tests: sensors: Emulator Backend API and Generic Test #60394

tristan-google · 2023-07-14T14:45:35Z

Note: this PR depends on #60275 You may ignore the bottom 4 commits.

This PR introduces a backend API to be implemented by sensor emulators
that creates a standardized mechanism for setting expected sensor
readings in tests. This unlocks the ability to create a generic sensor
test that can automatically set expected values in supported sensor
emulators and verify them through the existing sensor API. An
implementation of this API is provided for the AKM09918C magnetometer.

A generic sensor test is also created to exercise this implementation.
Observe that this test knows nothing about the AKM09918C; info about
supported channels and sample ranges is discovered through the backend
API. The test iterates over all devices attached to the virtual I2C and
SPI buses in the test binary's device tree, which (theoretically) covers
all sensors. Sensors whose emulator does not exist yet or does not
support the backend API are skipped.

drivers/sensor/akm09918c/akm09918c.h

include/zephyr/drivers/emul_sensor.h

tests/drivers/build_all/sensor/Kconfig

alevkoy

Nits and typos.

tests/drivers/build_all/sensor/src/generic_test.c

drivers/sensor/akm09918c/akm09918c_emul.c

aaronemassey

LGTM but +1 to Abe's nits.

The sensor driver uses the value 500 to convert bit counts to microgauss values, but it should actually be 1500. Edit the driver unit test to use the macro instead of a magic number. Signed-off-by: Tristan Honscheid <honscheid@google.com>

keith-zephyr · 2023-07-24T21:53:28Z

include/zephyr/drivers/emul_sensor.h

+
+#include <zephyr/drivers/emul.h>
+#include <zephyr/drivers/sensor.h>
+


Please define a doxygen group similar to this.

Also add a reference to the sensor documentation here

Also add a reference to the sensor documentation here

Would that just involve adding .. doxygengroup:: my_new_group_name below the current last line?

Also add a reference to the sensor documentation here

Would that just involve adding .. doxygengroup:: my_new_group_name below the current last line?

Yes, that's correct.

yperess · 2023-07-26T16:28:22Z

tests/drivers/build_all/sensor/src/generic_test.c

+RTIO_DEFINE_WITH_MEMPOOL(sensor_read_rtio_ctx, 1, 1, 1, 64, 4);
+
+/** Number of test points to use in the generic test. These are automatically generated. */
+#define NUM_EXPECTED_VALS (5)


Can you make this a Kconfig in the test?

tests/drivers/build_all/sensor/src/generic_test.c

This PR introduces a backend API to be implemented by sensor emulators that creates a standardized mechanism for setting expected sensor readings in tests. This unlocks the ability to create a generic sensor test that can automatically set expected values in supported sensor emulators and verify them through the existing sensor API. An implementation of this API is provided for the AKM09918C magnetometer. A generic sensor test is also created to exercise this implementation. Observe that this test knows nothing about the AKM09918C; info about supported channels and sample ranges is discovered through the backend API. The test iterates over all devices attached to the virtual I2C and SPI buses in the test binary's device tree, which (theoretically) covers all sensors. Sensors whose emulator does not exist yet or does not support the backend API are skipped. Signed-off-by: Tristan Honscheid <honscheid@google.com>

Implement the backend emul API for the ICM42688 motion sensor so it can be automatically tested by the generic sensor test (see zephyrproject-rtos#60394). Supports all channels (temp, accel XYZ, and gyro XYZ) at each of the programmable full-scale accel and gyro ranges. Also fixes an arithmetic bug in the driver that was causing a minor error in the returned readings. Signed-off-by: Tristan Honscheid <honscheid@google.com>

This test was turned off last weekend when a sensor misbehaved and broke the CI, but that issue was resolved in zephyrproject-rtos#61016. This PR turns the test back on. For more info on what this test does, please see zephyrproject-rtos#60394. For more context see also the comments under zephyrproject-rtos#60959 Signed-off-by: Tristan Honscheid <honscheid@google.com>

This test was turned off last weekend when a sensor misbehaved and broke the CI, but that issue was resolved in #61016. This PR turns the test back on. For more info on what this test does, please see #60394. For more context see also the comments under #60959 Signed-off-by: Tristan Honscheid <honscheid@google.com>

This test was turned off last weekend when a sensor misbehaved and broke the CI, but that issue was resolved in zephyrproject-rtos#61016. This PR turns the test back on. For more info on what this test does, please see zephyrproject-rtos#60394. For more context see also the comments under zephyrproject-rtos#60959 Signed-off-by: Tristan Honscheid <honscheid@google.com>

Implement the backend emul API for the ICM42688 motion sensor so it can be automatically tested by the generic sensor test (see #60394). Supports all channels (temp, accel XYZ, and gyro XYZ) at each of the programmable full-scale accel and gyro ranges. Also fixes an arithmetic bug in the driver that was causing a minor error in the returned readings. Signed-off-by: Tristan Honscheid <honscheid@google.com>

This test was turned off last weekend when a sensor misbehaved and broke the CI, but that issue was resolved in zephyrproject-rtos#61016. This PR turns the test back on. For more info on what this test does, please see zephyrproject-rtos#60394. For more context see also the comments under zephyrproject-rtos#60959 Signed-off-by: Tristan Honscheid <honscheid@google.com>

Implement the backend emul API for the ICM42688 motion sensor so it can be automatically tested by the generic sensor test (see zephyrproject-rtos#60394). Supports all channels (temp, accel XYZ, and gyro XYZ) at each of the programmable full-scale accel and gyro ranges. Also fixes an arithmetic bug in the driver that was causing a minor error in the returned readings. Signed-off-by: Tristan Honscheid <honscheid@google.com>

This test was turned off last weekend when a sensor misbehaved and broke the CI, but that issue was resolved in zephyrproject-rtos#61016. This PR turns the test back on. For more info on what this test does, please see zephyrproject-rtos#60394. For more context see also the comments under zephyrproject-rtos#60959 Signed-off-by: Tristan Honscheid <honscheid@google.com>

Implement the backend emul API for the ICM42688 motion sensor so it can be automatically tested by the generic sensor test (see zephyrproject-rtos#60394). Supports all channels (temp, accel XYZ, and gyro XYZ) at each of the programmable full-scale accel and gyro ranges. Also fixes an arithmetic bug in the driver that was causing a minor error in the returned readings. Signed-off-by: Tristan Honscheid <honscheid@google.com>

tristan-google requested review from nashif, sjg20, carlescufi, galak and MaureenHelm as code owners July 14, 2023 14:45

zephyrbot added area: Sensors Sensors area: HW Emulation labels Jul 14, 2023

zephyrbot requested review from aaronemassey, alevkoy, asemjonovs, avisconti, jeremybettis, teburd and yperess July 14, 2023 14:46

zephyrbot assigned MaureenHelm Jul 14, 2023

teburd changed the title ~~WIP: Emulator Backend API and Generic Test~~ WIP: Sensors Emulator Backend API and Generic Test Jul 14, 2023

keith-zephyr reviewed Jul 18, 2023

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tristan-google force-pushed the emul-backend-api branch 2 times, most recently from af26858 to b94ecc3 Compare July 18, 2023 19:17

tristan-google requested a review from keith-zephyr July 18, 2023 19:18

tristan-google commented Jul 18, 2023

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tristan-google force-pushed the emul-backend-api branch from b94ecc3 to f5bd473 Compare July 18, 2023 19:26

tristan-google changed the title ~~WIP: Sensors Emulator Backend API and Generic Test~~ tests: sensors: Emulator Backend API and Generic Test Jul 18, 2023

alevkoy previously approved these changes Jul 19, 2023

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aaronemassey previously approved these changes Jul 19, 2023

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sensor: akm09918c: Fix conversion constant

1ae83c7

The sensor driver uses the value 500 to convert bit counts to microgauss values, but it should actually be 1500. Edit the driver unit test to use the macro instead of a magic number. Signed-off-by: Tristan Honscheid <honscheid@google.com>

tristan-google dismissed stale reviews from aaronemassey and alevkoy via b6031b7 July 24, 2023 17:53

tristan-google force-pushed the emul-backend-api branch 2 times, most recently from b6031b7 to 915986a Compare July 24, 2023 18:11

keith-zephyr reviewed Jul 24, 2023

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tristan-google dismissed stale reviews from aaronemassey and alevkoy via 6448bc6 July 25, 2023 21:00

tristan-google force-pushed the emul-backend-api branch from 915986a to 6448bc6 Compare July 25, 2023 21:00

tristan-google requested a review from keith-zephyr July 25, 2023 21:02

yperess requested changes Jul 26, 2023

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tristan-google force-pushed the emul-backend-api branch from 6448bc6 to 0a938f7 Compare July 27, 2023 17:26

tristan-google force-pushed the emul-backend-api branch from 0a938f7 to 39480f1 Compare July 27, 2023 17:34

tristan-google requested a review from yperess July 27, 2023 17:48

alevkoy approved these changes Jul 27, 2023

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teburd approved these changes Jul 27, 2023

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aaronemassey approved these changes Jul 27, 2023

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MaureenHelm approved these changes Jul 27, 2023

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yperess approved these changes Jul 28, 2023

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carlescufi merged commit 171c1fc into zephyrproject-rtos:main Jul 28, 2023
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tristan-google mentioned this pull request Jul 28, 2023

Contributor self-nomination for tristan-google #60940

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cfriedt mentioned this pull request Jul 30, 2023

tests: drivers: build_all: sensor: build-only testsuite is being run in CI #60958

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tristan-google mentioned this pull request Jul 31, 2023

tests: drivers: build_all: sensor: do not run build-only testsuite #60959

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tristan-google mentioned this pull request Aug 1, 2023

emul: icm42688: Implement backend sensor emul API #61051

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tristan-google mentioned this pull request Aug 2, 2023

tests: Re-enable the generic sensor test #61091

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tests: sensors: Emulator Backend API and Generic Test #60394

tests: sensors: Emulator Backend API and Generic Test #60394

tristan-google commented Jul 14, 2023

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keith-zephyr Jul 24, 2023

tristan-google Jul 24, 2023

keith-zephyr Jul 24, 2023

yperess Jul 26, 2023


		#include <zephyr/drivers/emul.h>
		#include <zephyr/drivers/sensor.h>

tests: sensors: Emulator Backend API and Generic Test #60394

tests: sensors: Emulator Backend API and Generic Test #60394

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