zephyr: Test accelgyro_bmi260.c for unsupported operations

Add a test that covers parts of the code where we validate sensor types.

Also made a modification to accelgyro_bmi260.c where I moved the sensor
type check up to the top of the func so we fail before trying to set
the data rate (which doesn't work for magnetometers).

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

Signed-off-by: Tristan Honscheid <honscheid@google.com>
Change-Id: I170087b8bfdc1212972d00010c90789967a6415b
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3229076
Reviewed-by: Jeremy Bettis <jbettis@chromium.org>

2 files changed, 51 insertions, 4 deletions

diff --git a/driver/accelgyro_bmi260.c b/driver/accelgyro_bmi260.c
index 9e48ab13ae..fe0bf0e0cc 100644
--- a/driver/accelgyro_bmi260.c
+++ b/driver/accelgyro_bmi260.c
@@ -254,6 +254,12 @@ static int perform_calib(struct motion_sensor_t *s, int enable)
 
 	if (!enable)
 		return EC_SUCCESS;
+
+	/* We only support accelerometers and gyroscopes */
+	if (s->type != MOTIONSENSE_TYPE_ACCEL &&
+	    s->type != MOTIONSENSE_TYPE_GYRO)
+		return EC_RES_INVALID_PARAM;
+
 	rate = bmi_get_data_rate(s);
 	ret = set_data_rate(s, 100000, 0);
 	if (ret)
@@ -269,10 +275,12 @@ static int perform_calib(struct motion_sensor_t *s, int enable)
 		break;
 	case MOTIONSENSE_TYPE_GYRO:
 		break;
+	/* LCOV_EXCL_START */
 	default:
-		/* Not supported on Magnetometer */
-		ret = EC_RES_INVALID_PARAM;
-		goto end_perform_calib;
+		/* Unreachable due to sensor type check above. */
+		ASSERT(false);
+		break;
+	/* LCOV_EXCL_STOP */
 	}
 
 	/* Get the calibrated offset */
diff --git a/zephyr/test/drivers/src/bmi260.c b/zephyr/test/drivers/src/bmi260.c
index 3c56844bb5..964a83d678 100644
--- a/zephyr/test/drivers/src/bmi260.c
+++ b/zephyr/test/drivers/src/bmi260.c
@@ -1853,6 +1853,44 @@ static void test_bmi_gyr_fifo(void)
 		      NULL);
 }
 
+static void test_unsupported_configs(void)
+{
+	/*
+	 * This test checks that we properly handle passing in invalid sensor
+	 * types or attempting unsupported operations on certain sensor types.
+	 */
+
+	struct motion_sensor_t ms_fake;
+
+	/* Part 1:
+	 * Setting offset on anything that is not an accel or gyro is an error.
+	 * Make a copy of the accelerometer motion sensor struct and modify its
+	 * type to magnetometer for this test.
+	 */
+	memcpy(&ms_fake, &motion_sensors[BMI_ACC_SENSOR_ID], sizeof(ms_fake));
+	ms_fake.type = MOTIONSENSE_TYPE_MAG;
+
+	int16_t offset[3];
+	int ret =
+		ms_fake.drv->set_offset(&ms_fake, (const int16_t *)&offset, 0);
+	zassert_equal(
+		ret, EC_RES_INVALID_PARAM,
+		"Expected a return code of %d (EC_RES_INVALID_PARAM) but got %d",
+		EC_RES_INVALID_PARAM, ret);
+
+	/* Part 2:
+	 * Running a calibration on a magnetometer is also not supported.
+	 */
+	memcpy(&ms_fake, &motion_sensors[BMI_ACC_SENSOR_ID], sizeof(ms_fake));
+	ms_fake.type = MOTIONSENSE_TYPE_MAG;
+
+	ret = ms_fake.drv->perform_calib(&ms_fake, 1);
+	zassert_equal(
+		ret, EC_RES_INVALID_PARAM,
+		"Expected a return code of %d (EC_RES_INVALID_PARAM) but got %d",
+		EC_RES_INVALID_PARAM, ret);
+}
+
 void test_suite_bmi260(void)
 {
 	ztest_test_suite(bmi260,
@@ -1873,6 +1911,7 @@ void test_suite_bmi260(void)
 			 ztest_user_unit_test(test_bmi_gyr_perform_calib),
 			 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_bmi_gyr_fifo),
+			 ztest_user_unit_test(test_unsupported_configs));
 	ztest_run_test_suite(bmi260);
 }