altos: Try to fix MPU6000 SPI mode

Hold the SPI mutex after boot and until the I2C mode has been disabled

Signed-off-by: Keith Packard <keithp@keithp.com>

3 files changed, 155 insertions, 111 deletions

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index 38d29b8c..5cb423fc 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -24,81 +24,93 @@
 static uint8_t	ao_mpu6000_wake;
 static uint8_t	ao_mpu6000_configured;
 
-#define ao_mpu6000_spi_get() 	ao_spi_get_bit(AO_MPU6000_SPI_CS_PORT,	\
+#ifndef AO_MPU6000_I2C_INDEX
+#define AO_MPU6000_SPI	1
+#else
+#define AO_MPU6000_SPI	0
+#endif
+
+#if AO_MPU6000_SPI
+
+#define ao_mpu6000_spi_get()	ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz)
+#define ao_mpu6000_spi_put()	ao_spi_put(AO_MPU6000_SPI_BUS)
+
+#define ao_mpu6000_spi_start() 	ao_spi_get_bit(AO_MPU6000_SPI_CS_PORT,	\
 					       AO_MPU6000_SPI_CS_PIN,	\
 					       AO_MPU6000_SPI_CS,	\
 					       AO_MPU6000_SPI_BUS,	\
 					       AO_SPI_SPEED_1MHz)
 
-#define ao_mpu6000_spi_put() 	ao_spi_put_bit(AO_MPU6000_SPI_CS_PORT,	\
+#define ao_mpu6000_spi_end() 	ao_spi_put_bit(AO_MPU6000_SPI_CS_PORT,	\
 					       AO_MPU6000_SPI_CS_PIN,	\
 					       AO_MPU6000_SPI_CS,	\
 					       AO_MPU6000_SPI_BUS)
+#endif
 
 
 static void
-ao_mpu6000_reg_write(uint8_t addr, uint8_t value)
+_ao_mpu6000_reg_write(uint8_t addr, uint8_t value)
 {
 	uint8_t	d[2] = { addr, value };
-#ifdef AO_MPU6000_I2C_INDEX
+#if AO_MPU6000_SPI
+	ao_mpu6000_spi_start();
+	ao_spi_send(d, 2, AO_MPU6000_SPI_BUS);
+	ao_mpu6000_spi_end();
+#else
 	ao_i2c_get(AO_MPU6000_I2C_INDEX);
 	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
 	ao_i2c_send(d, 2, AO_MPU6000_I2C_INDEX, TRUE);
 	ao_i2c_put(AO_MPU6000_I2C_INDEX);
-#else
-	ao_mpu6000_spi_get();
-	ao_spi_send(d, 2, AO_MPU6000_SPI_BUS);
-	ao_mpu6000_spi_put();
 #endif
 }
 
 static void
-ao_mpu6000_read(uint8_t addr, void *data, uint8_t len)
+_ao_mpu6000_read(uint8_t addr, void *data, uint8_t len)
 {
-#ifdef AO_MPU6000_I2C_INDEX
+#if AO_MPU6000_SPI
+	addr |= 0x80;
+	ao_mpu6000_spi_start();
+	ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
+	ao_spi_recv(data, len, AO_MPU6000_SPI_BUS);
+	ao_mpu6000_spi_end();
+#else
 	ao_i2c_get(AO_MPU6000_I2C_INDEX);
 	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
 	ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
 	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
 	ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX, TRUE);
 	ao_i2c_put(AO_MPU6000_I2C_INDEX);
-#else
-	addr |= 0x80;
-	ao_mpu6000_spi_get();
-	ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
-	ao_spi_recv(data, len, AO_MPU6000_SPI_BUS);
-	ao_mpu6000_spi_put();
 #endif
 }
 
 static uint8_t
-ao_mpu6000_reg_read(uint8_t addr)
+_ao_mpu6000_reg_read(uint8_t addr)
 {
 	uint8_t	value;
-#ifdef AO_MPU6000_I2C_INDEX
+#if AO_MPU6000_SPI
+	addr |= 0x80;
+	ao_mpu6000_spi_start();
+	ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
+	ao_spi_recv(&value, 1, AO_MPU6000_SPI_BUS);
+	ao_mpu6000_spi_end();
+#else
 	ao_i2c_get(AO_MPU6000_I2C_INDEX);
 	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
 	ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
 	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
 	ao_i2c_recv(&value, 1, AO_MPU6000_I2C_INDEX, TRUE);
 	ao_i2c_put(AO_MPU6000_I2C_INDEX);
-#else
-	addr |= 0x80;
-	ao_mpu6000_spi_get();
-	ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
-	ao_spi_recv(&value, 1, AO_MPU6000_SPI_BUS);
-	ao_mpu6000_spi_put();
 #endif
 	return value;
 }
 
 static void
-ao_mpu6000_sample(struct ao_mpu6000_sample *sample)
+_ao_mpu6000_sample(struct ao_mpu6000_sample *sample)
 {
 	uint16_t	*d = (uint16_t *) sample;
 	int		i = sizeof (*sample) / 2;
 
-	ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, sample, sizeof (*sample));
+	_ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, sample, sizeof (*sample));
 #if __BYTE_ORDER == __LITTLE_ENDIAN
 	/* byte swap */
 	while (i--) {
@@ -153,115 +165,123 @@ ao_mpu6000_gyro_check(int16_t normal, int16_t test, char *which)
 }
 
 static void
-ao_mpu6000_setup(void)
+_ao_mpu6000_setup(void)
 {
 	struct ao_mpu6000_sample	normal_mode, test_mode;
 	int				errors =0;
+	int				i;
 
 	if (ao_mpu6000_configured)
 		return;
 
-	ao_delay(AO_SEC_TO_TICKS(3));
+	/* Wait for the chip to wake up */
+	for (i = 0; i < 30; i++) {
+		ao_delay(AO_MS_TO_TICKS(100));
+		if (_ao_mpu6000_reg_read(MPU6000_WHO_AM_I) == 0x68)
+			break;
+	}
+	if (i == 30)
+		ao_panic(AO_PANIC_SELF_TEST_MPU6000);
 
 	/* Reset the whole chip */
 	
-	ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
-			     (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET));
+	_ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
+			      (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET));
 
 	/* Wait for it to reset. If we talk too quickly, it appears to get confused */
-	ao_delay(AO_SEC_TO_TICKS(3));
+
 	ao_delay(AO_MS_TO_TICKS(100));
 
-	/* Reset signal conditioning */
-	ao_mpu6000_reg_write(MPU6000_USER_CONTROL,
-			     (0 << MPU6000_USER_CONTROL_FIFO_EN) |
-			     (0 << MPU6000_USER_CONTROL_I2C_MST_EN) |
-			     (0 << MPU6000_USER_CONTROL_I2C_IF_DIS) |
-			     (0 << MPU6000_USER_CONTROL_FIFO_RESET) |
-			     (0 << MPU6000_USER_CONTROL_I2C_MST_RESET) |
-			     (1 << MPU6000_USER_CONTROL_SIG_COND_RESET));
+	/* Reset signal conditioning, disabling I2C on SPI systems */
+	_ao_mpu6000_reg_write(MPU6000_USER_CTRL,
+			      (0 << MPU6000_USER_CTRL_FIFO_EN) |
+			      (0 << MPU6000_USER_CTRL_I2C_MST_EN) |
+			      (AO_MPU6000_SPI << MPU6000_USER_CTRL_I2C_IF_DIS) |
+			      (0 << MPU6000_USER_CTRL_FIFO_RESET) |
+			      (0 << MPU6000_USER_CTRL_I2C_MST_RESET) |
+			      (1 << MPU6000_USER_CTRL_SIG_COND_RESET));
 
-	while (ao_mpu6000_reg_read(MPU6000_USER_CONTROL) & (1 << MPU6000_USER_CONTROL_SIG_COND_RESET))
+	while (_ao_mpu6000_reg_read(MPU6000_USER_CTRL) & (1 << MPU6000_USER_CTRL_SIG_COND_RESET))
 		ao_yield();
 
 	/* Reset signal paths */
-	ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
-			     (1 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
-			     (1 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
-			     (1 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
+	_ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
+			      (1 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
+			      (1 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
+			      (1 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
 
-	ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
-			     (0 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
-			     (0 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
-			     (0 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
+	_ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
+			      (0 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
+			      (0 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
+			      (0 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
 
 	/* Select clocks, disable sleep */
-	ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
-			     (0 << MPU6000_PWR_MGMT_1_DEVICE_RESET) |
-			     (0 << MPU6000_PWR_MGMT_1_SLEEP) |
-			     (0 << MPU6000_PWR_MGMT_1_CYCLE) |
-			     (0 << MPU6000_PWR_MGMT_1_TEMP_DIS) |
-			     (MPU6000_PWR_MGMT_1_CLKSEL_PLL_X_AXIS << MPU6000_PWR_MGMT_1_CLKSEL));
+	_ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
+			      (0 << MPU6000_PWR_MGMT_1_DEVICE_RESET) |
+			      (0 << MPU6000_PWR_MGMT_1_SLEEP) |
+			      (0 << MPU6000_PWR_MGMT_1_CYCLE) |
+			      (0 << MPU6000_PWR_MGMT_1_TEMP_DIS) |
+			      (MPU6000_PWR_MGMT_1_CLKSEL_PLL_X_AXIS << MPU6000_PWR_MGMT_1_CLKSEL));
 
 	/* Set sample rate divider to sample at full speed
-	ao_mpu6000_reg_write(MPU6000_SMPRT_DIV, 0);
+	   _ao_mpu6000_reg_write(MPU6000_SMPRT_DIV, 0);
 
-	/* Disable filtering */
-	ao_mpu6000_reg_write(MPU6000_CONFIG,
-			     (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
-			     (MPU6000_CONFIG_DLPF_CFG_260_256 << MPU6000_CONFIG_DLPF_CFG));
+	   /* Disable filtering */
+	_ao_mpu6000_reg_write(MPU6000_CONFIG,
+			      (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
+			      (MPU6000_CONFIG_DLPF_CFG_260_256 << MPU6000_CONFIG_DLPF_CFG));
 
 	/* Configure accelerometer to +/-16G in self-test mode */
-	ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
-			     (1 << MPU600_ACCEL_CONFIG_XA_ST) |
-			     (1 << MPU600_ACCEL_CONFIG_YA_ST) |
-			     (1 << MPU600_ACCEL_CONFIG_ZA_ST) |
-			     (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
+	_ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
+			      (1 << MPU600_ACCEL_CONFIG_XA_ST) |
+			      (1 << MPU600_ACCEL_CONFIG_YA_ST) |
+			      (1 << MPU600_ACCEL_CONFIG_ZA_ST) |
+			      (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
 
 	/* Configure gyro to +/- 2000°/s in self-test mode */
-	ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
-			     (1 << MPU600_GYRO_CONFIG_XG_ST) |
-			     (1 << MPU600_GYRO_CONFIG_YG_ST) |
-			     (1 << MPU600_GYRO_CONFIG_ZG_ST) |
-			     (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
+	_ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
+			      (1 << MPU600_GYRO_CONFIG_XG_ST) |
+			      (1 << MPU600_GYRO_CONFIG_YG_ST) |
+			      (1 << MPU600_GYRO_CONFIG_ZG_ST) |
+			      (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
 
 	ao_delay(AO_MS_TO_TICKS(200));
-	ao_mpu6000_sample(&test_mode);
+	_ao_mpu6000_sample(&test_mode);
 
 #if TRIDGE
 	// read the product ID rev c has 1/2 the sensitivity of rev d
-    _mpu6000_product_id = _register_read(MPUREG_PRODUCT_ID);
-    //Serial.printf("Product_ID= 0x%x\n", (unsigned) _mpu6000_product_id);
-
-    if ((_mpu6000_product_id == MPU6000ES_REV_C4) || (_mpu6000_product_id == MPU6000ES_REV_C5) ||
-        (_mpu6000_product_id == MPU6000_REV_C4) || (_mpu6000_product_id == MPU6000_REV_C5)) {
-        // Accel scale 8g (4096 LSB/g)
-        // Rev C has different scaling than rev D
-        register_write(MPUREG_ACCEL_CONFIG,1<<3);
-    } else {
-        // Accel scale 8g (4096 LSB/g)
-        register_write(MPUREG_ACCEL_CONFIG,2<<3);
-    }
-    hal.scheduler->delay(1);
+	_mpu6000_product_id = _register_read(MPUREG_PRODUCT_ID);
+	//Serial.printf("Product_ID= 0x%x\n", (unsigned) _mpu6000_product_id);
+
+	if ((_mpu6000_product_id == MPU6000ES_REV_C4) || (_mpu6000_product_id == MPU6000ES_REV_C5) ||
+	    (_mpu6000_product_id == MPU6000_REV_C4) || (_mpu6000_product_id == MPU6000_REV_C5)) {
+		// Accel scale 8g (4096 LSB/g)
+		// Rev C has different scaling than rev D
+		register_write(MPUREG_ACCEL_CONFIG,1<<3);
+	} else {
+		// Accel scale 8g (4096 LSB/g)
+		register_write(MPUREG_ACCEL_CONFIG,2<<3);
+	}
+	hal.scheduler->delay(1);
 
 #endif
 
 	/* Configure accelerometer to +/-16G */
-	ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
-			     (0 << MPU600_ACCEL_CONFIG_XA_ST) |
-			     (0 << MPU600_ACCEL_CONFIG_YA_ST) |
-			     (0 << MPU600_ACCEL_CONFIG_ZA_ST) |
-			     (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
+	_ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
+			      (0 << MPU600_ACCEL_CONFIG_XA_ST) |
+			      (0 << MPU600_ACCEL_CONFIG_YA_ST) |
+			      (0 << MPU600_ACCEL_CONFIG_ZA_ST) |
+			      (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
 
 	/* Configure gyro to +/- 2000°/s */
-	ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
-			     (0 << MPU600_GYRO_CONFIG_XG_ST) |
-			     (0 << MPU600_GYRO_CONFIG_YG_ST) |
-			     (0 << MPU600_GYRO_CONFIG_ZG_ST) |
-			     (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
+	_ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
+			      (0 << MPU600_GYRO_CONFIG_XG_ST) |
+			      (0 << MPU600_GYRO_CONFIG_YG_ST) |
+			      (0 << MPU600_GYRO_CONFIG_ZG_ST) |
+			      (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
 
 	ao_delay(AO_MS_TO_TICKS(10));
-	ao_mpu6000_sample(&normal_mode);
+	_ao_mpu6000_sample(&normal_mode);
 	
 	errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x, "x");
 	errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y, "y");
@@ -275,13 +295,13 @@ ao_mpu6000_setup(void)
 		ao_panic(AO_PANIC_SELF_TEST_MPU6000);
 
 	/* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
-	ao_mpu6000_reg_write(MPU6000_CONFIG,
-			     (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
-			     (MPU6000_CONFIG_DLPF_CFG_94_98 << MPU6000_CONFIG_DLPF_CFG));
+	_ao_mpu6000_reg_write(MPU6000_CONFIG,
+			      (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
+			      (MPU6000_CONFIG_DLPF_CFG_94_98 << MPU6000_CONFIG_DLPF_CFG));
 
 	/* Set sample rate divider to sample at 200Hz (v = gyro/rate - 1) */
-	ao_mpu6000_reg_write(MPU6000_SMPRT_DIV,
-			     1000 / 200 - 1);
+	_ao_mpu6000_reg_write(MPU6000_SMPRT_DIV,
+			      1000 / 200 - 1);
 	
 	ao_delay(AO_MS_TO_TICKS(100));
 	ao_mpu6000_configured = 1;
@@ -292,10 +312,20 @@ struct ao_mpu6000_sample	ao_mpu6000_current;
 static void
 ao_mpu6000(void)
 {
-	ao_mpu6000_setup();
+	/* ao_mpu6000_init already grabbed the SPI bus and mutex */
+	_ao_mpu6000_setup();
+#if AO_MPU6000_SPI
+	ao_mpu6000_spi_put();
+#endif
 	for (;;)
 	{
-		ao_mpu6000_sample(&ao_mpu6000_current);
+#if AO_MPU6000_SPI
+		ao_mpu6000_spi_get();
+#endif
+		_ao_mpu6000_sample(&ao_mpu6000_current);
+#if AO_MPU6000_SPI
+		ao_mpu6000_spi_put();
+#endif	
 		ao_arch_critical(
 			AO_DATA_PRESENT(AO_DATA_MPU6000);
 			AO_DATA_WAIT();
@@ -331,9 +361,20 @@ ao_mpu6000_init(void)
 	ao_mpu6000_configured = 0;
 
 	ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000");
-#ifndef AO_MPU6000_I2C_INDEX
+	
+#if AO_MPU6000_SPI
 	ao_spi_init_cs(AO_MPU6000_SPI_CS_PORT, (1 << AO_MPU6000_SPI_CS_PIN));
+
+	/* Pretend to be the mpu6000 task. Grab the SPI bus right away and
+	 * hold it for the task so that nothing else uses the SPI bus before
+	 * we get the I2C mode disabled in the chip
+	 */
+
+	ao_cur_task = &ao_mpu6000_task;
+	ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz);
+	ao_cur_task = NULL;
 #endif	
+
 	ao_cmd_register(&ao_mpu6000_cmds[0]);
 }
 #endif
diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h
index f01e9e83..a42f69c4 100644
--- a/src/drivers/ao_mpu6000.h
+++ b/src/drivers/ao_mpu6000.h
@@ -133,13 +133,13 @@
 #define MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET	1
 #define MPU6000_SIGNAL_PATH_RESET_TEMP_RESET	0
 
-#define MPU6000_USER_CONTROL		0x6a
-#define MPU6000_USER_CONTROL_FIFO_EN		6
-#define MPU6000_USER_CONTROL_I2C_MST_EN		5
-#define MPU6000_USER_CONTROL_I2C_IF_DIS		4
-#define MPU6000_USER_CONTROL_FIFO_RESET		2
-#define MPU6000_USER_CONTROL_I2C_MST_RESET	1
-#define MPU6000_USER_CONTROL_SIG_COND_RESET	0
+#define MPU6000_USER_CTRL		0x6a
+#define MPU6000_USER_CTRL_FIFO_EN		6
+#define MPU6000_USER_CTRL_I2C_MST_EN		5
+#define MPU6000_USER_CTRL_I2C_IF_DIS		4
+#define MPU6000_USER_CTRL_FIFO_RESET		2
+#define MPU6000_USER_CTRL_I2C_MST_RESET		1
+#define MPU6000_USER_CTRL_SIG_COND_RESET	0
 
 #define MPU6000_PWR_MGMT_1	0x6b
 #define MPU6000_PWR_MGMT_1_DEVICE_RESET		7
diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index 1e78cabc..6fe86e62 100644
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -87,13 +87,16 @@ extern uint16_t	ao_spi_speed[STM_NUM_SPI];
 void
 ao_spi_init(void);
 
+#define ao_spi_set_cs(reg,mask) ((reg)->bsrr = ((uint32_t) (mask)) << 16)
+#define ao_spi_clr_cs(reg,mask) ((reg)->bsrr = (mask))
+
 #define ao_spi_get_mask(reg,mask,bus, speed) do {		\
 		ao_spi_get(bus, speed);				\
-		(reg)->bsrr = ((uint32_t) mask) << 16;	\
+		ao_spi_set_cs(reg,mask);			\
 	} while (0)
 
 #define ao_spi_put_mask(reg,mask,bus) do {	\
-		(reg)->bsrr = mask;		\
+		ao_spi_clr_cs(reg,mask);	\
 		ao_spi_put(bus);		\
 	} while (0)