8 files changed, 69 insertions, 37 deletions

diff --git a/tests/rp/src/bin/cyw43-perf.rs b/tests/rp/src/bin/cyw43-perf.rs
index dba1058a8..555134ffd 100644
--- a/tests/rp/src/bin/cyw43-perf.rs
+++ b/tests/rp/src/bin/cyw43-perf.rs
@@ -70,7 +70,7 @@ async fn main(spawner: Spawner) {
     static STATE: StaticCell<cyw43::State> = StaticCell::new();
     let state = STATE.init(cyw43::State::new());
     let (net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;
-    unwrap!(spawner.spawn(wifi_task(runner)));
+    spawner.spawn(unwrap!(wifi_task(runner)));
 
     control.init(clm).await;
     control
@@ -89,7 +89,7 @@ async fn main(spawner: Spawner) {
         seed,
     );
 
-    unwrap!(spawner.spawn(net_task(runner)));
+    spawner.spawn(unwrap!(net_task(runner)));
 
     loop {
         match control
diff --git a/tests/rp/src/bin/ethernet_w5100s_perf.rs b/tests/rp/src/bin/ethernet_w5100s_perf.rs
index ae2adfa55..3f2bc728d 100644
--- a/tests/rp/src/bin/ethernet_w5100s_perf.rs
+++ b/tests/rp/src/bin/ethernet_w5100s_perf.rs
@@ -14,7 +14,6 @@ use embassy_rp::peripherals::SPI0;
 use embassy_rp::spi::{Async, Config as SpiConfig, Spi};
 use embassy_time::Delay;
 use embedded_hal_bus::spi::ExclusiveDevice;
-use rand::RngCore;
 use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
@@ -61,7 +60,7 @@ async fn main(spawner: Spawner) {
     )
     .await
     .unwrap();
-    unwrap!(spawner.spawn(ethernet_task(runner)));
+    spawner.spawn(unwrap!(ethernet_task(runner)));
 
     // Generate random seed
     let seed = rng.next_u64();
@@ -76,7 +75,7 @@ async fn main(spawner: Spawner) {
     );
 
     // Launch network task
-    unwrap!(spawner.spawn(net_task(runner)));
+    spawner.spawn(unwrap!(net_task(runner)));
 
     perf_client::run(
         stack,
diff --git a/tests/rp/src/bin/gpio.rs b/tests/rp/src/bin/gpio.rs
index 614b6317a..8bd0df8d8 100644
--- a/tests/rp/src/bin/gpio.rs
+++ b/tests/rp/src/bin/gpio.rs
@@ -67,6 +67,40 @@ async fn main(_spawner: Spawner) {
         }
     }
 
+    // Test input inversion
+    {
+        let mut b = Input::new(b.reborrow(), Pull::None);
+        b.set_inversion(true);
+        // no pull, the status is undefined
+
+        let mut a = Output::new(a.reborrow(), Level::Low);
+        delay();
+        assert!(b.is_high());
+        a.set_high();
+        delay();
+        assert!(b.is_low());
+
+        b.set_inversion(false);
+        a.set_inversion(true);
+
+        a.set_low();
+        delay();
+        assert!(b.is_high());
+
+        a.set_high();
+        delay();
+        assert!(b.is_low());
+
+        b.set_inversion(true);
+        a.set_high();
+        delay();
+        assert!(b.is_high());
+
+        a.set_high();
+        delay();
+        assert!(b.is_high());
+    }
+
     // Test input no pull
     {
         let b = Input::new(b.reborrow(), Pull::None);
diff --git a/tests/rp/src/bin/gpio_multicore.rs b/tests/rp/src/bin/gpio_multicore.rs
index 857f36975..f48dd207b 100644
--- a/tests/rp/src/bin/gpio_multicore.rs
+++ b/tests/rp/src/bin/gpio_multicore.rs
@@ -30,11 +30,11 @@ fn main() -> ! {
         unsafe { &mut *core::ptr::addr_of_mut!(CORE1_STACK) },
         move || {
             let executor1 = EXECUTOR1.init(Executor::new());
-            executor1.run(|spawner| unwrap!(spawner.spawn(core1_task(p.PIN_1))));
+            executor1.run(|spawner| spawner.spawn(unwrap!(core1_task(p.PIN_1))));
         },
     );
     let executor0 = EXECUTOR0.init(Executor::new());
-    executor0.run(|spawner| unwrap!(spawner.spawn(core0_task(p.PIN_0))));
+    executor0.run(|spawner| spawner.spawn(unwrap!(core0_task(p.PIN_0))));
 }
 
 #[embassy_executor::task]
diff --git a/tests/rp/src/bin/i2c.rs b/tests/rp/src/bin/i2c.rs
index 2c835bd5a..21761b98b 100644
--- a/tests/rp/src/bin/i2c.rs
+++ b/tests/rp/src/bin/i2c.rs
@@ -208,7 +208,7 @@ async fn controller_task(con: &mut i2c::I2c<'static, I2C0, i2c::Async>) {
         config.addr = DEV_ADDR as u16;
         let device = i2c_slave::I2cSlave::new(p.I2C1, d_sda, d_scl, Irqs, config);
 
-        spawner.must_spawn(device_task(device));
+        spawner.spawn(device_task(device).unwrap());
 
         let c_sda = p.PIN_21;
         let c_scl = p.PIN_20;
diff --git a/tests/rp/src/bin/multicore.rs b/tests/rp/src/bin/multicore.rs
index 902169c40..11b03cfea 100644
--- a/tests/rp/src/bin/multicore.rs
+++ b/tests/rp/src/bin/multicore.rs
@@ -27,11 +27,11 @@ fn main() -> ! {
         unsafe { &mut *core::ptr::addr_of_mut!(CORE1_STACK) },
         move || {
             let executor1 = EXECUTOR1.init(Executor::new());
-            executor1.run(|spawner| unwrap!(spawner.spawn(core1_task())));
+            executor1.run(|spawner| spawner.spawn(unwrap!(core1_task())));
         },
     );
     let executor0 = EXECUTOR0.init(Executor::new());
-    executor0.run(|spawner| unwrap!(spawner.spawn(core0_task())));
+    executor0.run(|spawner| spawner.spawn(unwrap!(core0_task())));
 }
 
 #[embassy_executor::task]
diff --git a/tests/rp/src/bin/overclock.rs b/tests/rp/src/bin/overclock.rs
index be8e85a3f..167a26eb2 100644
--- a/tests/rp/src/bin/overclock.rs
+++ b/tests/rp/src/bin/overclock.rs
@@ -7,14 +7,8 @@ teleprobe_meta::target!(b"rpi-pico");
 teleprobe_meta::target!(b"pimoroni-pico-plus-2");
 
 use defmt::info;
-#[cfg(feature = "rp2040")]
-use defmt::{assert, assert_eq};
 use embassy_executor::Spawner;
-use embassy_rp::clocks;
-#[cfg(feature = "rp2040")]
-use embassy_rp::clocks::ClockConfig;
-#[cfg(feature = "rp2040")]
-use embassy_rp::clocks::CoreVoltage;
+use embassy_rp::clocks::{clk_sys_freq, core_voltage, ClockConfig, CoreVoltage};
 use embassy_rp::config::Config;
 use embassy_time::Instant;
 use {defmt_rtt as _, panic_probe as _};
@@ -23,23 +17,26 @@ const COUNT_TO: i64 = 10_000_000;
 
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
-    #[cfg(feature = "rp2040")]
     let mut config = Config::default();
-    #[cfg(not(feature = "rp2040"))]
-    let config = Config::default();
 
-    // Initialize with 200MHz clock configuration for RP2040, other chips will use default clock
-    #[cfg(feature = "rp2040")]
+    // Initialize with 200MHz clock configuration
+    config.clocks = ClockConfig::system_freq(200_000_000).unwrap();
+
+    // if we are rp235x, we need to manually set the core voltage. rp2040 should do this automatically
+    #[cfg(feature = "rp235xb")]
     {
-        config.clocks = ClockConfig::system_freq(200_000_000);
-        let voltage = config.clocks.core_voltage;
-        assert!(matches!(voltage, CoreVoltage::V1_15), "Expected voltage scale V1_15");
+        config.clocks.core_voltage = CoreVoltage::V1_15;
     }
 
     let _p = embassy_rp::init(config);
 
+    // We should be at core voltage of 1.15V
+    assert_eq!(core_voltage().unwrap(), CoreVoltage::V1_15, "Core voltage is not 1.15V");
+    // We should be at 200MHz
+    assert_eq!(clk_sys_freq(), 200_000_000, "System clock frequency is not 200MHz");
+
     // Test the system speed
-    let (time_elapsed, clk_sys_freq) = {
+    let time_elapsed = {
         let mut counter = 0;
         let start = Instant::now();
         while counter < COUNT_TO {
@@ -47,24 +44,26 @@ async fn main(_spawner: Spawner) {
         }
         let elapsed = Instant::now() - start;
 
-        (elapsed.as_millis(), clocks::clk_sys_freq())
+        elapsed.as_millis()
     };
 
-    // Report the elapsed time, so that the compiler doesn't optimize it away for chips other than RP2040
+    // Tests will fail if unused variables are detected:
+    // Report the elapsed time, so that the compiler doesn't optimize it away for the chip not on test
     info!(
         "At {}Mhz: Elapsed time to count to {}: {}ms",
-        clk_sys_freq / 1_000_000,
+        clk_sys_freq() / 1_000_000,
         COUNT_TO,
         time_elapsed
     );
 
+    // Check if the elapsed time is within expected limits
+    // for rp2040 we expect about 600ms
     #[cfg(feature = "rp2040")]
-    {
-        // we should be at 200MHz
-        assert_eq!(clk_sys_freq, 200_000_000, "System clock frequency is not 200MHz");
-        // At 200MHz, the time to count to 10_000_000 should be at 600ms, testing with 1% margin
-        assert!(time_elapsed <= 606, "Elapsed time is too long");
-    }
+    // allow 1% error
+    assert!(time_elapsed < 606, "Elapsed time is too long");
+    // for rp235x we expect about 450ms
+    #[cfg(feature = "rp235xb")]
+    assert!(time_elapsed < 455, "Elapsed time is too long");
 
     cortex_m::asm::bkpt();
 }
diff --git a/tests/rp/src/bin/spinlock_mutex_multicore.rs b/tests/rp/src/bin/spinlock_mutex_multicore.rs
index ebcf1ca32..c56d43ade 100644
--- a/tests/rp/src/bin/spinlock_mutex_multicore.rs
+++ b/tests/rp/src/bin/spinlock_mutex_multicore.rs
@@ -27,11 +27,11 @@ fn main() -> ! {
         unsafe { &mut *core::ptr::addr_of_mut!(CORE1_STACK) },
         move || {
             let executor1 = EXECUTOR1.init(Executor::new());
-            executor1.run(|spawner| unwrap!(spawner.spawn(core1_task())));
+            executor1.run(|spawner| spawner.spawn(unwrap!(core1_task())));
         },
     );
     let executor0 = EXECUTOR0.init(Executor::new());
-    executor0.run(|spawner| unwrap!(spawner.spawn(core0_task())));
+    executor0.run(|spawner| spawner.spawn(unwrap!(core0_task())));
 }
 
 #[embassy_executor::task]