1 files changed, 131 insertions, 124 deletions

diff --git a/zephyr/emul/emul_bmi.c b/zephyr/emul/emul_bmi.c
index 37dba43e6d..fe46428f01 100644
--- a/zephyr/emul/emul_bmi.c
+++ b/zephyr/emul/emul_bmi.c
@@ -1,4 +1,4 @@
-/* Copyright 2021 The Chromium OS Authors. All rights reserved.
+/* Copyright 2021 The ChromiumOS Authors
  * Use of this source code is governed by a BSD-style license that can be
  * found in the LICENSE file.
  */
@@ -13,18 +13,16 @@ LOG_MODULE_REGISTER(emul_bmi);
 #include <zephyr/drivers/emul.h>
 #include <zephyr/drivers/i2c.h>
 #include <zephyr/drivers/i2c_emul.h>
+#include <zephyr/sys/__assert.h>
 
 #include "emul/emul_common_i2c.h"
 #include "emul/emul_bmi.h"
+#include "emul/emul_stub_device.h"
 
 #include "driver/accelgyro_bmi160.h"
 #include "driver/accelgyro_bmi260.h"
 #include "driver/accelgyro_bmi_common.h"
 
-#define BMI_DATA_FROM_I2C_EMUL(_emul)					     \
-	CONTAINER_OF(CONTAINER_OF(_emul, struct i2c_common_emul_data, emul), \
-		     struct bmi_emul_data, common)
-
 /** Run-time data used by the emulator */
 struct bmi_emul_data {
 	/** Common I2C data */
@@ -87,7 +85,7 @@ struct bmi_emul_data {
 };
 
 /** Check description in emul_bmi.h */
-void bmi_emul_set_reg(struct i2c_emul *emul, int reg, uint8_t val)
+void bmi_emul_set_reg(const struct emul *emul, int reg, uint8_t val)
 {
 	struct bmi_emul_data *data;
 
@@ -95,12 +93,12 @@ void bmi_emul_set_reg(struct i2c_emul *emul, int reg, uint8_t val)
 		return;
 	}
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 	data->reg[reg] = val;
 }
 
 /** Check description in emul_bmi.h */
-uint8_t bmi_emul_get_reg(struct i2c_emul *emul, int reg)
+uint8_t bmi_emul_get_reg(const struct emul *emul, int reg)
 {
 	struct bmi_emul_data *data;
 
@@ -108,7 +106,7 @@ uint8_t bmi_emul_get_reg(struct i2c_emul *emul, int reg)
 		return 0;
 	}
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	return data->reg[reg];
 }
@@ -258,11 +256,11 @@ static uint16_t bmi_emul_gyr_off_to_nvm(int16_t off)
 }
 
 /** Check description in emul_bmi.h */
-int16_t bmi_emul_get_off(struct i2c_emul *emul, enum bmi_emul_axis axis)
+int16_t bmi_emul_get_off(const struct emul *emul, enum bmi_emul_axis axis)
 {
 	struct bmi_emul_data *data;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	switch (axis) {
 	case BMI_EMUL_ACC_X:
@@ -283,30 +281,30 @@ int16_t bmi_emul_get_off(struct i2c_emul *emul, enum bmi_emul_axis axis)
 }
 
 /** Check description in emul_bmi.h */
-void bmi_emul_set_off(struct i2c_emul *emul, enum bmi_emul_axis axis,
+void bmi_emul_set_off(const struct emul *emul, enum bmi_emul_axis axis,
 		      int16_t val)
 {
 	struct bmi_emul_data *data;
 	uint16_t gyr_off;
 	uint8_t gyr98_shift;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	switch (axis) {
 	case BMI_EMUL_ACC_X:
 		data->off_acc_x = val;
 		data->reg[data->type_data->acc_off_reg] =
-				bmi_emul_acc_off_to_nvm(data->off_acc_x);
+			bmi_emul_acc_off_to_nvm(data->off_acc_x);
 		break;
 	case BMI_EMUL_ACC_Y:
 		data->off_acc_y = val;
 		data->reg[data->type_data->acc_off_reg + 1] =
-				bmi_emul_acc_off_to_nvm(data->off_acc_y);
+			bmi_emul_acc_off_to_nvm(data->off_acc_y);
 		break;
 	case BMI_EMUL_ACC_Z:
 		data->off_acc_z = val;
 		data->reg[data->type_data->acc_off_reg + 2] =
-				bmi_emul_acc_off_to_nvm(data->off_acc_z);
+			bmi_emul_acc_off_to_nvm(data->off_acc_z);
 		break;
 	case BMI_EMUL_GYR_X:
 		data->off_gyr_x = val;
@@ -314,9 +312,9 @@ void bmi_emul_set_off(struct i2c_emul *emul, enum bmi_emul_axis axis,
 		data->reg[data->type_data->gyr_off_reg] = gyr_off & 0xff;
 		gyr98_shift = 0;
 		data->reg[data->type_data->gyr98_off_reg] &=
-				~(0x3 << gyr98_shift);
+			~(0x3 << gyr98_shift);
 		data->reg[data->type_data->gyr98_off_reg] |=
-				(gyr_off & 0x300) >> (8 - gyr98_shift);
+			(gyr_off & 0x300) >> (8 - gyr98_shift);
 		break;
 	case BMI_EMUL_GYR_Y:
 		data->off_gyr_y = val;
@@ -324,9 +322,9 @@ void bmi_emul_set_off(struct i2c_emul *emul, enum bmi_emul_axis axis,
 		data->reg[data->type_data->gyr_off_reg + 1] = gyr_off & 0xff;
 		gyr98_shift = 2;
 		data->reg[data->type_data->gyr98_off_reg] &=
-				~(0x3 << gyr98_shift);
+			~(0x3 << gyr98_shift);
 		data->reg[data->type_data->gyr98_off_reg] |=
-				(gyr_off & 0x300) >> (8 - gyr98_shift);
+			(gyr_off & 0x300) >> (8 - gyr98_shift);
 		break;
 	case BMI_EMUL_GYR_Z:
 		data->off_gyr_z = val;
@@ -334,19 +332,19 @@ void bmi_emul_set_off(struct i2c_emul *emul, enum bmi_emul_axis axis,
 		data->reg[data->type_data->gyr_off_reg + 2] = gyr_off & 0xff;
 		gyr98_shift = 4;
 		data->reg[data->type_data->gyr98_off_reg] &=
-				~(0x3 << gyr98_shift);
+			~(0x3 << gyr98_shift);
 		data->reg[data->type_data->gyr98_off_reg] |=
-				(gyr_off & 0x300) >> (8 - gyr98_shift);
+			(gyr_off & 0x300) >> (8 - gyr98_shift);
 		break;
 	}
 }
 
 /** Check description in emul_bmi.h */
-int32_t bmi_emul_get_value(struct i2c_emul *emul, enum bmi_emul_axis axis)
+int32_t bmi_emul_get_value(const struct emul *emul, enum bmi_emul_axis axis)
 {
 	struct bmi_emul_data *data;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	switch (axis) {
 	case BMI_EMUL_ACC_X:
@@ -367,12 +365,12 @@ int32_t bmi_emul_get_value(struct i2c_emul *emul, enum bmi_emul_axis axis)
 }
 
 /** Check description in emul_bmi.h */
-void bmi_emul_set_value(struct i2c_emul *emul, enum bmi_emul_axis axis,
+void bmi_emul_set_value(const struct emul *emul, enum bmi_emul_axis axis,
 			int32_t val)
 {
 	struct bmi_emul_data *data;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	switch (axis) {
 	case BMI_EMUL_ACC_X:
@@ -397,47 +395,47 @@ void bmi_emul_set_value(struct i2c_emul *emul, enum bmi_emul_axis axis,
 }
 
 /** Check description in emul_bmi.h */
-void bmi_emul_set_err_on_ro_write(struct i2c_emul *emul, bool set)
+void bmi_emul_set_err_on_ro_write(const struct emul *emul, bool set)
 {
 	struct bmi_emul_data *data;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 	data->error_on_ro_write = set;
 }
 
 /** Check description in emul_bmi.h */
-void bmi_emul_set_err_on_rsvd_write(struct i2c_emul *emul, bool set)
+void bmi_emul_set_err_on_rsvd_write(const struct emul *emul, bool set)
 {
 	struct bmi_emul_data *data;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 	data->error_on_rsvd_write = set;
 }
 
 /** Check description in emul_bmi.h */
-void bmi_emul_set_err_on_wo_read(struct i2c_emul *emul, bool set)
+void bmi_emul_set_err_on_wo_read(const struct emul *emul, bool set)
 {
 	struct bmi_emul_data *data;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 	data->error_on_wo_read = set;
 }
 
 /** Check description in emul_bmi.h */
-void bmi_emul_simulate_cmd_exec_time(struct i2c_emul *emul, bool set)
+void bmi_emul_simulate_cmd_exec_time(const struct emul *emul, bool set)
 {
 	struct bmi_emul_data *data;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 	data->simulate_command_exec_time = set;
 }
 
 /** Check description in emul_bmi.h */
-void bmi_emul_set_skipped_frames(struct i2c_emul *emul, uint8_t skip)
+void bmi_emul_set_skipped_frames(const struct emul *emul, uint8_t skip)
 {
 	struct bmi_emul_data *data;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	data->fifo_skip = skip;
 }
@@ -460,13 +458,13 @@ static int64_t bmi_emul_get_sensortime(void)
  * @param reg Pointer to 3 byte array, where current sensor time should be
  *            stored
  */
-static void bmi_emul_set_sensortime_reg(struct i2c_emul *emul, uint8_t *reg)
+static void bmi_emul_set_sensortime_reg(const struct emul *emul, uint8_t *reg)
 {
 	struct bmi_emul_data *data;
 	uint32_t twos_comp_val;
 	int64_t time;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	time = bmi_emul_get_sensortime();
 
@@ -487,13 +485,13 @@ static void bmi_emul_set_sensortime_reg(struct i2c_emul *emul, uint8_t *reg)
  * @param reg Pointer to 2 byte array, where sensor value should be stored
  * @param shift How many bits should be shift to the right
  */
-static void bmi_emul_set_data_reg(struct i2c_emul *emul, int32_t val,
+static void bmi_emul_set_data_reg(const struct emul *emul, int32_t val,
 				  uint8_t *reg, int shift)
 {
 	struct bmi_emul_data *data;
 	uint32_t twos_comp_val;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	twos_comp_val = bmi_emul_val_to_twos_comp(val);
 
@@ -515,14 +513,14 @@ static void bmi_emul_set_data_reg(struct i2c_emul *emul, int32_t val,
  *
  * @return length of frame
  */
-static uint8_t bmi_emul_get_frame_len(struct i2c_emul *emul,
+static uint8_t bmi_emul_get_frame_len(const struct emul *emul,
 				      struct bmi_emul_frame *frame,
 				      bool tag_time, bool header)
 {
 	struct bmi_emul_data *data;
 	int len;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	/* Empty FIFO frame */
 	if (frame == NULL) {
@@ -584,7 +582,7 @@ static uint8_t bmi_emul_get_frame_len(struct i2c_emul *emul,
  *                  data
  * @param gyr_shift How many bits should be right shifted from gyroscope data
  */
-static void bmi_emul_set_current_frame(struct i2c_emul *emul,
+static void bmi_emul_set_current_frame(const struct emul *emul,
 				       struct bmi_emul_frame *frame,
 				       bool tag_time, bool header,
 				       int acc_shift, int gyr_shift)
@@ -592,11 +590,11 @@ static void bmi_emul_set_current_frame(struct i2c_emul *emul,
 	struct bmi_emul_data *data;
 	int i = 0;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	data->fifo_frame_byte = 0;
-	data->fifo_frame_len = bmi_emul_get_frame_len(emul, frame, tag_time,
-						      header);
+	data->fifo_frame_len =
+		bmi_emul_get_frame_len(emul, frame, tag_time, header);
 	/* Empty FIFO frame */
 	if (frame == NULL) {
 		if (tag_time && header) {
@@ -628,11 +626,14 @@ static void bmi_emul_set_current_frame(struct i2c_emul *emul,
 	if (header) {
 		data->fifo[0] = BMI_EMUL_FIFO_HEAD_DATA;
 		data->fifo[0] |= frame->type & BMI_EMUL_FRAME_MAG ?
-						BMI_EMUL_FIFO_HEAD_DATA_MAG : 0;
+					 BMI_EMUL_FIFO_HEAD_DATA_MAG :
+					 0;
 		data->fifo[0] |= frame->type & BMI_EMUL_FRAME_GYR ?
-						BMI_EMUL_FIFO_HEAD_DATA_GYR : 0;
+					 BMI_EMUL_FIFO_HEAD_DATA_GYR :
+					 0;
 		data->fifo[0] |= frame->type & BMI_EMUL_FRAME_ACC ?
-						BMI_EMUL_FIFO_HEAD_DATA_ACC : 0;
+					 BMI_EMUL_FIFO_HEAD_DATA_ACC :
+					 0;
 		data->fifo[0] |= frame->tag & BMI_EMUL_FIFO_HEAD_DATA_TAG_MASK;
 		i = 1;
 	}
@@ -679,20 +680,20 @@ static void bmi_emul_set_current_frame(struct i2c_emul *emul,
  *
  * @param emul Pointer to BMI emulator
  */
-static void bmi_emul_updata_int_off(struct i2c_emul *emul)
+static void bmi_emul_updata_int_off(const struct emul *emul)
 {
 	struct bmi_emul_data *data;
 	uint16_t gyr_nvm;
 	uint8_t gyr98;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	data->off_acc_x = bmi_emul_acc_nvm_to_off(
-				data->reg[data->type_data->acc_off_reg]);
+		data->reg[data->type_data->acc_off_reg]);
 	data->off_acc_y = bmi_emul_acc_nvm_to_off(
-				data->reg[data->type_data->acc_off_reg + 1]);
+		data->reg[data->type_data->acc_off_reg + 1]);
 	data->off_acc_z = bmi_emul_acc_nvm_to_off(
-				data->reg[data->type_data->acc_off_reg + 2]);
+		data->reg[data->type_data->acc_off_reg + 2]);
 
 	gyr98 = data->reg[data->type_data->gyr98_off_reg];
 
@@ -713,14 +714,14 @@ static void bmi_emul_updata_int_off(struct i2c_emul *emul)
  *
  * @param emul Pointer to BMI emulator
  */
-static void bmi_emul_restore_nvm(struct i2c_emul *emul)
+static void bmi_emul_restore_nvm(const struct emul *emul)
 {
 	struct bmi_emul_data *data;
 	int i;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
-	ASSERT(data->type_data->nvm_len <= BMI_EMUL_MAX_NVM_REGS);
+	__ASSERT_NO_MSG(data->type_data->nvm_len <= BMI_EMUL_MAX_NVM_REGS);
 
 	/* Restore registers values */
 	for (i = 0; i < data->type_data->nvm_len; i++) {
@@ -731,11 +732,11 @@ static void bmi_emul_restore_nvm(struct i2c_emul *emul)
 }
 
 /** Check description in emul_bmi.h */
-void bmi_emul_flush_fifo(struct i2c_emul *emul, bool tag_time, bool header)
+void bmi_emul_flush_fifo(const struct emul *emul, bool tag_time, bool header)
 {
 	struct bmi_emul_data *data;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	data->fifo_skip = 0;
 	data->fifo_frame = NULL;
@@ -747,11 +748,11 @@ void bmi_emul_flush_fifo(struct i2c_emul *emul, bool tag_time, bool header)
 }
 
 /** Check description in emul_bmi.h */
-void bmi_emul_reset_common(struct i2c_emul *emul, bool tag_time, bool header)
+void bmi_emul_reset_common(const struct emul *emul, bool tag_time, bool header)
 {
 	struct bmi_emul_data *data;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	/* Restore registers backed in NVM */
 	bmi_emul_restore_nvm(emul);
@@ -764,21 +765,21 @@ void bmi_emul_reset_common(struct i2c_emul *emul, bool tag_time, bool header)
 }
 
 /** Check description in emul_bmi.h */
-void bmi_emul_set_cmd_end_time(struct i2c_emul *emul, int time)
+void bmi_emul_set_cmd_end_time(const struct emul *emul, int time)
 {
 	struct bmi_emul_data *data;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	data->cmd_end_time = k_uptime_get_32() + time;
 }
 
 /** Check description in emul_bmi.h */
-bool bmi_emul_is_cmd_end(struct i2c_emul *emul)
+bool bmi_emul_is_cmd_end(const struct emul *emul)
 {
 	struct bmi_emul_data *data;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	/* We are simulating command execution time and it doesn't expired */
 	if (data->simulate_command_exec_time &&
@@ -803,14 +804,14 @@ bool bmi_emul_is_cmd_end(struct i2c_emul *emul)
  * @return 0 on success
  * @return -EIO on error
  */
-static int bmi_emul_handle_write(struct i2c_emul *emul, int reg, uint8_t val,
+static int bmi_emul_handle_write(const struct emul *emul, int reg, uint8_t val,
 				 int byte)
 {
 	struct bmi_emul_data *data;
 	uint8_t rsvd_mask;
 	int ret;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	ret = data->type_data->handle_write(data->reg, emul, reg, byte, val);
 	reg = data->type_data->access_reg(emul, reg, byte, false /* = read */);
@@ -855,16 +856,15 @@ static int bmi_emul_handle_write(struct i2c_emul *emul, int reg, uint8_t val,
 }
 
 /** Check description in emul_bmi.h */
-void bmi_emul_state_to_reg(struct i2c_emul *emul, int acc_shift,
+void bmi_emul_state_to_reg(const struct emul *emul, int acc_shift,
 			   int gyr_shift, int acc_reg, int gyr_reg,
-			   int sensortime_reg, bool acc_off_en,
-			   bool gyr_off_en)
+			   int sensortime_reg, bool acc_off_en, bool gyr_off_en)
 {
 	struct bmi_emul_data *data;
 	int32_t val[3];
 	int i;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	if (gyr_off_en) {
 		val[0] = data->gyr_x - data->off_gyr_x;
@@ -900,12 +900,13 @@ void bmi_emul_state_to_reg(struct i2c_emul *emul, int acc_shift,
 }
 
 /** Check description in emul_bmi.h */
-void bmi_emul_append_frame(struct i2c_emul *emul, struct bmi_emul_frame *frame)
+void bmi_emul_append_frame(const struct emul *emul,
+			   struct bmi_emul_frame *frame)
 {
 	struct bmi_emul_data *data;
 	struct bmi_emul_frame *tmp_frame;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	if (data->fifo_frame == NULL) {
 		data->fifo_frame = frame;
@@ -919,13 +920,13 @@ void bmi_emul_append_frame(struct i2c_emul *emul, struct bmi_emul_frame *frame)
 }
 
 /** Check description in emul_bmi.h */
-uint16_t bmi_emul_fifo_len(struct i2c_emul *emul, bool tag_time, bool header)
+uint16_t bmi_emul_fifo_len(const struct emul *emul, bool tag_time, bool header)
 {
 	struct bmi_emul_frame *frame;
 	struct bmi_emul_data *data;
 	uint16_t len = 0;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	if (data->fifo_skip != 0 && header) {
 		len += 2;
@@ -945,14 +946,13 @@ uint16_t bmi_emul_fifo_len(struct i2c_emul *emul, bool tag_time, bool header)
 }
 
 /** Check description in emul_bmi.h */
-uint8_t bmi_emul_get_fifo_data(struct i2c_emul *emul, int byte,
-			       bool tag_time, bool header, int acc_shift,
-			       int gyr_shift)
+uint8_t bmi_emul_get_fifo_data(const struct emul *emul, int byte, bool tag_time,
+			       bool header, int acc_shift, int gyr_shift)
 {
 	struct bmi_emul_data *data;
 	int ret;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	if (byte == 0) {
 		/* Repeat uncompleated read of frame */
@@ -967,6 +967,7 @@ uint8_t bmi_emul_get_fifo_data(struct i2c_emul *emul, int byte,
 
 	if (data->fifo_skip != 0 && byte == 1 && header) {
 		/* Return number of skipped frames */
+
 		ret = data->fifo_skip;
 		data->fifo_skip = 0;
 
@@ -999,13 +1000,13 @@ uint8_t bmi_emul_get_fifo_data(struct i2c_emul *emul, int byte,
  * @return 0 on success
  * @return -EIO on error
  */
-static int bmi_emul_handle_read(struct i2c_emul *emul, int reg, uint8_t *buf,
+static int bmi_emul_handle_read(const struct emul *emul, int reg, uint8_t *buf,
 				int byte)
 {
 	struct bmi_emul_data *data;
 	int ret;
 
-	data = BMI_DATA_FROM_I2C_EMUL(emul);
+	data = emul->data;
 
 	ret = data->type_data->handle_read(data->reg, emul, reg, byte, buf);
 	reg = data->type_data->access_reg(emul, reg, byte, true /* = read */);
@@ -1018,6 +1019,31 @@ static int bmi_emul_handle_read(struct i2c_emul *emul, int reg, uint8_t *buf,
 	return 0;
 }
 
+/**
+ * @brief Called at the end of I2C read message.
+ *
+ * @param target Pointer to emulator
+ * @param reg Address which is now accessed by read command (first byte of last
+ *            I2C write message)
+ * @param bytes Number of bytes responeded to the I2C read message
+ *
+ * @return 0 on success
+ * @return -EIO on error
+ */
+static int bmi_emul_finish_read(const struct emul *emul, int reg, int bytes)
+{
+	struct bmi_emul_data *data;
+	int ret;
+
+	data = emul->data;
+
+	if (data->type_data->finish_read == NULL) {
+		return 0;
+	}
+	ret = data->type_data->finish_read(data->reg, emul, reg, bytes);
+	return ret;
+}
+
 /* Device instantiation */
 
 /**
@@ -1031,42 +1057,31 @@ static int bmi_emul_handle_read(struct i2c_emul *emul, int reg, uint8_t *buf,
  *
  * @return 0 indicating success (always)
  */
-static int bmi_emul_init(const struct emul *emul,
-			 const struct device *parent)
+static int bmi_emul_init(const struct emul *emul, const struct device *parent)
 {
-	const struct i2c_common_emul_cfg *cfg = emul->cfg;
-	struct i2c_common_emul_data *data = cfg->data;
-	struct bmi_emul_data *bmi_data;
-	int ret;
-
-	data->emul.api = &i2c_common_emul_api;
-	data->emul.addr = cfg->addr;
-	data->i2c = parent;
-	data->cfg = cfg;
-	i2c_common_emul_init(data);
+	struct bmi_emul_data *data = emul->data;
 
-	bmi_data = CONTAINER_OF(data, struct bmi_emul_data, common);
+	data->common.i2c = parent;
+	i2c_common_emul_init(&data->common);
 
-	switch (bmi_data->type) {
+	switch (data->type) {
 	case BMI_EMUL_160:
-		bmi_data->type_data = get_bmi160_emul_type_data();
+		data->type_data = get_bmi160_emul_type_data();
 		break;
 	case BMI_EMUL_260:
-		bmi_data->type_data = get_bmi260_emul_type_data();
+		data->type_data = get_bmi260_emul_type_data();
 		break;
 	}
 
 	/* Set callback access_reg to type specific function */
-	data->access_reg = bmi_data->type_data->access_reg;
+	data->common.access_reg = data->type_data->access_reg;
 
-	ret = i2c_emul_register(parent, emul->dev_label, &data->emul);
+	data->type_data->reset(data->reg, emul);
 
-	bmi_data->type_data->reset(bmi_data->reg, &data->emul);
-
-	return ret;
+	return 0;
 }
 
-#define BMI_EMUL(n)							\
+#define BMI_EMUL(n)                                                  \
 	static struct bmi_emul_data bmi_emul_data_##n = {		\
 		.error_on_ro_write = DT_INST_PROP(n, error_on_ro_write),\
 		.error_on_wo_read = DT_INST_PROP(n, error_on_wo_read),	\
@@ -1081,32 +1096,24 @@ static int bmi_emul_init(const struct emul *emul,
 			.finish_write = NULL,				\
 			.start_read = NULL,				\
 			.read_byte = bmi_emul_handle_read,		\
-			.finish_read = NULL,				\
+			.finish_read = bmi_emul_finish_read,		\
 			.access_reg = NULL,				\
 		},							\
-	};								\
-									\
-	static const struct i2c_common_emul_cfg bmi_emul_cfg_##n = {	\
-		.i2c_label = DT_INST_BUS_LABEL(n),			\
-		.dev_label = DT_INST_LABEL(n),                          \
-		.data = &bmi_emul_data_##n.common,			\
-		.addr = DT_INST_REG_ADDR(n),				\
-	};								\
-	EMUL_DEFINE(bmi_emul_init, DT_DRV_INST(n), &bmi_emul_cfg_##n,	\
-		    &bmi_emul_data_##n)
+	};         \
+	static const struct i2c_common_emul_cfg bmi_emul_cfg_##n = { \
+		.dev_label = DT_NODE_FULL_NAME(DT_DRV_INST(n)),      \
+		.data = &bmi_emul_data_##n.common,                   \
+		.addr = DT_INST_REG_ADDR(n),                         \
+	};                                                           \
+	EMUL_DT_INST_DEFINE(n, bmi_emul_init, &bmi_emul_data_##n,    \
+			    &bmi_emul_cfg_##n, &i2c_common_emul_api)
 
 DT_INST_FOREACH_STATUS_OKAY(BMI_EMUL)
 
-#define BMI_EMUL_CASE(n)					\
-	case DT_INST_DEP_ORD(n): return &bmi_emul_data_##n.common.emul;
+DT_INST_FOREACH_STATUS_OKAY(EMUL_STUB_DEVICE);
 
-/** Check description in emul_bmi.h */
-struct i2c_emul *bmi_emul_get(int ord)
+struct i2c_common_emul_data *
+emul_bmi_get_i2c_common_data(const struct emul *emul)
 {
-	switch (ord) {
-	DT_INST_FOREACH_STATUS_OKAY(BMI_EMUL_CASE)
-
-	default:
-		return NULL;
-	}
+	return emul->data;
 }