driver: bmi160: bmi260: Minor driver fixes

Fix three issues with BMI160 and BMI260 drivers:
- get/set acclerometer/gyroscope offset will return error on failed read
  of offset register
- BMI160 calibration function returns error when setting range fail
- Invalid temperature is properly recognized by driver

BUG=none
BRANCH=none
TEST=run zmake drivers test

Signed-off-by: Tomasz Michalec <tm@semihalf.com>
Change-Id: I545c0a931227ef7efc000ec97c1f6297a48e6d1a
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3027039
Reviewed-by: Simon Glass <sjg@chromium.org>
Reviewed-by: Jeremy Bettis <jbettis@chromium.org>
Reviewed-by: Keith Short <keithshort@chromium.org>

4 files changed, 72 insertions, 32 deletions

diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c
index daa47965d8..66dffc0db5 100644
--- a/driver/accelgyro_bmi160.c
+++ b/driver/accelgyro_bmi160.c
@@ -211,13 +211,19 @@ static int set_offset(const struct motion_sensor_t *s,
 
 	switch (s->type) {
 	case MOTIONSENSE_TYPE_ACCEL:
-		bmi_set_accel_offset(s, v);
+		ret = bmi_set_accel_offset(s, v);
+		if (ret != EC_SUCCESS)
+			return ret;
+
 		ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
 				 BMI160_OFFSET_EN_GYR98,
 				 val98 | BMI160_OFFSET_ACC_EN);
 		break;
 	case MOTIONSENSE_TYPE_GYRO:
-		bmi_set_gyro_offset(s, v, &val98);
+		ret = bmi_set_gyro_offset(s, v, &val98);
+		if (ret != EC_SUCCESS)
+			return ret;
+
 		ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
 				 BMI160_OFFSET_EN_GYR98,
 				 val98 | BMI160_OFFSET_GYRO_EN);
@@ -246,7 +252,9 @@ static int perform_calib(struct motion_sensor_t *s, int enable)
 	 * Temporary set frequency to 100Hz to get enough data in a short
 	 * period of time.
 	 */
-	set_data_rate(s, 100000, 0);
+	ret = set_data_rate(s, 100000, 0);
+	if (ret != EC_SUCCESS)
+		goto end_perform_calib;
 
 	switch (s->type) {
 	case MOTIONSENSE_TYPE_ACCEL:
diff --git a/driver/accelgyro_bmi260.c b/driver/accelgyro_bmi260.c
index 21d783fe84..7fbbb073cd 100644
--- a/driver/accelgyro_bmi260.c
+++ b/driver/accelgyro_bmi260.c
@@ -161,13 +161,19 @@ static int set_offset(const struct motion_sensor_t *s,
 
 	switch (s->type) {
 	case MOTIONSENSE_TYPE_ACCEL:
-		bmi_set_accel_offset(s, v);
+		ret = bmi_set_accel_offset(s, v);
+		if (ret != EC_SUCCESS)
+			return ret;
+
 		ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
 				 BMI260_NV_CONF,
 				 val_nv_conf | BMI260_ACC_OFFSET_EN);
 		break;
 	case MOTIONSENSE_TYPE_GYRO:
-		bmi_set_gyro_offset(s, v, &val98);
+		ret = bmi_set_gyro_offset(s, v, &val98);
+		if (ret != EC_SUCCESS)
+			return ret;
+
 		ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
 				 BMI260_OFFSET_EN_GYR98,
 				 val98 | BMI260_OFFSET_GYRO_EN);
diff --git a/driver/accelgyro_bmi_common.c b/driver/accelgyro_bmi_common.c
index 7dff59fc5b..5bd7cef42c 100644
--- a/driver/accelgyro_bmi_common.c
+++ b/driver/accelgyro_bmi_common.c
@@ -570,7 +570,7 @@ int bmi_get_data_rate(const struct motion_sensor_t *s)
 int bmi_get_offset(const struct motion_sensor_t *s, int16_t *offset,
 		   int16_t *temp)
 {
-	int i;
+	int i, ret = EC_SUCCESS;
 	intv3_t v;
 
 	switch (s->type) {
@@ -580,7 +580,7 @@ int bmi_get_offset(const struct motion_sensor_t *s, int16_t *offset,
 		 * two-complement number in units of 3.9 mg independent of the
 		 * range selected for the accelerometer.
 		 */
-		bmi_accel_get_offset(s, v);
+		ret = bmi_accel_get_offset(s, v);
 		break;
 	case MOTIONSENSE_TYPE_GYRO:
 		/*
@@ -589,17 +589,21 @@ int bmi_get_offset(const struct motion_sensor_t *s, int16_t *offset,
 		 * Therefore a maximum range that can be compensated is
 		 * -31.25 °/s to +31.25 °/s
 		 */
-		bmi_gyro_get_offset(s, v);
+		ret = bmi_gyro_get_offset(s, v);
 		break;
 #ifdef CONFIG_MAG_BMI_BMM150
 	case MOTIONSENSE_TYPE_MAG:
-		bmm150_get_offset(s, v);
+		ret = bmm150_get_offset(s, v);
 		break;
 #endif /* defined(CONFIG_MAG_BMI_BMM150) */
 	default:
 		for (i = X; i <= Z; i++)
 			v[i] = 0;
 	}
+
+	if (ret != EC_SUCCESS)
+		return ret;
+
 	rotate(v, *s->rot_standard_ref, v);
 	offset[X] = v[X];
 	offset[Y] = v[Y];
@@ -732,7 +736,7 @@ int bmi_get_sensor_temp(int idx, int *temp_ptr)
 			 BMI_TEMPERATURE_0(V(s)), (uint8_t *)&temp,
 			 sizeof(temp));
 
-	if (ret || temp == BMI_INVALID_TEMP)
+	if (ret || temp == (int16_t)BMI_INVALID_TEMP)
 		return EC_ERROR_NOT_POWERED;
 
 	*temp_ptr = C_TO_K(23 + ((temp + 256) >> 9));
@@ -775,41 +779,54 @@ int bmi_get_normalized_rate(const struct motion_sensor_t *s, int rate, int rnd,
 	return EC_SUCCESS;
 }
 
-void bmi_accel_get_offset(const struct motion_sensor_t *accel, intv3_t v)
+int bmi_accel_get_offset(const struct motion_sensor_t *accel, intv3_t v)
 {
-	int i, val;
+	int i, val, ret;
 
 	for (i = X; i <= Z; i++) {
-		bmi_read8(accel->port, accel->i2c_spi_addr_flags,
-			  BMI_OFFSET_ACC70(V(accel)) + i, &val);
+		ret = bmi_read8(accel->port, accel->i2c_spi_addr_flags,
+				BMI_OFFSET_ACC70(V(accel)) + i, &val);
+		if (ret != EC_SUCCESS)
+			return ret;
+
 		if (val > 0x7f)
 			val = -256 + val;
 		v[i] = round_divide((int64_t)val * BMI_OFFSET_ACC_MULTI_MG,
 				    BMI_OFFSET_ACC_DIV_MG);
 	}
+
+	return EC_SUCCESS;
 }
 
-void bmi_gyro_get_offset(const struct motion_sensor_t *gyro, intv3_t v)
+int bmi_gyro_get_offset(const struct motion_sensor_t *gyro, intv3_t v)
 {
-	int i, val, val98;
+	int i, val, val98, ret;
 
 	/* Read the MSB first */
-	bmi_read8(gyro->port, gyro->i2c_spi_addr_flags,
-		  BMI_OFFSET_EN_GYR98(V(gyro)), &val98);
+	ret = bmi_read8(gyro->port, gyro->i2c_spi_addr_flags,
+			BMI_OFFSET_EN_GYR98(V(gyro)), &val98);
+	if (ret != EC_SUCCESS)
+		return ret;
+
 	for (i = X; i <= Z; i++) {
-		bmi_read8(gyro->port, gyro->i2c_spi_addr_flags,
-			  BMI_OFFSET_GYR70(V(gyro)) + i, &val);
+		ret = bmi_read8(gyro->port, gyro->i2c_spi_addr_flags,
+				BMI_OFFSET_GYR70(V(gyro)) + i, &val);
+		if (ret != EC_SUCCESS)
+			return ret;
+
 		val |= ((val98 >> (2 * i)) & 0x3) << 8;
 		if (val > 0x1ff)
 			val = -1024 + val;
 		v[i] = round_divide((int64_t)val * BMI_OFFSET_GYRO_MULTI_MDS,
 				    BMI_OFFSET_GYRO_DIV_MDS);
 	}
+
+	return EC_SUCCESS;
 }
 
-void bmi_set_accel_offset(const struct motion_sensor_t *accel, intv3_t v)
+int bmi_set_accel_offset(const struct motion_sensor_t *accel, intv3_t v)
 {
-	int i, val;
+	int i, val, ret;
 
 	for (i = X; i <= Z; ++i) {
 		val = round_divide((int64_t)v[i] * BMI_OFFSET_ACC_DIV_MG,
@@ -820,15 +837,19 @@ void bmi_set_accel_offset(const struct motion_sensor_t *accel, intv3_t v)
 			val = -128;
 		if (val < 0)
 			val = 256 + val;
-		bmi_write8(accel->port, accel->i2c_spi_addr_flags,
-			   BMI_OFFSET_ACC70(V(accel)) + i, val);
+		ret = bmi_write8(accel->port, accel->i2c_spi_addr_flags,
+				 BMI_OFFSET_ACC70(V(accel)) + i, val);
+		if (ret != EC_SUCCESS)
+			return ret;
 	}
+
+	return EC_SUCCESS;
 }
 
-void bmi_set_gyro_offset(const struct motion_sensor_t *gyro, intv3_t v,
+int bmi_set_gyro_offset(const struct motion_sensor_t *gyro, intv3_t v,
 			 int *val98_ptr)
 {
-	int i, val;
+	int i, val, ret;
 
 	for (i = X; i <= Z; i++) {
 		val = round_divide((int64_t)v[i] * BMI_OFFSET_GYRO_DIV_MDS,
@@ -839,11 +860,16 @@ void bmi_set_gyro_offset(const struct motion_sensor_t *gyro, intv3_t v,
 			val = -512;
 		if (val < 0)
 			val = 1024 + val;
-		bmi_write8(gyro->port, gyro->i2c_spi_addr_flags,
-			   BMI_OFFSET_GYR70(V(gyro)) + i, val & 0xFF);
+		ret = bmi_write8(gyro->port, gyro->i2c_spi_addr_flags,
+				 BMI_OFFSET_GYR70(V(gyro)) + i, val & 0xFF);
+		if (ret != EC_SUCCESS)
+			return ret;
+
 		*val98_ptr &= ~(0x3 << (2 * i));
 		*val98_ptr |= (val >> 8) << (2 * i);
 	}
+
+	return EC_SUCCESS;
 }
 
 #ifdef CONFIG_BMI_ORIENTATION_SENSOR
diff --git a/include/driver/accelgyro_bmi_common.h b/include/driver/accelgyro_bmi_common.h
index 398f04dc42..c403999c5a 100644
--- a/include/driver/accelgyro_bmi_common.h
+++ b/include/driver/accelgyro_bmi_common.h
@@ -301,16 +301,16 @@ int bmi_get_normalized_rate(const struct motion_sensor_t *s, int rate, int rnd,
 			    int *normalized_rate_ptr, uint8_t *reg_val_ptr);
 
 /* Get the accelerometer offset */
-void bmi_accel_get_offset(const struct motion_sensor_t *accel, intv3_t v);
+int bmi_accel_get_offset(const struct motion_sensor_t *accel, intv3_t v);
 
 /* Get the gyroscope offset */
-void bmi_gyro_get_offset(const struct motion_sensor_t *gyro, intv3_t v);
+int bmi_gyro_get_offset(const struct motion_sensor_t *gyro, intv3_t v);
 
 /* Set the accelerometer offset */
-void bmi_set_accel_offset(const struct motion_sensor_t *accel, intv3_t v);
+int bmi_set_accel_offset(const struct motion_sensor_t *accel, intv3_t v);
 
 /* Set the gyroscope offset */
-void bmi_set_gyro_offset(const struct motion_sensor_t *gyro, intv3_t v,
+int bmi_set_gyro_offset(const struct motion_sensor_t *gyro, intv3_t v,
 			 int *val98_ptr);
 
 #endif /* __CROS_EC_ACCELGYRO_BMI_COMMON_H */