Use esp-hal runners for HIL #996

SergioGasquez · 2026-01-15T09:04:52Z

We could duplicate a bit of code to speed things up, and only wait for the packages of their arch to be finished, not sure if its worth though

SergioGasquez · 2026-01-15T11:40:38Z

Not sure if this is the best way, and I guess this could supersede probe-rs udev rules in the runner (https://github.com/esp-rs/esp-hal/tree/main/hil-test#rpi-setup), but having the symlink to /dev/serial_ports/usb and /dev/serial_ports/uart is quite useful I think.

I only tested this locally, I haven't yet added this file to the runners, I'll wait for some input before

I like this a lot! We should use these symlinks on all runners if possible.

Regarding the use rules, I think we still need both but we can put both in the udev rules directory.

Sorry, the comment was outdated, all the runners already have this udev rules settled, we are using both probe-rs and this ones, but since this is 70- and probe-rs is 69-, this ones should take preference.

-Original file line number
+Diff line change
@@ Expand Up / @@ -53,7 +53,7 @@ jobs: @@
                 arch: "x86_64"
         steps:
-          - uses: actions/checkout@v4
+          - uses: actions/checkout@v6
           - uses: ./.github/actions/setup-target
             with:
@@ Expand All / @@ -79,7 +79,7 @@ jobs: @@
                 arch: "armhf"
         steps:
-          - uses: actions/checkout@v4
+          - uses: actions/checkout@v6
           - uses: ./.github/actions/setup-target
             with:
@@ Expand All / @@ -105,7 +105,7 @@ jobs: @@
                 arch: "armhf"
         steps:
-          - uses: actions/checkout@v4
+          - uses: actions/checkout@v6
           - uses: ./.github/actions/setup-target
             with:
@@ Expand All / @@ -120,7 +120,7 @@ jobs: @@
         runs-on: ubuntu-22.04
         steps:
-          - uses: actions/checkout@v4
+          - uses: actions/checkout@v6
           - uses: dtolnay/rust-toolchain@stable
           - run: cargo check -p xtask --all-features
@@ Expand All / @@ -133,7 +133,7 @@ jobs: @@
         runs-on: ubuntu-22.04
         steps:
-          - uses: actions/checkout@v4
+          - uses: actions/checkout@v6
           - uses: ./.github/actions/setup-target
           - run: cargo test --lib
@@ Expand All / @@ -146,7 +146,7 @@ jobs: @@
         runs-on: ubuntu-22.04
         steps:
-          - uses: actions/checkout@v4
+          - uses: actions/checkout@v6
           - uses: dtolnay/rust-toolchain@stable
             with:
               components: clippy
@@ Expand All / @@ -159,7 +159,7 @@ jobs: @@
         runs-on: ubuntu-22.04
         steps:
-          - uses: actions/checkout@v4
+          - uses: actions/checkout@v6
           - uses: dtolnay/rust-toolchain@nightly
             with:
               components: rustfmt
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -28,95 +28,138 @@ concurrency: @@
       group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
     jobs:
-      build-espflash:
-        name: Build espflash
-        runs-on: ubuntu-22.04
-        container:
-          image: ubuntu:20.04
+      build-packages:
+        name: Build packages | (${{ matrix.target.host }})
+        runs-on: ubuntu-latest
+        strategy:
+          fail-fast: false
+          matrix:
+            target:
+              - host: aarch64
+                target: aarch64-unknown-linux-gnu
+              - host: armv7
+                target: armv7-unknown-linux-gnueabihf
         steps:
-          - uses: actions/checkout@v4
+          - uses: actions/checkout@v6
             with:
               repository: ${{ github.event.inputs.repository || github.repository }}
               ref: ${{ github.event.inputs.branch || github.ref }}
-          - name: Install dependencies
-            env:
-              DEBIAN_FRONTEND: noninteractive
-            run: apt-get update && apt-get -y install curl musl-tools pkg-config
-          - name: Install toolchain
-            run: |
-              curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
+          - name: Install cross
+            uses: taiki-e/install-action@v2
+            with:
+              tool: cross
-          - name: Build espflash
-            run: $HOME/.cargo/bin/cargo build --release
-            working-directory: espflash
+          - name: Cache Dependencies
+            uses: Swatinem/rust-cache@v2
-          - name: Build xtask
-            run: $HOME/.cargo/bin/cargo build --release --locked
-            working-directory: xtask
+          - name: Build binaries
+            run: cross build --release --target ${{ matrix.target.target }} -p espflash -p xtask
-          - uses: actions/upload-artifact@v4
+          - name: Upload espflash-${{ matrix.target.host }}
+            uses: actions/upload-artifact@v4
             with:
-              name: espflash
-              path: target/release/espflash
+              name: espflash-${{ matrix.target.host }}
+              path: target/${{ matrix.target.target }}/release/espflash
               if-no-files-found: error
-          - uses: actions/upload-artifact@v4
+          - name: Upload xtask-${{ matrix.target.host }}
+            uses: actions/upload-artifact@v4
             with:
-              name: xtask
-              path: target/release/xtask
+              name: xtask-${{ matrix.target.host }}
+              path: target/${{ matrix.target.target }}/release/xtask
               if-no-files-found: error
-      run-target:
+      run-packages:
         if: github.repository_owner == 'esp-rs'
-        name: ${{ matrix.board.mcu }}${{ matrix.board.freq }}
-        needs: build-espflash
-        runs-on:
-          [
-            self-hosted,
-            linux,
-            x64,
-            "${{ matrix.board.mcu }}${{ matrix.board.freq }}",
-          ]
+        name: HIL | ${{ matrix.target.soc }} | ${{ matrix.target.port }}
+        needs: build-packages
+        runs-on: [self-hosted, "${{ matrix.target.runner }}"]
         env:
-          ESPFLASH_PORT: /dev/serial_ports/${{ matrix.board.mcu }}
+          ESPFLASH_PORT: /dev/serial_ports/${{ matrix.target.port }}
         strategy:
           fail-fast: false
           matrix:
-            board:
-              - mcu: esp32
-              - mcu: esp32c2
-                freq: -26mhz
-                flag: -x 26mhz
-              - mcu: esp32c3
-              - mcu: esp32c6
-              - mcu: esp32h2
-              - mcu: esp32s2
-              - mcu: esp32s3
+            target:
+              - soc: esp32c2
+                runner: esp32c2-jtag
+                port: uart
+                host: aarch64
+              - soc: esp32c3
+                runner: esp32c3-usb
+                port: usb
+                host: armv7
+              - soc: esp32c5
+                runner: esp32c5-usb
+                port: usb
+                host: aarch64
+              - soc: esp32c5
+                runner: esp32c5-usb
+                port: uart
+                host: aarch64
+              - soc: esp32c6
+                runner: esp32c6-usb
+                port: usb
+                host: armv7
+              - soc: esp32c6
+                runner: esp32c6-usb
+                port: uart
+                host: armv7
+              - soc: esp32h2
+                runner: esp32h2-usb
+                port: usb
+                host: armv7
+              - soc: esp32h2
+                runner: esp32h2-usb
+                port: uart
+                host: armv7
+              - soc: esp32p4
+                runner: esp32p4
+                port: usb
+                host: aarch64
+              - soc: esp32
+                runner: esp32-jtag
+                port: uart
+                host: aarch64
+              - soc: esp32s2
+                runner: esp32s2-jtag
+                port: uart
+                host: armv7
+              - soc: esp32s3
+                runner: esp32s3-usb
+                port: usb
+                host: armv7
+              - soc: esp32s3
+                runner: esp32s3-usb
+                port: uart
+                host: armv7
         steps:
-          - uses: actions/checkout@v4
+          - uses: actions/checkout@v6
-          - uses: actions/download-artifact@v4
+          - uses: actions/download-artifact@v7
             with:
-              name: espflash
+              name: espflash-${{ matrix.target.host }}
               path: espflash_app
-          - uses: actions/download-artifact@v4
+          - uses: actions/download-artifact@v7
             with:
-              name: xtask
+              name: xtask-${{ matrix.target.host }}
               path: xtask_app
-          - name: Set up espflash binary
+          - name: Set up binaries
             run: |
               chmod +x espflash_app/espflash
-              echo "$PWD/espflash_app" >> "$GITHUB_PATH"
               chmod +x xtask_app/xtask
+              echo "$PWD/espflash_app" >> "$GITHUB_PATH"
               echo "$PWD/xtask_app" >> "$GITHUB_PATH"
+          - name: Reset device
+            run: |
+              espflash reset
+              sleep 5
           - name: Run all tests
-            run: xtask run-tests --chip ${{ matrix.board.mcu }} -t 60 --no-build
+            run: xtask run-tests --chip ${{ matrix.target.soc }} -t 60 --no-build

-Original file line number
+Diff line change
@@ Expand Up / @@ -41,7 +41,7 @@ jobs: @@
                 arch: "x86_64"
         runs-on: ${{ matrix.platform.os }}
         steps:
-          - uses: actions/checkout@v4
+          - uses: actions/checkout@v6
           - uses: ./.github/actions/package
             with:
@@ Expand Down @@

-Original file line number
+Diff line change
@@ -0,0 +1,24 @@
+    # Copy this file to /etc/udev/rules.d/
+    # If rules fail to reload automatically, you can refresh udev rules
+    # with the command "udevadm control --reload"
+    # This rules are based on the udev rules from the OpenOCD project, with unsupported probes removed.
+    # See http://openocd.org/ for more details.
+    #
+    # This file is available under the GNU General Public License v2.0
+    ACTION!="add|change", GOTO="espflash_rules_end"
+    SUBSYSTEM=="gpio", MODE="0660", GROUP="plugdev", TAG+="uaccess"
+    SUBSYSTEM!="usb|tty|hidraw", GOTO="espflash_rules_end"
+    # Please keep this list sorted by VID:PID
+    # Espressif USB JTAG/serial debug unit and USB Bridge
+    ATTRS{idVendor}=="303a", ATTRS{idProduct}=="1001", MODE="660", GROUP="plugdev", TAG+="uaccess", SYMLINK+="serial_ports/usb"
+    ATTRS{idVendor}=="303a", ATTRS{idProduct}=="1002", MODE="660", GROUP="plugdev", TAG+="uaccess", SYMLINK+="serial_ports/usb"
+    # Silicon Labs CP210x UART Bridge
+    ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", GROUP="plugdev", MODE="660", TAG+="uaccess", SYMLINK+="serial_ports/uart"
+    LABEL="espflash_rules_end"

-Original file line number
+Diff line change
@@ Expand Up / @@ -37,3 +37,13 @@ cargo build --release @@
     `esp_hal_binary_with_overlapping_defmt_and_embedded_test_sections` is the ESP-HAL `gpio_unstable` test built for ESP32.
     This file is used in a unit test in espflash, and is not flashed as a HIL test.
+    The `esp32c5` and `esp32p4` elf files under this folder have been generated using `esp-idf@v5.5.2`:
+    ```
+     git clone -b v5.5.2 --recursive https://github.com/espressif/esp-idf.git
+    cd esp-idf/
+    ./install.sh all
+    cd examples/get-started/hello_world/
+    idf.py set-target $CHIP
+    idf.py build
+    ```

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SergioGasquez Jan 15, 2026

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