diff options
Diffstat (limited to 'driver/accelgyro_bmi160.c')
| -rw-r--r-- | driver/accelgyro_bmi160.c | 377 |
1 files changed, 222 insertions, 155 deletions
diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c index d06d3f7d99..da9fe2c375 100644 --- a/driver/accelgyro_bmi160.c +++ b/driver/accelgyro_bmi160.c @@ -144,21 +144,23 @@ static inline int spi_raw_read(const int addr, const uint8_t reg, /** * Read 8bit register from accelerometer. */ -static int raw_read8(const int port, const int addr, const int reg, - int *data_ptr) +static int raw_read8__7bf(const int port, + const uint16_t i2c_spi_addr__7bf, + const int reg, int *data_ptr) { int rv = -EC_ERROR_PARAM1; - if (BMI160_IS_SPI(addr)) { + if (SLAVE_IS_SPI(i2c_spi_addr__7bf)) { #ifdef CONFIG_SPI_ACCEL_PORT uint8_t val; - rv = spi_raw_read(BMI160_SPI_ADDRESS(addr), reg, &val, 1); + rv = spi_raw_read(SLAVE_GET_SPI_ADDR__7b(i2c_spi_addr__7bf), + reg, &val, 1); if (rv == EC_SUCCESS) *data_ptr = val; #endif } else { #ifdef I2C_PORT_ACCEL - rv = i2c_read8(port, BMI160_I2C_ADDRESS(addr), + rv = i2c_read8__7bf(port, i2c_spi_addr__7bf, reg, data_ptr); #endif } @@ -168,20 +170,22 @@ static int raw_read8(const int port, const int addr, const int reg, /** * Write 8bit register from accelerometer. */ -static int raw_write8(const int port, const int addr, const int reg, - int data) +static int raw_write8__7bf(const int port, + const uint16_t i2c_spi_addr__7bf, + const int reg, int data) { int rv = -EC_ERROR_PARAM1; - if (BMI160_IS_SPI(addr)) { + if (SLAVE_IS_SPI(i2c_spi_addr__7bf)) { #ifdef CONFIG_SPI_ACCEL_PORT uint8_t cmd[2] = { reg, data }; - rv = spi_transaction(&spi_devices[BMI160_SPI_ADDRESS(addr)], - cmd, 2, NULL, 0); + rv = spi_transaction( + &spi_devices[SLAVE_GET_SPI_ADDR__7b(i2c_spi_addr__7bf)], + cmd, 2, NULL, 0); #endif } else { #ifdef I2C_PORT_ACCEL - rv = i2c_write8(port, BMI160_I2C_ADDRESS(addr), + rv = i2c_write8__7bf(port, i2c_spi_addr__7bf, reg, data); #endif } @@ -199,18 +203,19 @@ static int raw_write8(const int port, const int addr, const int reg, /** * Read 32bit register from accelerometer. */ -static int raw_read32(const int port, const int addr, const uint8_t reg, - int *data_ptr) +static int raw_read32__7bf(const int port, + const uint16_t i2c_spi_addr__7bf, + const uint8_t reg, int *data_ptr) { int rv = -EC_ERROR_PARAM1; - if (BMI160_IS_SPI(addr)) { + if (SLAVE_IS_SPI(i2c_spi_addr__7bf)) { #ifdef CONFIG_SPI_ACCEL_PORT - rv = spi_raw_read(BMI160_SPI_ADDRESS(addr), reg, - (uint8_t *)data_ptr, 4); + rv = spi_raw_read(SLAVE_GET_SPI_ADDR__7b(i2c_spi_addr__7bf), + reg, (uint8_t *)data_ptr, 4); #endif } else { #ifdef I2C_PORT_ACCEL - rv = i2c_read32(port, BMI160_I2C_ADDRESS(addr), + rv = i2c_read32__7bf(port, i2c_spi_addr__7bf, reg, data_ptr); #endif } @@ -221,19 +226,21 @@ static int raw_read32(const int port, const int addr, const uint8_t reg, /** * Read n bytes from accelerometer. */ -static int raw_read_n(const int port, const int addr, const uint8_t reg, - uint8_t *data_ptr, const int len) +static int raw_read_n__7bf(const int port, + const uint16_t i2c_spi_addr__7bf, + const uint8_t reg, uint8_t *data_ptr, const int len) { int rv = -EC_ERROR_PARAM1; - if (BMI160_IS_SPI(addr)) { + if (SLAVE_IS_SPI(i2c_spi_addr__7bf)) { #ifdef CONFIG_SPI_ACCEL_PORT - rv = spi_raw_read(BMI160_SPI_ADDRESS(addr), reg, data_ptr, len); + rv = spi_raw_read(SLAVE_GET_SPI_ADDR__7b(i2c_spi_addr__7bf), + reg, data_ptr, len); #endif } else { #ifdef I2C_PORT_ACCEL - rv = i2c_read_block(port, BMI160_I2C_ADDRESS(addr), reg, - data_ptr, len); + rv = i2c_read_block__7bf(port, i2c_spi_addr__7bf, + reg, data_ptr, len); #endif } return rv; @@ -246,11 +253,13 @@ static int raw_read_n(const int port, const int addr, const uint8_t reg, * 1: manual access, we can issue i2c to the compass * 0: data access: BMI160 gather data periodically from the compass. */ -static int bmi160_sec_access_ctrl(const int port, const int addr, +static int bmi160_sec_access_ctrl__7bf(const int port, + const uint16_t i2c_spi_addr__7bf, const int enable) { int mag_if_ctrl; - raw_read8(port, addr, BMI160_MAG_IF_1, &mag_if_ctrl); + raw_read8__7bf(port, i2c_spi_addr__7bf, + BMI160_MAG_IF_1, &mag_if_ctrl); if (enable) { mag_if_ctrl |= BMI160_MAG_MANUAL_EN; mag_if_ctrl &= ~BMI160_MAG_READ_BURST_MASK; @@ -260,30 +269,37 @@ static int bmi160_sec_access_ctrl(const int port, const int addr, mag_if_ctrl &= ~BMI160_MAG_READ_BURST_MASK; mag_if_ctrl |= BMI160_MAG_READ_BURST_8; } - return raw_write8(port, addr, BMI160_MAG_IF_1, mag_if_ctrl); + return raw_write8__7bf(port, i2c_spi_addr__7bf, + BMI160_MAG_IF_1, mag_if_ctrl); } /** * Read register from compass. * Assuming we are in manual access mode, read compass i2c register. */ -int bmi160_sec_raw_read8(const int port, const int addr, const uint8_t reg, - int *data_ptr) +int bmi160_sec_raw_read8__7bf(const int port, + const uint16_t i2c_spi_addr__7bf, + const uint8_t reg, int *data_ptr) { /* Only read 1 bytes */ - raw_write8(port, addr, BMI160_MAG_I2C_READ_ADDR, reg); - return raw_read8(port, addr, BMI160_MAG_I2C_READ_DATA, data_ptr); + raw_write8__7bf(port, i2c_spi_addr__7bf, + BMI160_MAG_I2C_READ_ADDR, reg); + return raw_read8__7bf(port, i2c_spi_addr__7bf, + BMI160_MAG_I2C_READ_DATA, data_ptr); } /** * Write register from compass. * Assuming we are in manual access mode, write to compass i2c register. */ -int bmi160_sec_raw_write8(const int port, const int addr, const uint8_t reg, - int data) +int bmi160_sec_raw_write8__7bf(const int port, + const uint16_t i2c_spi_addr__7bf, + const uint8_t reg, int data) { - raw_write8(port, addr, BMI160_MAG_I2C_WRITE_DATA, data); - return raw_write8(port, addr, BMI160_MAG_I2C_WRITE_ADDR, reg); + raw_write8__7bf(port, i2c_spi_addr__7bf, + BMI160_MAG_I2C_WRITE_DATA, data); + return raw_write8__7bf(port, i2c_spi_addr__7bf, + BMI160_MAG_I2C_WRITE_ADDR, reg); } #endif @@ -295,17 +311,21 @@ static int enable_fifo(const struct motion_sensor_t *s, int enable) if (enable) { /* FIFO start collecting events */ - ret = raw_read8(s->port, s->addr, BMI160_FIFO_CONFIG_1, &val); + ret = raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_FIFO_CONFIG_1, &val); val |= BMI160_FIFO_SENSOR_EN(s->type); - ret = raw_write8(s->port, s->addr, BMI160_FIFO_CONFIG_1, val); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_FIFO_CONFIG_1, val); if (ret == EC_SUCCESS) data->flags |= 1 << (s->type + BMI160_FIFO_FLAG_OFFSET); } else { /* FIFO stop collecting events */ - ret = raw_read8(s->port, s->addr, BMI160_FIFO_CONFIG_1, &val); + ret = raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_FIFO_CONFIG_1, &val); val &= ~BMI160_FIFO_SENSOR_EN(s->type); - ret = raw_write8(s->port, s->addr, BMI160_FIFO_CONFIG_1, val); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_FIFO_CONFIG_1, val); if (ret == EC_SUCCESS) data->flags &= ~(1 << (s->type + BMI160_FIFO_FLAG_OFFSET)); @@ -332,7 +352,8 @@ static int set_range(const struct motion_sensor_t *s, ranges = get_range_table(s->type, &range_tbl_size); reg_val = get_reg_val(range, rnd, ranges, range_tbl_size); - ret = raw_write8(s->port, s->addr, ctrl_reg, reg_val); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + ctrl_reg, reg_val); /* Now that we have set the range, update the driver's value. */ if (ret == EC_SUCCESS) data->range = get_engineering_val(reg_val, ranges, @@ -369,7 +390,8 @@ static int set_data_rate(const struct motion_sensor_t *s, enable_fifo(s, 0); #endif /* go to suspend mode */ - ret = raw_write8(s->port, s->addr, BMI160_CMD_REG, + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_REG, BMI160_CMD_MODE_SUSPEND(s->type)); msleep(3); data->odr = 0; @@ -380,7 +402,8 @@ static int set_data_rate(const struct motion_sensor_t *s, return ret; } else if (data->odr == 0) { /* back from suspend mode. */ - ret = raw_write8(s->port, s->addr, BMI160_CMD_REG, + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_REG, BMI160_CMD_MODE_NORMAL(s->type)); msleep(wakeup_time[s->type]); } @@ -421,12 +444,12 @@ static int set_data_rate(const struct motion_sensor_t *s, */ mutex_lock(s->mutex); - ret = raw_read8(s->port, s->addr, ctrl_reg, &val); + ret = raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, ctrl_reg, &val); if (ret != EC_SUCCESS) goto accel_cleanup; val = (val & ~BMI160_ODR_MASK) | reg_val; - ret = raw_write8(s->port, s->addr, ctrl_reg, val); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, ctrl_reg, val); if (ret != EC_SUCCESS) goto accel_cleanup; @@ -483,8 +506,8 @@ static int get_offset(const struct motion_sensor_t *s, * range selected for the accelerometer. */ for (i = X; i <= Z; i++) { - raw_read8(s->port, s->addr, BMI160_OFFSET_ACC70 + i, - &val); + raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_OFFSET_ACC70 + i, &val); if (val > 0x7f) val = -256 + val; v[i] = val * BMI160_OFFSET_ACC_MULTI_MG / @@ -493,7 +516,8 @@ static int get_offset(const struct motion_sensor_t *s, break; case MOTIONSENSE_TYPE_GYRO: /* Read the MSB first */ - raw_read8(s->port, s->addr, BMI160_OFFSET_EN_GYR98, &val98); + raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_OFFSET_EN_GYR98, &val98); /* * The offset of the gyroscope off_gyr_[xyz] is a 10 bit * two-complement number in units of 0.061 °/s. @@ -501,8 +525,8 @@ static int get_offset(const struct motion_sensor_t *s, * -31.25 °/s to +31.25 °/s */ for (i = X; i <= Z; i++) { - raw_read8(s->port, s->addr, BMI160_OFFSET_GYR70 + i, - &val); + raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_OFFSET_GYR70 + i, &val); val |= ((val98 >> (2 * i)) & 0x3) << 8; if (val > 0x1ff) val = -1024 + val; @@ -537,7 +561,8 @@ static int set_offset(const struct motion_sensor_t *s, rotate_inv(v, *s->rot_standard_ref, v); - ret = raw_read8(s->port, s->addr, BMI160_OFFSET_EN_GYR98, &val98); + ret = raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_OFFSET_EN_GYR98, &val98); if (ret != 0) return ret; @@ -552,10 +577,11 @@ static int set_offset(const struct motion_sensor_t *s, val = -128; if (val < 0) val = 256 + val; - raw_write8(s->port, s->addr, BMI160_OFFSET_ACC70 + i, - val); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_OFFSET_ACC70 + i, val); } - ret = raw_write8(s->port, s->addr, BMI160_OFFSET_EN_GYR98, + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_OFFSET_EN_GYR98, val98 | BMI160_OFFSET_ACC_EN); break; case MOTIONSENSE_TYPE_GYRO: @@ -568,12 +594,13 @@ static int set_offset(const struct motion_sensor_t *s, val = -512; if (val < 0) val = 1024 + val; - raw_write8(s->port, s->addr, BMI160_OFFSET_GYR70 + i, - val & 0xFF); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_OFFSET_GYR70 + i, val & 0xFF); val98 &= ~(0x3 << (2 * i)); val98 |= (val >> 8) << (2 * i); } - ret = raw_write8(s->port, s->addr, BMI160_OFFSET_EN_GYR98, + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_OFFSET_EN_GYR98, val98 | BMI160_OFFSET_GYRO_EN); break; #ifdef CONFIG_MAG_BMI160_BMM150 @@ -644,9 +671,10 @@ static int perform_calib(const struct motion_sensor_t *s) ret = EC_RES_INVALID_PARAM; goto end_perform_calib; } - ret = raw_write8(s->port, s->addr, BMI160_FOC_CONF, val); - ret = raw_write8(s->port, s->addr, BMI160_CMD_REG, - BMI160_CMD_START_FOC); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_FOC_CONF, val); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_REG, BMI160_CMD_START_FOC); deadline.val = get_time().val + 400 * MSEC; do { if (timestamp_expired(deadline, NULL)) { @@ -654,15 +682,17 @@ static int perform_calib(const struct motion_sensor_t *s) goto end_perform_calib; } msleep(50); - ret = raw_read8(s->port, s->addr, BMI160_STATUS, &status); + ret = raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_STATUS, &status); if (ret != EC_SUCCESS) goto end_perform_calib; } while ((status & BMI160_FOC_RDY) == 0); /* Calibration is successful, and loaded, use the result */ - ret = raw_read8(s->port, s->addr, BMI160_OFFSET_EN_GYR98, &val); - ret = raw_write8(s->port, s->addr, BMI160_OFFSET_EN_GYR98, - val | en_flag); + ret = raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_OFFSET_EN_GYR98, &val); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_OFFSET_EN_GYR98, val | en_flag); end_perform_calib: set_data_rate(s, rate, 0); return ret; @@ -715,7 +745,8 @@ int manage_activity(const struct motion_sensor_t *s, return ret; if (enable) { /* We should use parameters from caller */ - raw_write8(s->port, s->addr, BMI160_INT_MOTION_3, + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_MOTION_3, BMI160_MOTION_PROOF_TIME( CONFIG_GESTURE_SIGMO_PROOF_MS) << BMI160_MOTION_PROOF_OFF | @@ -723,7 +754,8 @@ int manage_activity(const struct motion_sensor_t *s, CONFIG_GESTURE_SIGMO_SKIP_MS) << BMI160_MOTION_SKIP_OFF | BMI160_MOTION_SIG_MOT_SEL); - raw_write8(s->port, s->addr, BMI160_INT_MOTION_1, + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_MOTION_1, BMI160_MOTION_TH(s, CONFIG_GESTURE_SIGMO_THRES_MG)); tmp |= BMI160_INT_ANYMO_X_EN | @@ -734,7 +766,8 @@ int manage_activity(const struct motion_sensor_t *s, BMI160_INT_ANYMO_Y_EN | BMI160_INT_ANYMO_Z_EN); } - ret = raw_write8(s->port, s->addr, BMI160_INT_EN_0, tmp); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_EN_0, tmp); if (ret) ret = EC_RES_UNAVAILABLE; break; @@ -744,14 +777,16 @@ int manage_activity(const struct motion_sensor_t *s, case MOTIONSENSE_ACTIVITY_DOUBLE_TAP: { int tmp; /* Set double tap interrupt */ - ret = raw_read8(s->port, s->addr, BMI160_INT_EN_0, &tmp); + ret = raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_EN_0, &tmp); if (ret) return ret; if (enable) tmp |= BMI160_INT_D_TAP_EN; else tmp &= ~BMI160_INT_D_TAP_EN; - ret = raw_write8(s->port, s->addr, BMI160_INT_EN_0, tmp); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_EN_0, tmp); if (ret) ret = EC_RES_UNAVAILABLE; break; @@ -888,13 +923,14 @@ static int load_fifo(struct motion_sensor_t *s, uint32_t last_ts) * Flush potential left over: * When sensor is resumed, we won't read old data. */ - raw_write8(s->port, s->addr, BMI160_CMD_REG, - BMI160_CMD_FIFO_FLUSH); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_REG, BMI160_CMD_FIFO_FLUSH); return EC_SUCCESS; } - raw_read_n(s->port, s->addr, BMI160_FIFO_LENGTH_0, - (uint8_t *)&length, sizeof(length)); + raw_read_n__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_FIFO_LENGTH_0, + (uint8_t *)&length, sizeof(length)); length &= BMI160_FIFO_LENGTH_MASK; /* @@ -914,8 +950,8 @@ static int load_fifo(struct motion_sensor_t *s, uint32_t last_ts) length = MIN(length, sizeof(bmi160_buffer)); - raw_read_n(s->port, s->addr, BMI160_FIFO_DATA, bmi160_buffer, - length); + raw_read_n__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_FIFO_DATA, bmi160_buffer, length); beginning = *(uint32_t *)bmi160_buffer; ep = bmi160_buffer + length; /* @@ -959,7 +995,7 @@ static int load_fifo(struct motion_sensor_t *s, uint32_t last_ts) default: CPRINTS("Unknown header: 0x%02x @ %d", hdr, bp - bmi160_buffer); - raw_write8(s->port, s->addr, + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, BMI160_CMD_REG, BMI160_CMD_FIFO_FLUSH); return EC_ERROR_NOT_HANDLED; @@ -1023,36 +1059,45 @@ static int config_interrupt(const struct motion_sensor_t *s) return EC_SUCCESS; mutex_lock(s->mutex); - raw_write8(s->port, s->addr, BMI160_CMD_REG, BMI160_CMD_FIFO_FLUSH); - raw_write8(s->port, s->addr, BMI160_CMD_REG, BMI160_CMD_INT_RESET); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_REG, BMI160_CMD_FIFO_FLUSH); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_REG, BMI160_CMD_INT_RESET); #ifdef CONFIG_GESTURE_SENSOR_BATTERY_TAP - raw_write8(s->port, s->addr, BMI160_INT_TAP_0, - BMI160_TAP_DUR(s, CONFIG_GESTURE_TAP_MAX_INTERSTICE_T)); - ret = raw_write8(s->port, s->addr, BMI160_INT_TAP_1, - BMI160_TAP_TH(s, CONFIG_GESTURE_TAP_THRES_MG)); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_TAP_0, + BMI160_TAP_DUR(s, CONFIG_GESTURE_TAP_MAX_INTERSTICE_T)); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_TAP_1, + BMI160_TAP_TH(s, CONFIG_GESTURE_TAP_THRES_MG)); #endif #ifdef CONFIG_BMI160_ORIENTATION_SENSOR /* only use orientation sensor on the lid sensor */ if (s->location == MOTIONSENSE_LOC_LID) { - ret = raw_write8(s->port, s->addr, BMI160_INT_ORIENT_0, - BMI160_INT_ORIENT_0_INIT_VAL); - ret = raw_write8(s->port, s->addr, BMI160_INT_ORIENT_1, - BMI160_INT_ORIENT_1_INIT_VAL); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_ORIENT_0, + BMI160_INT_ORIENT_0_INIT_VAL); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_ORIENT_1, + BMI160_INT_ORIENT_1_INIT_VAL); } #endif #ifdef CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT - ret = raw_write8(s->port, s->addr, BMI160_INT_LATCH, BMI160_LATCH_5MS); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_LATCH, BMI160_LATCH_5MS); #else /* Also, configure int2 as an external input. */ - ret = raw_write8(s->port, s->addr, BMI160_INT_LATCH, - BMI160_INT2_INPUT_EN | BMI160_LATCH_5MS); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_LATCH, + BMI160_INT2_INPUT_EN | BMI160_LATCH_5MS); #endif /* configure int1 as an interrupt */ - ret = raw_write8(s->port, s->addr, BMI160_INT_OUT_CTRL, - BMI160_INT_CTRL(1, OUTPUT_EN)); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_OUT_CTRL, + BMI160_INT_CTRL(1, OUTPUT_EN)); /* Map activity interrupt to int 1 */ tmp = 0; @@ -1067,29 +1112,36 @@ static int config_interrupt(const struct motion_sensor_t *s) if (s->location == MOTIONSENSE_LOC_LID) tmp |= BMI160_INT_ORIENT; #endif - ret = raw_write8(s->port, s->addr, BMI160_INT_MAP_REG(1), tmp); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_MAP_REG(1), tmp); #ifdef CONFIG_ACCEL_FIFO /* map fifo water mark to int 1 */ - ret = raw_write8(s->port, s->addr, BMI160_INT_FIFO_MAP, - BMI160_INT_MAP(1, FWM) | - BMI160_INT_MAP(1, FFULL)); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_FIFO_MAP, + BMI160_INT_MAP(1, FWM) | + BMI160_INT_MAP(1, FFULL)); /* configure fifo watermark to int whenever there's any data in there */ - ret = raw_write8(s->port, s->addr, BMI160_FIFO_CONFIG_0, 1); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_FIFO_CONFIG_0, 1); #ifdef CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT - ret = raw_write8(s->port, s->addr, BMI160_FIFO_CONFIG_1, - BMI160_FIFO_HEADER_EN); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_FIFO_CONFIG_1, + BMI160_FIFO_HEADER_EN); #else - ret = raw_write8(s->port, s->addr, BMI160_FIFO_CONFIG_1, - BMI160_FIFO_TAG_INT2_EN | - BMI160_FIFO_HEADER_EN); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_FIFO_CONFIG_1, + BMI160_FIFO_TAG_INT2_EN | + BMI160_FIFO_HEADER_EN); #endif /* Set fifo*/ - ret = raw_read8(s->port, s->addr, BMI160_INT_EN_1, &tmp); + ret = raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_EN_1, &tmp); tmp |= BMI160_INT_FWM_EN | BMI160_INT_FFUL_EN; - ret = raw_write8(s->port, s->addr, BMI160_INT_EN_1, tmp); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_EN_1, tmp); #endif mutex_unlock(s->mutex); return ret; @@ -1148,8 +1200,8 @@ static int irq_handler(struct motion_sensor_t *s, uint32_t *event) return EC_ERROR_NOT_HANDLED; do { - rv = raw_read32(s->port, s->addr, BMI160_INT_STATUS_0, - &interrupt); + rv = raw_read32__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_INT_STATUS_0, &interrupt); /* * Bail out of this loop there was an error reading the register */ @@ -1185,7 +1237,8 @@ static int read(const struct motion_sensor_t *s, intv3_t v) uint8_t data[6]; int ret, status = 0; - ret = raw_read8(s->port, s->addr, BMI160_STATUS, &status); + ret = raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_STATUS, &status); if (ret != EC_SUCCESS) return ret; @@ -1201,7 +1254,8 @@ static int read(const struct motion_sensor_t *s, intv3_t v) } /* Read 6 bytes starting at xyz_reg */ - ret = raw_read_n(s->port, s->addr, get_xyz_reg(s->type), data, 6); + ret = raw_read_n__7bf(s->port, s->i2c_spi_addr__7bf, + get_xyz_reg(s->type), data, 6); if (ret != EC_SUCCESS) { CPRINTS("%s: type:0x%X RD XYZ Error %d", s->name, s->type, ret); @@ -1216,21 +1270,23 @@ static int init(const struct motion_sensor_t *s) int ret = 0, tmp, i; struct accelgyro_saved_data_t *saved_data = BMI160_GET_SAVED_DATA(s); - ret = raw_read8(s->port, s->addr, BMI160_CHIP_ID, &tmp); + ret = raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CHIP_ID, &tmp); if (ret) return EC_ERROR_UNKNOWN; if (tmp != BMI160_CHIP_ID_MAJOR && tmp != BMI168_CHIP_ID_MAJOR) { /* The device may be lock on paging mode. Try to unlock it. */ - raw_write8(s->port, s->addr, BMI160_CMD_REG, - BMI160_CMD_EXT_MODE_EN_B0); - raw_write8(s->port, s->addr, BMI160_CMD_REG, - BMI160_CMD_EXT_MODE_EN_B1); - raw_write8(s->port, s->addr, BMI160_CMD_REG, - BMI160_CMD_EXT_MODE_EN_B2); - raw_write8(s->port, s->addr, BMI160_CMD_EXT_MODE_ADDR, - BMI160_CMD_PAGING_EN); - raw_write8(s->port, s->addr, BMI160_CMD_EXT_MODE_ADDR, 0); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_REG, BMI160_CMD_EXT_MODE_EN_B0); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_REG, BMI160_CMD_EXT_MODE_EN_B1); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_REG, BMI160_CMD_EXT_MODE_EN_B2); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_EXT_MODE_ADDR, BMI160_CMD_PAGING_EN); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_EXT_MODE_ADDR, 0); return EC_ERROR_ACCESS_DENIED; } @@ -1239,8 +1295,8 @@ static int init(const struct motion_sensor_t *s) struct bmi160_drv_data_t *data = BMI160_GET_DATA(s); /* Reset the chip to be in a good state */ - raw_write8(s->port, s->addr, BMI160_CMD_REG, - BMI160_CMD_SOFT_RESET); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_REG, BMI160_CMD_SOFT_RESET); msleep(1); data->flags &= ~(BMI160_FLAG_SEC_I2C_ENABLED | (BMI160_FIFO_ALL_MASK << @@ -1258,7 +1314,8 @@ static int init(const struct motion_sensor_t *s) #endif #endif /* To avoid gyro wakeup */ - raw_write8(s->port, s->addr, BMI160_PMU_TRIGGER, 0); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_PMU_TRIGGER, 0); } #ifdef CONFIG_BMI160_SEC_I2C @@ -1269,8 +1326,8 @@ static int init(const struct motion_sensor_t *s) * To be able to configure the real magnetometer, we must set * the BMI160 magnetometer part (a pass through) in normal mode. */ - raw_write8(s->port, s->addr, BMI160_CMD_REG, - BMI160_CMD_MODE_NORMAL(s->type)); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_REG, BMI160_CMD_MODE_NORMAL(s->type)); msleep(wakeup_time[s->type]); if ((data->flags & BMI160_FLAG_SEC_I2C_ENABLED) == 0) { @@ -1283,48 +1340,57 @@ static int init(const struct motion_sensor_t *s) * * Magic command sequences */ - raw_write8(s->port, s->addr, BMI160_CMD_REG, - BMI160_CMD_EXT_MODE_EN_B0); - raw_write8(s->port, s->addr, BMI160_CMD_REG, - BMI160_CMD_EXT_MODE_EN_B1); - raw_write8(s->port, s->addr, BMI160_CMD_REG, - BMI160_CMD_EXT_MODE_EN_B2); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_REG, BMI160_CMD_EXT_MODE_EN_B0); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_REG, BMI160_CMD_EXT_MODE_EN_B1); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_REG, BMI160_CMD_EXT_MODE_EN_B2); /* * Change the register page to target mode, to change * the internal pull ups of the secondary interface. */ - raw_read8(s->port, s->addr, BMI160_CMD_EXT_MODE_ADDR, - &ext_page_reg); - raw_write8(s->port, s->addr, BMI160_CMD_EXT_MODE_ADDR, - ext_page_reg | BMI160_CMD_TARGET_PAGE); - raw_read8(s->port, s->addr, BMI160_CMD_EXT_MODE_ADDR, - &ext_page_reg); - raw_write8(s->port, s->addr, BMI160_CMD_EXT_MODE_ADDR, - ext_page_reg | BMI160_CMD_PAGING_EN); - raw_read8(s->port, s->addr, BMI160_COM_C_TRIM_ADDR, - &pullup_reg); - raw_write8(s->port, s->addr, BMI160_COM_C_TRIM_ADDR, - pullup_reg | BMI160_COM_C_TRIM); - raw_read8(s->port, s->addr, BMI160_CMD_EXT_MODE_ADDR, - &ext_page_reg); - raw_write8(s->port, s->addr, BMI160_CMD_EXT_MODE_ADDR, - ext_page_reg & ~BMI160_CMD_TARGET_PAGE); - raw_read8(s->port, s->addr, BMI160_CMD_EXT_MODE_ADDR, - &ext_page_reg); + raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_EXT_MODE_ADDR, &ext_page_reg); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_EXT_MODE_ADDR, + ext_page_reg | BMI160_CMD_TARGET_PAGE); + raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_EXT_MODE_ADDR, &ext_page_reg); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_EXT_MODE_ADDR, + ext_page_reg | BMI160_CMD_PAGING_EN); + raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_COM_C_TRIM_ADDR, &pullup_reg); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_COM_C_TRIM_ADDR, + pullup_reg | BMI160_COM_C_TRIM); + raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_EXT_MODE_ADDR, &ext_page_reg); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_EXT_MODE_ADDR, + ext_page_reg & ~BMI160_CMD_TARGET_PAGE); + raw_read8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_CMD_EXT_MODE_ADDR, &ext_page_reg); /* Set the i2c address of the compass */ - ret = raw_write8(s->port, s->addr, BMI160_MAG_IF_0, - CONFIG_ACCELGYRO_SEC_ADDR); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_MAG_IF_0, + I2C_GET_ADDR__7b( + CONFIG_ACCELGYRO_SEC_ADDR__7BF) + << 1); /* Enable the secondary interface as I2C */ - ret = raw_write8(s->port, s->addr, BMI160_IF_CONF, - BMI160_IF_MODE_AUTO_I2C << BMI160_IF_MODE_OFF); + ret = raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_IF_CONF, + BMI160_IF_MODE_AUTO_I2C << + BMI160_IF_MODE_OFF); data->flags |= BMI160_FLAG_SEC_I2C_ENABLED; } - bmi160_sec_access_ctrl(s->port, s->addr, 1); + bmi160_sec_access_ctrl__7bf(s->port, s->i2c_spi_addr__7bf, 1); ret = bmm150_init(s); if (ret) @@ -1332,13 +1398,13 @@ static int init(const struct motion_sensor_t *s) return ret; /* Leave the address for reading the data */ - raw_write8(s->port, s->addr, BMI160_MAG_I2C_READ_ADDR, - BMM150_BASE_DATA); + raw_write8__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_MAG_I2C_READ_ADDR, BMM150_BASE_DATA); /* * Put back the secondary interface in normal mode. * BMI160 will poll based on the configure ODR. */ - bmi160_sec_access_ctrl(s->port, s->addr, 0); + bmi160_sec_access_ctrl__7bf(s->port, s->i2c_spi_addr__7bf, 0); /* * Clean interrupt event that may have occurred while the @@ -1396,8 +1462,8 @@ struct i2c_stress_test_dev bmi160_i2c_stress_test_dev = { .read_val = BMI160_CHIP_ID_MAJOR, .write_reg = BMI160_PMU_TRIGGER, }, - .i2c_read = &raw_read8, - .i2c_write = &raw_write8, + .i2c_read__7bf = &raw_read8__7bf, + .i2c_write__7bf = &raw_write8__7bf, }; #endif /* CONFIG_CMD_I2C_STRESS_TEST_ACCEL */ @@ -1407,7 +1473,8 @@ int bmi160_get_sensor_temp(int idx, int *temp_ptr) int16_t temp; int ret; - ret = raw_read_n(s->port, s->addr, BMI160_TEMPERATURE_0, + ret = raw_read_n__7bf(s->port, s->i2c_spi_addr__7bf, + BMI160_TEMPERATURE_0, (uint8_t *)&temp, sizeof(temp)); if (ret || temp == BMI160_INVALID_TEMP) |