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-rw-r--r--driver/accelgyro_bmi160.c104
-rw-r--r--driver/accelgyro_bmi160.h4
-rw-r--r--include/config.h3
3 files changed, 90 insertions, 21 deletions
diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c
index 8f31c2b173..8da7c7a7a2 100644
--- a/driver/accelgyro_bmi160.c
+++ b/driver/accelgyro_bmi160.c
@@ -16,6 +16,7 @@
#include "hooks.h"
#include "i2c.h"
#include "math_util.h"
+#include "spi.h"
#include "task.h"
#include "timer.h"
#include "util.h"
@@ -118,10 +119,70 @@ static int get_engineering_val(const int reg_val,
return pairs[i].val;
}
+#ifdef CONFIG_SPI_ACCEL_PORT
+/**
+ * Write 8bit register from accelerometer.
+ */
+static inline int raw_write8(const int addr, const uint8_t reg, int data)
+{
+ uint8_t cmd[2] = { reg, data };
+ return spi_transaction(&spi_devices[addr], cmd, 2, NULL, 0);
+}
+
+static inline int spi_raw_read(const int addr, const uint8_t reg, uint8_t *data,
+ const int len)
+{
+ uint8_t cmd = 0x80 | reg;
+ return spi_transaction(&spi_devices[addr], &cmd, 1, data, len);
+}
+
+/**
+ * Read 8bit register from accelerometer.
+ */
+static inline int raw_read8(const int addr, const uint8_t reg, int *data)
+{
+ int rv;
+ uint8_t val;
+ rv = spi_raw_read(addr, reg, &val, 1);
+ if (rv == EC_SUCCESS)
+ *data = val;
+ return rv;
+}
+
+/**
+ * Read 16bit register from accelerometer.
+ */
+static inline int raw_read16(const int addr, const uint8_t reg, int *data)
+{
+ int rv;
+ uint16_t val;
+ rv = spi_raw_read(addr, reg, (uint8_t *)&val, 2);
+ if (rv == EC_SUCCESS)
+ *data = val;
+ return rv;
+}
+
+/**
+ * Read 32bit register from accelerometer.
+ */
+static inline int raw_read32(const int addr, const uint8_t reg, int *data)
+{
+ return spi_raw_read(addr, reg, (uint8_t *)data, 4);
+}
+
+/**
+ * Read n bytes from accelerometer.
+ */
+static inline int raw_read_n(const int addr, const uint8_t reg,
+ uint8_t *data_ptr, const int len)
+{
+ return spi_raw_read(addr, reg, data_ptr, len);
+}
+#else /* CONFIG_SPI_ACCEL_PORT */
/**
* Read 8bit register from accelerometer.
*/
-static inline int raw_read8(const int addr, const int reg, int *data_ptr)
+static inline int raw_read8(const int addr, const uint8_t reg, int *data_ptr)
{
return i2c_read8(I2C_PORT_ACCEL, addr, reg, data_ptr);
}
@@ -129,7 +190,7 @@ static inline int raw_read8(const int addr, const int reg, int *data_ptr)
/**
* Write 8bit register from accelerometer.
*/
-static inline int raw_write8(const int addr, const int reg, int data)
+static inline int raw_write8(const int addr, const uint8_t reg, int data)
{
return i2c_write8(I2C_PORT_ACCEL, addr, reg, data);
}
@@ -137,7 +198,7 @@ static inline int raw_write8(const int addr, const int reg, int data)
/**
* Read 16bit register from accelerometer.
*/
-static inline int raw_read16(const int addr, const int reg, int *data_ptr)
+static inline int raw_read16(const int addr, const uint8_t reg, int *data_ptr)
{
return i2c_read16(I2C_PORT_ACCEL, addr, reg, data_ptr);
}
@@ -145,11 +206,26 @@ static inline int raw_read16(const int addr, const int reg, int *data_ptr)
/**
* Read 32bit register from accelerometer.
*/
-static inline int raw_read32(const int addr, const int reg, int *data_ptr)
+static inline int raw_read32(const int addr, const uint8_t reg, int *data_ptr)
{
return i2c_read32(I2C_PORT_ACCEL, addr, reg, data_ptr);
}
+/**
+ * Read n bytes from accelerometer.
+ */
+static inline int raw_read_n(const int addr, const uint8_t reg,
+ uint8_t *data_ptr, const int len)
+{
+ int ret;
+ i2c_lock(I2C_PORT_ACCEL, 1);
+ ret = i2c_xfer(I2C_PORT_ACCEL, addr, &reg, 1, data_ptr, len,
+ I2C_XFER_SINGLE);
+ i2c_lock(I2C_PORT_ACCEL, 0);
+ return ret;
+}
+#endif /* CONFIG_SPI_ACCEL_PORT */
+
#ifdef CONFIG_MAG_BMI160_BMM150
/**
* Control access to the compass on the secondary i2c interface:
@@ -177,7 +253,7 @@ static int bmm150_mag_access_ctrl(const int addr, const int enable)
* Read register from compass.
* Assuming we are in manual access mode, read compass i2c register.
*/
-int raw_mag_read8(const int addr, const int reg, int *data_ptr)
+int raw_mag_read8(const int addr, const uint8_t reg, int *data_ptr)
{
/* Only read 1 bytes */
raw_write8(addr, BMI160_MAG_I2C_READ_ADDR, reg);
@@ -188,7 +264,7 @@ int raw_mag_read8(const int addr, const int reg, int *data_ptr)
* Write register from compass.
* Assuming we are in manual access mode, write to compass i2c register.
*/
-int raw_mag_write8(const int addr, const int reg, int data)
+int raw_mag_write8(const int addr, const uint8_t reg, int data)
{
raw_write8(addr, BMI160_MAG_I2C_WRITE_DATA, data);
return raw_write8(addr, BMI160_MAG_I2C_WRITE_ADDR, reg);
@@ -703,13 +779,9 @@ static int load_fifo(struct motion_sensor_t *s)
return EC_SUCCESS;
do {
enum fifo_state state = FIFO_HEADER;
- uint8_t fifo_reg = BMI160_FIFO_DATA;
uint8_t *bp = bmi160_buffer;
- i2c_lock(I2C_PORT_ACCEL, 1);
- i2c_xfer(I2C_PORT_ACCEL, s->addr,
- &fifo_reg, 1, bmi160_buffer,
- sizeof(bmi160_buffer), I2C_XFER_SINGLE);
- i2c_lock(I2C_PORT_ACCEL, 0);
+ raw_read_n(s->addr, BMI160_FIFO_DATA, bmi160_buffer,
+ sizeof(bmi160_buffer));
while (!done && bp != BUFFER_END(bmi160_buffer)) {
switch (state) {
case FIFO_HEADER: {
@@ -769,7 +841,6 @@ static int load_fifo(struct motion_sensor_t *s)
static int read(const struct motion_sensor_t *s, vector_3_t v)
{
uint8_t data[6];
- uint8_t xyz_reg;
int ret, status = 0;
ret = raw_read8(s->addr, BMI160_STATUS, &status);
@@ -787,13 +858,8 @@ static int read(const struct motion_sensor_t *s, vector_3_t v)
return EC_SUCCESS;
}
- xyz_reg = get_xyz_reg(s->type);
-
/* Read 6 bytes starting at xyz_reg */
- i2c_lock(I2C_PORT_ACCEL, 1);
- ret = i2c_xfer(I2C_PORT_ACCEL, s->addr,
- &xyz_reg, 1, data, 6, I2C_XFER_SINGLE);
- i2c_lock(I2C_PORT_ACCEL, 0);
+ raw_read_n(s->addr, get_xyz_reg(s->type), data, 6);
if (ret != EC_SUCCESS) {
CPRINTF("[%T %s type:0x%X RD XYZ Error %d]",
diff --git a/driver/accelgyro_bmi160.h b/driver/accelgyro_bmi160.h
index 83c8a63074..3e39e657ff 100644
--- a/driver/accelgyro_bmi160.h
+++ b/driver/accelgyro_bmi160.h
@@ -391,8 +391,8 @@ void bmi160_interrupt(enum gpio_signal signal);
#ifdef CONFIG_MAG_BMI160_BMM150
/* Functions to access the compass through the accel/gyro. */
-int raw_mag_read8(const int addr, const int reg, int *data_ptr);
-int raw_mag_write8(const int addr, const int reg, int data);
+int raw_mag_read8(const int addr, const uint8_t reg, int *data_ptr);
+int raw_mag_write8(const int addr, const uint8_t reg, int data);
#endif
diff --git a/include/config.h b/include/config.h
index 07e55516b9..293d86eb7c 100644
--- a/include/config.h
+++ b/include/config.h
@@ -1360,6 +1360,9 @@
*/
#undef CONFIG_SPS
+/* Define the SPI port to use to access SPI accelerometer */
+#undef CONFIG_SPI_ACCEL_PORT
+
/* Support SPI flash */
#undef CONFIG_SPI_FLASH
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