zephyr: bmi160: Test interrupt handler and bug fix

Test the interrupt handler in the BMI160 driver. Also, correct an error
from an earlier CL (3229647) where I moved the BMI260 event flag in to
BMI160 driver's header.

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

Signed-off-by: Tristan Honscheid <honscheid@google.com>
Change-Id: Icb08d9e1142066ba0ef22b9633895e60e6b40e90
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3262878
Reviewed-by: Wai-Hong Tam <waihong@google.com>

4 files changed, 55 insertions, 30 deletions

diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c
index ebcb6f71dc..08bd7a0445 100644
--- a/driver/accelgyro_bmi160.c
+++ b/driver/accelgyro_bmi160.c
@@ -28,23 +28,6 @@
 #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 motion sensor ID of the BMI160 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 an alias (bmi160_int) to get the motion sensor ID. This alias
- * MUST be defined for this driver to work.
- * aliases {
- *   bmi160-int = &base_accel;
- * };
- */
-#if DT_NODE_EXISTS(DT_ALIAS(bmi160_int))
-#define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
-	TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(bmi160_int)))
-#endif
-#endif
-
 STATIC_IF(CONFIG_BMI_ORIENTATION_SENSOR) void irq_set_orientation(
 				struct motion_sensor_t *s,
 				int interrupt);
diff --git a/include/driver/accelgyro_bmi160.h b/include/driver/accelgyro_bmi160.h
index 8b050227bc..76d24936c6 100644
--- a/include/driver/accelgyro_bmi160.h
+++ b/include/driver/accelgyro_bmi160.h
@@ -390,22 +390,19 @@ int bmi160_sec_raw_write8(const int port, const uint16_t addr_flags,
 			  const uint8_t reg, int data);
 
 #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
+/* Get the motion sensor ID of the BMI160 sensor that generates the interrupt.
+ * The interrupt is converted to the event and transferred to motion sense task
+ * that actually handles the interrupt.
  *
- * e.g) base_accel is the label of a child node in /motionsense-sensors
+ * Here we use an alias (bmi160_int) to get the motion sensor ID. This alias
+ * MUST be defined for this driver to work.
  * aliases {
- *     bmi260-int = &base_accel;
+ *   bmi160-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)))
+#if DT_NODE_EXISTS(DT_ALIAS(bmi160_int))
+#define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(bmi160_int)))
 #endif
 #endif
 
diff --git a/include/driver/accelgyro_bmi260.h b/include/driver/accelgyro_bmi260.h
index e59870a93e..ae1c0f5777 100644
--- a/include/driver/accelgyro_bmi260.h
+++ b/include/driver/accelgyro_bmi260.h
@@ -328,4 +328,24 @@
 /* Root mean square noise of 100Hz accelerometer, units: ug */
 #define BMI260_ACCEL_RMS_NOISE_100HZ    1060
 
+#if defined(CONFIG_ZEPHYR) && defined(CONFIG_ACCEL_INTERRUPTS)
+/*
+ * Get the motion 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_BMI260_H */
diff --git a/zephyr/test/drivers/src/bmi160.c b/zephyr/test/drivers/src/bmi160.c
index 8678e34093..dca9d5bf30 100644
--- a/zephyr/test/drivers/src/bmi160.c
+++ b/zephyr/test/drivers/src/bmi160.c
@@ -1989,6 +1989,30 @@ static void test_bmi_temp_sensor(void)
 		      EC_ERROR_NOT_POWERED, ret);
 }
 
+static void test_bmi_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_BMI160_INT_EVENT) == 0,
+		     "Event flag is set before firing interrupt");
+
+	bmi160_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_BMI160_INT_EVENT,
+		     "Event flag is not set after firing interrupt");
+}
+
 void test_suite_bmi160(void)
 {
 	ztest_test_suite(bmi160,
@@ -2015,6 +2039,7 @@ void test_suite_bmi160(void)
 			 ztest_user_unit_test(test_bmi_set_offset_invalid_type),
 			 ztest_user_unit_test(
 				 test_bmi_perform_calib_invalid_type),
-			 ztest_user_unit_test(test_bmi_temp_sensor));
+			 ztest_user_unit_test(test_bmi_temp_sensor),
+			 ztest_user_unit_test(test_bmi_interrupt_handler));
 	ztest_run_test_suite(bmi160);
 }