Adding TWAI HIL test

hil-test/Cargo.toml

@@ -124,6 +124,10 @@ name              = "embassy_interrupt_executor"
 harness           = false
 required-features = ["async", "embassy", "integrated-timers"]
 
+[[test]]
+name    = "twai"
+harness = false
+
 [dependencies]
 cfg-if             = "1.0.0"
 critical-section   = "1.1.2"

hil-test/tests/twai.rs

@@ -0,0 +1,86 @@
+//! TWAI test
+//!
+//! Folowing pins are used:
+//! TX    GPIO2
+//! RX    GPIO3
+//!
+//! Connect TX (GPIO2) and RX (GPIO3) pins.
+
+//% CHIPS: esp32c3 esp32c6 esp32s2 esp32s3
+
+#![no_std]
+#![no_main]
+
+use defmt_rtt as _;
+use embedded_hal_02::can::Frame;
+use esp_backtrace as _;
+use esp_hal::{
+    clock::ClockControl,
+    gpio::Io,
+    peripherals::{Peripherals, TWAI0},
+    prelude::*,
+    system::SystemControl,
+    twai::{self, filter::SingleStandardFilter, EspTwaiFrame, StandardId, TwaiMode},
+    Blocking,
+};
+use nb::block;
+
+struct Context {
+    twai: twai::Twai<'static, TWAI0, Blocking>,
+}
+
+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 io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
+
+        let can_tx_pin = io.pins.gpio2;
+        let can_rx_pin = io.pins.gpio3;
+
+        const CAN_BAUDRATE: twai::BaudRate = twai::BaudRate::B1000K;
+
+        let mut config = twai::TwaiConfiguration::new(
+            peripherals.TWAI0,
+            can_tx_pin,
+            can_rx_pin,
+            &clocks,
+            CAN_BAUDRATE,
+            TwaiMode::SelfTest,
+        );
+
+        const FILTER: SingleStandardFilter =
+            SingleStandardFilter::new(b"00000000000", b"x", [b"xxxxxxxx", b"xxxxxxxx"]);
+        config.set_filter(FILTER);
+
+        let mut twai = config.start();
+
+        Context { twai }
+    }
+}
+
+#[cfg(test)]
+#[embedded_test::tests]
+mod tests {
+    use defmt::assert_eq;
+
+    use super::*;
+
+    #[init]
+    fn init() -> Context {
+        Context::init()
+    }
+
+    #[test]
+    #[timeout(3)]
+    fn test_send_receive(mut ctx: Context) {
+        let frame = EspTwaiFrame::new_self_reception(StandardId::ZERO.into(), &[1, 2, 3]).unwrap();
+        block!(ctx.twai.transmit(&frame)).unwrap();
+
+        let frame = block!(ctx.twai.receive()).unwrap();
+
+        assert_eq!(frame.data(), &[1, 2, 3])
+    }
+}