCC.constrain();
     let mut delay = cp.SYST.delay(&rcc.clocks);