diff --git a/tests/drivers/sensor/generic/prj_fpu.conf b/tests/drivers/sensor/generic/prj_fpu.conf
new file mode 100644
index 00000000000..b93a5675d97
--- /dev/null
+++ b/tests/drivers/sensor/generic/prj_fpu.conf
@@ -0,0 +1,2 @@
+CONFIG_ZTEST=y
+CONFIG_FPU=y
diff --git a/tests/drivers/sensor/generic/src/main.c b/tests/drivers/sensor/generic/src/main.c
index b41b3ec3e63..c669f495888 100644
--- a/tests/drivers/sensor/generic/src/main.c
+++ b/tests/drivers/sensor/generic/src/main.c
@@ -111,14 +111,24 @@ void test_sensor_get_channels(void)
 	dev = device_get_binding(DUMMY_SENSOR_NAME);
 	zassert_not_null(dev, "failed: dev is null.");
 
+	/* test fetch single channel */
+	zassert_equal(sensor_sample_fetch_chan(dev, chan_elements[0].chan),
+				RETURN_SUCCESS,	"fail to fetch sample.");
+	/* Get and check channel 0 value. */
+	zassert_equal(sensor_channel_get(dev, chan_elements[0].chan,
+				&data), RETURN_SUCCESS, "fail to get channel.");
+	zassert_equal(data.val1, chan_elements[0].data.val1,
+				"the data is not match.");
+	zassert_equal(data.val2, chan_elements[0].data.val2,
+				"the data is not match.");
+
+	/* test fetch all channel */
 	zassert_equal(sensor_sample_fetch(dev), RETURN_SUCCESS,
 			"fail to fetch sample.");
-
-	/* Get and check channels value. */
-	for (int i = 0; i < TOTAL_CHAN_ELEMENTS; i++) {
+	/* Get and check channels value except for chanel 0. */
+	for (int i = 1; i < TOTAL_CHAN_ELEMENTS; i++) {
 		zassert_equal(sensor_channel_get(dev, chan_elements[i].chan,
 				&data), RETURN_SUCCESS, "fail to get channel.");
-
 		zassert_equal(data.val1, chan_elements[i].data.val1,
 				"the data is not match.");
 		zassert_equal(data.val2, chan_elements[i].data.val2,
@@ -212,7 +222,7 @@ void test_sensor_handle_triggers(void)
 		zassert_equal(trigger_elements[i].data.val2,
 			      data.val2, "read-back returned wrong val2");
 
-		/* setting a sensor’s trigger and handler */
+		/* setting a sensor's trigger and handler */
 		zassert_equal(sensor_trigger_set(dev,
 				&trigger_elements[i].trig,
 				trigger_handler),
@@ -244,7 +254,7 @@ void test_sensor_handle_triggers(void)
 				&data),
 				-ENOTSUP, "fail to get attributes");
 
-		/* setting a sensor’s trigger and handler for no trig dev */
+		/* setting a sensor's trigger and handler for no trig dev */
 		zassert_equal(sensor_trigger_set(dev_no_trig,
 				&trigger_elements[i].trig,
 				trigger_handler),
@@ -252,12 +262,62 @@ void test_sensor_handle_triggers(void)
 	}
 }
 
+/**
+ * @brief Test unit coversion of sensor module
+ * @details Verify helper function to convert acceleration from
+ * Gs to m/s^2 and from m/s^2 to Gs.  Verify helper function
+ * to convert radians to degrees and degrees to radians.  Verify
+ * helper function for converting struct sensor_value to double.
+ */
+void test_sensor_unit_conversion(void)
+{
+	struct sensor_value data;
+
+	/* Test acceleration unit conversion */
+	sensor_g_to_ms2(1, &data);
+	zassert_equal(data.val1, SENSOR_G/1000000LL,
+			"the data is not match.");
+	zassert_equal(data.val2, SENSOR_G%(data.val1 * 1000000LL),
+			"the data is not match.");
+	zassert_equal(sensor_ms2_to_g(&data), 1,
+			"the data is not match.");
+	/* set test data to negative value */
+	data.val1 = -data.val1;
+	data.val2 = -data.val2;
+	zassert_equal(sensor_ms2_to_g(&data), -1,
+			"the data is not match.");
+
+	/* Test the conversion between angle and radian */
+	sensor_degrees_to_rad(180, &data);
+	zassert_equal(data.val1, SENSOR_PI/1000000LL,
+			"the data is not match.");
+	zassert_equal(data.val2, SENSOR_PI%(data.val1 * 1000000LL),
+			"the data is not match.");
+	zassert_equal(sensor_rad_to_degrees(&data), 180,
+			"the data is not match.");
+	/* set test data to negative value */
+	data.val1 = -data.val1;
+	data.val2 = -data.val2;
+	zassert_equal(sensor_rad_to_degrees(&data), -180,
+			"the data is not match.");
+
+	/* reset test data to positive value */
+	data.val1 = -data.val1;
+	data.val2 = -data.val2;
+	/* Test struct sensor_value to double */
+#if defined(CONFIG_FPU)
+	zassert_equal((long long)(sensor_value_to_double(&data) * 1000000LL),
+			SENSOR_PI, "the data is not match.");
+#endif
+}
+
 /*test case main entry*/
 void test_main(void)
 {
 	ztest_test_suite(test_sensor_api,
 			 ztest_1cpu_unit_test(test_sensor_get_channels),
-			 ztest_1cpu_unit_test(test_sensor_handle_triggers));
+			 ztest_1cpu_unit_test(test_sensor_handle_triggers),
+			 ztest_1cpu_unit_test(test_sensor_unit_conversion));
 
 	ztest_run_test_suite(test_sensor_api);
 }
diff --git a/tests/drivers/sensor/generic/testcase.yaml b/tests/drivers/sensor/generic/testcase.yaml
index 89ac6e3d40a..d1af8710e53 100644
--- a/tests/drivers/sensor/generic/testcase.yaml
+++ b/tests/drivers/sensor/generic/testcase.yaml
@@ -1,3 +1,7 @@
 tests:
   driver.sensor:
+    extra_args: CONF_FILE=prj.conf
+    tags: driver sensor subsys
+  driver.sensor.fpu:
+    extra_args: CONF_FILE=prj_fpu.conf
     tags: driver sensor subsys