tests: drivers: sensor: Add an BMI160 accelerometer test

Using the SPI emulator we can create a simple test for the BMI160
driver. Add this an enable it for native_posix.

Signed-off-by: Simon Glass <sjg@chromium.org>

boards/posix/native_posix/native_posix.dts

@@ -25,6 +25,7 @@
 	aliases {
 		eeprom-0 = &eeprom0;
 		i2c-0 = &i2c0;
+		spi-0 = &spi0;
 	};
 
 	flashcontroller0: flash-controller@0 {
@@ -91,6 +92,16 @@
 		label = "I2C_0";
 	};
 
+	spi0: spi@200 {
+		status = "okay";
+		compatible = "zephyr,spi-emul-controller";
+		clock-frequency = <50000000>;
+		#address-cells = <1>;
+		#size-cells = <0>;
+		reg = <0x200 4>;
+		label = "SPI_0";
+	};
+
 	uart0: uart {
 		status = "okay";
 		compatible = "zephyr,native-posix-uart";

tests/drivers/i2c/i2c_api/testcase.yaml

@@ -3,6 +3,4 @@ tests:
     depends_on: i2c
     tags: drivers i2c
     harness: sensor
-    filter: dt_alias_exists("i2c-0") or
-            dt_alias_exists("i2c-1") or
-            dt_alias_exists("i2c-2")
+    filter: dt_alias_exists("accel-0")

tests/drivers/sensor/accel/CMakeLists.txt

@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.13.1)
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(device)
+
+FILE(GLOB app_sources src/*.c)
+target_sources(app PRIVATE ${app_sources})

tests/drivers/sensor/accel/boards/native_posix.conf

@@ -0,0 +1,10 @@
+# Copyright (c) 2020 Nordic Semiconductor ASA
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_EMUL=y
+CONFIG_SPI=y
+CONFIG_SPI_EMUL=y
+CONFIG_BMI160=y
+CONFIG_EMUL_BMI160=y
+CONFIG_SENSOR=y
+CONFIG_BMI160_TRIGGER_NONE=y

tests/drivers/sensor/accel/boards/native_posix.overlay

@@ -0,0 +1,18 @@
+/* Copyright (c) 2020 Nordic Semiconductor ASA
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	aliases {
+		accel-0 = &bmi;
+	};
+};
+
+&spi0 {
+	bmi: bmi@3 {
+		compatible = "bosch,bmi160";
+		spi-max-frequency = <50000000>;
+		reg = <3>;
+		label = "accel";
+	};
+};

tests/drivers/sensor/accel/prj.conf

@@ -0,0 +1 @@
+CONFIG_ZTEST=y

tests/drivers/sensor/accel/src/main.c

@@ -0,0 +1,55 @@
+/*
+ * Copyright 2020 Google LLC
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/**
+ * @defgroup driver_sensor_subsys_tests sensor_subsys
+ * @ingroup all_tests
+ * @{
+ * @}
+ */
+
+#include <ztest.h>
+#include <drivers/sensor.h>
+
+#define ACCEL_LABEL	DT_LABEL(DT_ALIAS(accel_0))
+
+static enum sensor_channel channel[] = {
+	SENSOR_CHAN_ACCEL_X,
+	SENSOR_CHAN_ACCEL_Y,
+	SENSOR_CHAN_ACCEL_Z,
+	SENSOR_CHAN_GYRO_X,
+	SENSOR_CHAN_GYRO_Y,
+	SENSOR_CHAN_GYRO_Z,
+};
+
+void test_sensor_accel_basic(void)
+{
+	const struct device *dev;
+
+	dev = device_get_binding(ACCEL_LABEL);
+	zassert_not_null(dev, "failed: dev '%s' is null", ACCEL_LABEL);
+
+	zassert_equal(sensor_sample_fetch(dev), 0, "fail to fetch sample");
+
+	for (int i = 0; i < ARRAY_SIZE(channel); i++) {
+		struct sensor_value val;
+
+		zassert_ok(sensor_channel_get(dev, channel[i], &val),
+			   "fail to get channel");
+		zassert_equal(i, val.val1, "expected %d, got %d", i, val.val1);
+		zassert_true(val.val2 < 1000, "error %d is too large",
+			     val.val2);
+	}
+}
+
+/* test case main entry */
+void test_main(void)
+{
+	ztest_test_suite(test_sensor_accel,
+			 ztest_user_unit_test(test_sensor_accel_basic));
+
+	ztest_run_test_suite(test_sensor_accel);
+}

tests/drivers/sensor/accel/testcase.yaml

@@ -0,0 +1,4 @@
+tests:
+  driver.sensor:
+    tags: driver sensor subsys
+    platform_allow: native_posix