tests: drivers: sensor: add hc-sr04 tests

Add automated build and functional tests for the HC-SR04.

Signed-off-by: Adrien Leravat <adrien.leravat@gmail.com>

tests/drivers/build_all/sensor/gpio.dtsi

@@ -17,3 +17,9 @@ test_gpio_dht22: dht22 {
 	dio-gpios = <&test_gpio 0 0>;
 	/* dht22; */
 };
+
+test_gpio_hcsr04: hcsr04 {
+	compatible = "hc-sr04";
+	trigger-gpios = <&test_gpio 0 0>;
+	echo-gpios = <&test_gpio 1 0>;
+};

tests/drivers/sensor/hc-sr04/CMakeLists.txt

@@ -0,0 +1,8 @@
+# Copyright (c) 2024 Adrien Leravat
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(device)
+
+target_sources(app PRIVATE src/main.c)

tests/drivers/sensor/hc-sr04/boards/native_sim.overlay

@@ -0,0 +1,11 @@
+/* Copyright (c) 2024 Adrien Leravat
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	hc_sr04: hc_sr04 {
+		compatible = "hc-sr04";
+		trigger-gpios = <&gpio0 1 GPIO_ACTIVE_HIGH>;
+		echo-gpios = <&gpio0 2 GPIO_ACTIVE_HIGH>;
+	};
+};

tests/drivers/sensor/hc-sr04/prj.conf

@@ -0,0 +1,13 @@
+# Copyright (c) 2024 Adrien Leravat
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_ZTEST=y
+
+# Set log levels
+CONFIG_SENSOR_LOG_LEVEL_WRN=y
+
+# Enable sensors
+CONFIG_SENSOR=y
+
+# Enable GPIO
+CONFIG_GPIO=y

tests/drivers/sensor/hc-sr04/src/main.c

@@ -0,0 +1,139 @@
+/*
+ * Copyright (c) 2024 Adrien Leravat
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/devicetree.h>
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/gpio/gpio_emul.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/ztest.h>
+
+#if DT_NODE_HAS_STATUS(DT_INST(0, hc_sr04), okay)
+#define HC_SR04 DT_NODELABEL(hc_sr04)
+#define HC_SR04_GPIO_OUT DT_GPIO_CTLR(DT_INST(0, hc_sr04), trigger_gpios)
+#define HC_SR04_PIN_OUT DT_GPIO_PIN(DT_INST(0, hc_sr04), trigger_gpios)
+#define HC_SR04_GPIO_IN DT_GPIO_CTLR(DT_INST(0, hc_sr04), echo_gpios)
+#define HC_SR04_PIN_IN DT_GPIO_PIN(DT_INST(0, hc_sr04), echo_gpios)
+#else
+#error "HC-SR04 not enabled"
+#endif
+
+#define TEST_MEASURED_VALUE(fixture, value, duration_us, value1, value2)                   \
+	fixture->emul.echo_duration_us = duration_us;                                      \
+	zassert_false(sensor_sample_fetch(fixture->dev), "sensor_sample_fetch failed");    \
+	zassert_false(sensor_channel_get(fixture->dev, SENSOR_CHAN_DISTANCE, &value),      \
+			"sensor_channel_get failed");                                      \
+	zassert_equal(value.val1, value1, "incorrect measurement for value.val1");         \
+	zassert_within(value.val2, value2, 10000, "incorrect measurement for value.val2"); \
+
+struct hcsr04_emul {
+	bool fail_echo;
+	uint32_t echo_duration_us;
+	struct gpio_callback cb;
+};
+
+struct hcsr04_fixture {
+	const struct device *dev;
+	struct hcsr04_emul emul;
+};
+
+static void gpio_emul_callback_handler(const struct device *port,
+					struct gpio_callback *cb,
+					gpio_port_pins_t pins);
+
+static void *hcsr04_setup(void)
+{
+	static struct hcsr04_fixture fixture = {
+		.dev = DEVICE_DT_GET(HC_SR04),
+		.emul = {
+			.fail_echo = false,
+			.echo_duration_us = 0
+		}
+	};
+	const struct device *gpio_dev = DEVICE_DT_GET(HC_SR04_GPIO_IN);
+
+	zassert_not_null(fixture.dev);
+	zassert_not_null(gpio_dev);
+	zassert_true(device_is_ready(fixture.dev));
+	zassert_equal(DEVICE_DT_GET(HC_SR04_GPIO_IN), DEVICE_DT_GET(HC_SR04_GPIO_OUT),
+			"Input and output GPIO devices must the same");
+
+	zassert_true(device_is_ready(gpio_dev), "GPIO dev is not ready");
+
+	gpio_init_callback(&fixture.emul.cb, &gpio_emul_callback_handler, BIT(HC_SR04_PIN_OUT));
+	zassert_false(gpio_add_callback(gpio_dev, &fixture.emul.cb),
+			"Failed to add emulation callback");
+
+	return &fixture;
+}
+
+static void hcsr04_before(void *f)
+{
+	struct hcsr04_fixture *fixture = f;
+
+	fixture->emul.fail_echo = false;
+}
+
+static void gpio_emul_callback_handler(const struct device *port,
+					struct gpio_callback *cb,
+					gpio_port_pins_t pins)
+{
+	const struct hcsr04_emul *emul = CONTAINER_OF(cb, struct hcsr04_emul, cb);
+
+	if (emul->fail_echo) {
+		return;
+	}
+	if (gpio_emul_output_get(port, HC_SR04_PIN_OUT) == 1) {
+		/* Ignore rising edge */
+		return;
+	}
+
+	/* Output high-level on echo pin */
+	gpio_emul_input_set(port, HC_SR04_PIN_IN, 1);
+	k_busy_wait(emul->echo_duration_us);
+	gpio_emul_input_set(port, HC_SR04_PIN_IN, 0);
+}
+
+ZTEST_SUITE(hcsr04, NULL, hcsr04_setup, hcsr04_before, NULL, NULL);
+
+ZTEST_USER_F(hcsr04, test_sample_fetch_fail_no_echo)
+{
+	int ret;
+
+	fixture->emul.fail_echo = true;
+
+	ret = sensor_sample_fetch(fixture->dev);
+	zassert_equal(-EIO, ret, "sensor_sample_fetch unexpected return code %d", ret);
+}
+
+ZTEST_USER_F(hcsr04, test_sample_fetch)
+{
+	int ret;
+
+	ret = sensor_sample_fetch(fixture->dev);
+	zassert_equal(0, ret, "sensor_sample_fetch unexpected return code %d", ret);
+}
+
+ZTEST_USER_F(hcsr04, test_channel_get_fails_with_wrong_channel)
+{
+	int ret;
+	struct sensor_value value;
+
+	ret = sensor_channel_get(fixture->dev, SENSOR_CHAN_ACCEL_X, &value);
+	zassert_equal(-ENOTSUP, ret, "sensor_channel_get returned unexpected code with %d", ret);
+}
+
+ZTEST_USER_F(hcsr04, test_channel_get_at_10cm)
+{
+	struct sensor_value value;
+
+	TEST_MEASURED_VALUE(fixture, value, 583, 0, 100000);
+}
+
+ZTEST_USER_F(hcsr04, test_channel_get_at_150cm)
+{
+	struct sensor_value value;
+
+	TEST_MEASURED_VALUE(fixture, value, 8745, 1, 500000);
+}

tests/drivers/sensor/hc-sr04/testcase.yaml

@@ -0,0 +1,11 @@
+# Copyright (c) 2024 Adrien Leravat
+# SPDX-License-Identifier: Apache-2.0
+
+tests:
+  drivers.sensor.hc-sr04:
+    tags:
+      - drivers
+      - sensor
+      - subsys
+    platform_allow:
+      - native_sim