Streamlining Testing with Generic Tests and Emulators
summary
A generic test plus an emulator backend API lets one reusable test exercise many sensor drivers by discovering supported channels via get_sample_range, choosing five interpolated SI values, calling set_channel to program the emulator’s register store and data‑ready bit, reading back through the driver, unshifting q31 values and comparing with an epsilon tolerance. Implementation uses Zephyr emul_sensor backend, fixed‑point q31 shift/unshift arithmetic, and is live (covers 3–4 sensors including an AKM9918C); it runs in CI and catches init and range bugs.
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chapters (10)
- 0:00Zephyr emulation introduction
- 1:47Zephyr emulator basics
- 4:13Sensor driver bugs and gaps
- 8:10Standardizing emulator APIs
- 10:38Backend emulator API structure
- 14:14Fix-point numbers in sensors
- 19:33AKM9918C compass API
- 24:49Generic test implementation
- 29:06Benefits and future of testing
- 30:53Q&A
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