zephyr: Test BMI260 interrupt handler

Quick test of the interrupt handler in accelgyro_bmi260.c that verifies
the event flags get set properly.

Also moved the definition of CONFIG_ACCELGYRO_BMI260_INT_EVENT in to the
corresponding header file so we can access that value in the test.

BRANCH=None
BUG=b:184856157
TEST=zmake configure --test zephyr/test/drivers

Signed-off-by: Tristan Honscheid <honscheid@google.com>
Change-Id: Ibf88aee12f661a7883d1fffb6b3a6d53b79289db
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3229647
Reviewed-by: Jack Rosenthal <jrosenth@chromium.org>

3 files changed, 46 insertions, 21 deletions

diff --git a/driver/accelgyro_bmi260.c b/driver/accelgyro_bmi260.c
index fe0bf0e0cc..70672b3517 100644
--- a/driver/accelgyro_bmi260.c
+++ b/driver/accelgyro_bmi260.c
@@ -37,26 +37,6 @@
 #define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args)
 #define CPRINTS(format, args...) cprints(CC_ACCEL, format, ## args)
 
-#if defined(CONFIG_ZEPHYR) && defined(CONFIG_ACCEL_INTERRUPTS)
-/*
- * Get the mostion sensor ID of the BMI260 sensor that
- * generates the interrupt.
- * The interrupt is converted to the event and transferred to motion
- * sense task that actually handles the interrupt.
- *
- * Here, we use alias to get the motion sensor ID
- *
- * e.g) base_accel is the label of a child node in /motionsense-sensors
- * aliases {
- *     bmi260-int = &base_accel;
- * };
- */
-#if DT_NODE_EXISTS(DT_ALIAS(bmi260_int))
-#define CONFIG_ACCELGYRO_BMI260_INT_EVENT	\
-	TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(bmi260_int)))
-#endif
-#endif
-
 STATIC_IF(CONFIG_ACCEL_FIFO) volatile uint32_t last_interrupt_timestamp;
 
 /*
diff --git a/include/driver/accelgyro_bmi160.h b/include/driver/accelgyro_bmi160.h
index c916576130..d1b5253023 100644
--- a/include/driver/accelgyro_bmi160.h
+++ b/include/driver/accelgyro_bmi160.h
@@ -391,4 +391,24 @@ int bmi160_sec_raw_write8(const int port, const uint16_t addr_flags,
 			  const uint8_t reg, int data);
 #endif
 
+#if defined(CONFIG_ZEPHYR) && defined(CONFIG_ACCEL_INTERRUPTS)
+/*
+ * Get the mostion sensor ID of the BMI260 sensor that
+ * generates the interrupt.
+ * The interrupt is converted to the event and transferred to motion
+ * sense task that actually handles the interrupt.
+ *
+ * Here, we use alias to get the motion sensor ID
+ *
+ * e.g) base_accel is the label of a child node in /motionsense-sensors
+ * aliases {
+ *     bmi260-int = &base_accel;
+ * };
+ */
+#if DT_NODE_EXISTS(DT_ALIAS(bmi260_int))
+#define CONFIG_ACCELGYRO_BMI260_INT_EVENT	\
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(bmi260_int)))
+#endif
+#endif
+
 #endif /* __CROS_EC_ACCELGYRO_BMI160_H */
diff --git a/zephyr/test/drivers/src/bmi260.c b/zephyr/test/drivers/src/bmi260.c
index 964a83d678..9c703746e2 100644
--- a/zephyr/test/drivers/src/bmi260.c
+++ b/zephyr/test/drivers/src/bmi260.c
@@ -1891,6 +1891,30 @@ static void test_unsupported_configs(void)
 		EC_RES_INVALID_PARAM, ret);
 }
 
+void test_interrupt_handler(void)
+{
+	/* The accelerometer interrupt handler simply sets an event flag for the
+	 * motion sensing task. Make sure that flag starts cleared, fire the
+	 * interrupt, and ensure the flag is set.
+	 */
+
+	uint32_t *mask;
+
+	mask = task_get_event_bitmap(TASK_ID_MOTIONSENSE);
+	zassert_true(mask != NULL,
+		     "Got a null pointer when getting event bitmap.");
+	zassert_true((*mask & CONFIG_ACCELGYRO_BMI260_INT_EVENT) == 0,
+		     "Event flag is set before firing interrupt");
+
+	bmi260_interrupt(0);
+
+	mask = task_get_event_bitmap(TASK_ID_MOTIONSENSE);
+	zassert_true(mask != NULL,
+		     "Got a null pointer when getting event bitmap.");
+	zassert_true(*mask & CONFIG_ACCELGYRO_BMI260_INT_EVENT,
+		     "Event flag is not set after firing interrupt");
+}
+
 void test_suite_bmi260(void)
 {
 	ztest_test_suite(bmi260,
@@ -1912,6 +1936,7 @@ void test_suite_bmi260(void)
 			 ztest_user_unit_test(test_bmi_init),
 			 ztest_user_unit_test(test_bmi_acc_fifo),
 			 ztest_user_unit_test(test_bmi_gyr_fifo),
-			 ztest_user_unit_test(test_unsupported_configs));
+			 ztest_user_unit_test(test_unsupported_configs),
+			 ztest_user_unit_test(test_interrupt_handler));
 	ztest_run_test_suite(bmi260);
 }