diff --git a/testing/drivertest/Makefile b/testing/drivertest/Makefile
index fa61fe92f88..82277b94900 100644
--- a/testing/drivertest/Makefile
+++ b/testing/drivertest/Makefile
@@ -49,6 +49,13 @@ MAINSRC  += drivertest_watchdog.c
 PROGNAME += cmocka_driver_watchdog
 endif
 
+ifneq ($(CONFIG_I2C)$(CONFIG_SPI),)
+ifneq ($(CONFIG_SENSORS_BMI160),)
+MAINSRC  += drivertest_i2c_spi.c
+PROGNAME += cmocka_driver_i2c_spi
+endif
+endif
+
 ifneq ($(CONFIG_BCH),)
 PROGNAME += cmocka_driver_block
 MAINSRC  += drivertest_block.c
diff --git a/testing/drivertest/drivertest_i2c_spi.c b/testing/drivertest/drivertest_i2c_spi.c
new file mode 100644
index 00000000000..1089b5245ca
--- /dev/null
+++ b/testing/drivertest/drivertest_i2c_spi.c
@@ -0,0 +1,141 @@
+/****************************************************************************
+ * apps/testing/drivertest/drivertest_i2c_spi.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <assert.h>
+#include <fcntl.h>
+#include <inttypes.h>
+#include <stdio.h>
+#include <stdarg.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <setjmp.h>
+#include <nuttx/sensors/bmi160.h>
+
+#include <cmocka.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define ACC_DEVPATH      "/dev/accel0"
+#define READ_TIMES       100
+
+/****************************************************************************
+ * Private Type Declarations
+ ****************************************************************************/
+
+struct test_state_s
+{
+  FAR const char *dev_path;
+  int fd;
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: setup
+ ****************************************************************************/
+
+static int setup(FAR void **state)
+{
+  FAR struct test_state_s *test_state;
+  test_state = malloc(sizeof(struct test_state_s));
+  assert_true(test_state != NULL);
+
+  test_state->dev_path = ACC_DEVPATH;
+  test_state->fd = open(test_state->dev_path, O_RDONLY);
+  assert_true(test_state->fd > 0);
+
+  *state = test_state;
+  return 0;
+}
+
+/****************************************************************************
+ * Name: teardown
+ ****************************************************************************/
+
+static int teardown(FAR void **state)
+{
+  FAR struct test_state_s *test_state;
+  test_state = (FAR struct test_state_s *)*state;
+  assert_int_equal(close(test_state->fd), 0);
+  free(test_state);
+  return 0;
+}
+
+/****************************************************************************
+ * Name: read_from_device
+ ****************************************************************************/
+
+static void read_from_device(FAR void **state)
+{
+  FAR struct test_state_s *test_state;
+  struct accel_gyro_st_s data;
+  int times;
+  int fd;
+
+  test_state = (FAR struct test_state_s *)*state;
+  fd = test_state->fd;
+
+  for (times = 0; times < READ_TIMES; times++)
+    {
+      int ret;
+
+      ret = read(fd, &data, sizeof(struct accel_gyro_st_s));
+      assert_true(ret == sizeof(struct accel_gyro_st_s));
+
+      /* If sensing time has been changed, show 6 axis data. */
+
+      printf("[%" PRIu32 "] %d, %d, %d / %d, %d, %d\n",
+             data.sensor_time,
+             data.gyro.x, data.gyro.y, data.gyro.z,
+             data.accel.x, data.accel.y, data.accel.z);
+      fflush(stdout);
+    }
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * drivertest_i2c_main
+ ****************************************************************************/
+
+int main(int argc, FAR char *argv[])
+{
+  const struct CMUnitTest tests[] =
+    {
+      cmocka_unit_test_setup_teardown(read_from_device, setup, teardown),
+    };
+
+  return cmocka_run_group_tests(tests, NULL, NULL);
+}
+