ish: Trim down the release branchstabilize-wristpin-14469.59.B-ishstabilize-voshyr-14637.B-ishstabilize-quickfix-14695.187.B-ishstabilize-quickfix-14695.124.B-ishstabilize-quickfix-14526.91.B-ishstabilize-14695.85.B-ishstabilize-14695.107.B-ishstabilize-14682.B-ishstabilize-14633.B-ishstabilize-14616.B-ishstabilize-14589.B-ishstabilize-14588.98.B-ishstabilize-14588.14.B-ishstabilize-14588.123.B-ishstabilize-14536.B-ishstabilize-14532.B-ishstabilize-14528.B-ishstabilize-14526.89.B-ishstabilize-14526.84.B-ishstabilize-14526.73.B-ishstabilize-14526.67.B-ishstabilize-14526.57.B-ishstabilize-14498.B-ishstabilize-14496.B-ishstabilize-14477.B-ishstabilize-14469.9.B-ishstabilize-14469.8.B-ishstabilize-14469.58.B-ishstabilize-14469.41.B-ishstabilize-14442.B-ishstabilize-14438.B-ishstabilize-14411.B-ishstabilize-14396.B-ishstabilize-14395.B-ishstabilize-14388.62.B-ishstabilize-14388.61.B-ishstabilize-14388.52.B-ishstabilize-14385.B-ishstabilize-14345.B-ishstabilize-14336.B-ishstabilize-14333.B-ishrelease-R99-14469.B-ishrelease-R98-14388.B-ishrelease-R102-14695.B-ishrelease-R101-14588.B-ishrelease-R100-14526.B-ishfirmware-cherry-14454.B-ishfirmware-brya-14505.B-ishfirmware-brya-14505.71.B-ishfactory-kukui-14374.B-ishfactory-guybrush-14600.B-ishfactory-cherry-14455.B-ishfactory-brya-14517.B-ish

In the interest of making long-term branch maintenance incur as little
technical debt on us as possible, we should not maintain any files on
the branch we are not actually using.

This has the added effect of making it extremely clear when merging CLs
from the main branch when changes have the possibility to affect us.

The follow-on CL adds a convenience script to actually pull updates from
the main branch and generate a CL for the update.

BUG=b:204206272
BRANCH=ish
TEST=make BOARD=arcada_ish && make BOARD=drallion_ish

Signed-off-by: Jack Rosenthal <jrosenth@chromium.org>
Change-Id: I17e4694c38219b5a0823e0a3e55a28d1348f4b18
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3262038
Reviewed-by: Jett Rink <jettrink@chromium.org>
Reviewed-by: Tom Hughes <tomhughes@chromium.org>

1 files changed, 0 insertions, 780 deletions

diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c
deleted file mode 100644
index f92f61d181..0000000000
--- a/driver/accelgyro_bmi160.c
+++ /dev/null
@@ -1,780 +0,0 @@
-/* Copyright 2015 The Chromium OS Authors. All rights reserved.
- * Use of this source code is governed by a BSD-style license that can be
- * found in the LICENSE file.
- */
-
-/**
- * BMI160 accelerometer and gyro module for Chrome EC
- * 3D digital accelerometer & 3D digital gyroscope
- */
-
-#include "accelgyro.h"
-#include "common.h"
-#include "console.h"
-#include "accelgyro_bmi_common.h"
-#include "accelgyro_bmi160.h"
-#include "mag_bmm150.h"
-#include "hwtimer.h"
-#include "i2c.h"
-#include "math_util.h"
-#include "motion_orientation.h"
-#include "motion_sense_fifo.h"
-#include "spi.h"
-#include "task.h"
-#include "timer.h"
-#include "util.h"
-
-#define CPUTS(outstr) cputs(CC_ACCEL, outstr)
-#define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args)
-#define CPRINTS(format, args...) cprints(CC_ACCEL, format, ## args)
-
-#if defined(CONFIG_ZEPHYR) && defined(CONFIG_ACCEL_INTERRUPTS)
-/* Get the motion sensor ID of the BMI160 sensor that generates the interrupt.
- * The interrupt is converted to the event and transferred to motion sense task
- * that actually handles the interrupt.
- *
- * Here we use an alias (bmi160_int) to get the motion sensor ID. This alias
- * MUST be defined for this driver to work.
- * aliases {
- *   bmi160-int = &base_accel;
- * };
- */
-#if DT_NODE_EXISTS(DT_ALIAS(bmi160_int))
-#define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
-	TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(bmi160_int)))
-#endif
-#endif
-
-STATIC_IF(CONFIG_BMI_ORIENTATION_SENSOR) void irq_set_orientation(
-				struct motion_sensor_t *s,
-				int interrupt);
-
-STATIC_IF(CONFIG_ACCEL_FIFO) volatile uint32_t last_interrupt_timestamp;
-
-static int wakeup_time[] = {
-	[MOTIONSENSE_TYPE_ACCEL] = 4,
-	[MOTIONSENSE_TYPE_GYRO] = 80,
-	[MOTIONSENSE_TYPE_MAG] = 1
-};
-
-/**
- * Control access to the compass on the secondary i2c interface:
- * enable values are:
- * 1: manual access, we can issue i2c to the compass
- * 0: data access: BMI160 gather data periodically from the compass.
- */
-static __maybe_unused int bmi160_sec_access_ctrl(
-		const int port,
-		const uint16_t i2c_spi_addr_flags,
-		const int enable)
-{
-	int mag_if_ctrl;
-	bmi_read8(port, i2c_spi_addr_flags,
-		  BMI160_MAG_IF_1, &mag_if_ctrl);
-	if (enable) {
-		mag_if_ctrl |= BMI160_MAG_MANUAL_EN;
-		mag_if_ctrl &= ~BMI160_MAG_READ_BURST_MASK;
-		mag_if_ctrl |= BMI160_MAG_READ_BURST_1;
-	} else {
-		mag_if_ctrl &= ~BMI160_MAG_MANUAL_EN;
-		mag_if_ctrl &= ~BMI160_MAG_READ_BURST_MASK;
-		mag_if_ctrl |= BMI160_MAG_READ_BURST_8;
-	}
-	return bmi_write8(port, i2c_spi_addr_flags,
-			  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 uint16_t i2c_spi_addr_flags,
-			 const uint8_t reg, int *data_ptr)
-{
-	/* Only read 1 bytes */
-	bmi_write8(port, i2c_spi_addr_flags,
-		   BMI160_MAG_I2C_READ_ADDR, reg);
-	return bmi_read8(port, i2c_spi_addr_flags,
-			 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 uint16_t i2c_spi_addr_flags,
-			  const uint8_t reg, int data)
-{
-	bmi_write8(port, i2c_spi_addr_flags,
-		   BMI160_MAG_I2C_WRITE_DATA, data);
-	return bmi_write8(port, i2c_spi_addr_flags,
-			  BMI160_MAG_I2C_WRITE_ADDR, reg);
-}
-
-static int set_data_rate(const struct motion_sensor_t *s,
-				int rate,
-				int rnd)
-{
-	int ret, normalized_rate;
-	uint8_t reg_val;
-	struct accelgyro_saved_data_t *data = BMI_GET_SAVED_DATA(s);
-
-	if (rate == 0) {
-		/* FIFO stop collecting events */
-		if (IS_ENABLED(CONFIG_ACCEL_FIFO))
-			bmi_enable_fifo(s, 0);
-
-		/* go to suspend mode */
-		ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-				 BMI160_CMD_REG,
-				 BMI160_CMD_MODE_SUSPEND(s->type));
-		msleep(3);
-		data->odr = 0;
-		if (IS_ENABLED(CONFIG_MAG_BMI_BMM150) &&
-		    (s->type == MOTIONSENSE_TYPE_MAG)) {
-			struct mag_cal_t *moc = BMM150_CAL(s);
-
-			moc->batch_size = 0;
-		}
-
-		return ret;
-	} else if (data->odr == 0) {
-		/* back from suspend mode. */
-		ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-				 BMI160_CMD_REG,
-				 BMI160_CMD_MODE_NORMAL(s->type));
-		msleep(wakeup_time[s->type]);
-	}
-
-	ret = bmi_get_normalized_rate(s, rate, rnd, &normalized_rate, &reg_val);
-	if (ret)
-		return ret;
-
-	/*
-	 * Lock accel resource to prevent another task from attempting
-	 * to write accel parameters until we are done.
-	 */
-	mutex_lock(s->mutex);
-
-	ret = bmi_set_reg8(s, BMI_CONF_REG(s->type),
-			   reg_val, BMI_ODR_MASK);
-	if (ret != EC_SUCCESS)
-		goto accel_cleanup;
-
-	/* Now that we have set the odr, update the driver's value. */
-	data->odr = normalized_rate;
-
-	if (IS_ENABLED(CONFIG_MAG_BMI_BMM150) &&
-	    (s->type == MOTIONSENSE_TYPE_MAG)) {
-		struct mag_cal_t *moc = BMM150_CAL(s);
-
-		/* Reset the calibration */
-		init_mag_cal(moc);
-		/*
-		 * We need at least MIN_BATCH_SIZE amd we must have collected
-		 * for at least MIN_BATCH_WINDOW_US.
-		 * Given odr is in mHz, multiply by 1000x
-		 */
-		moc->batch_size = MAX(
-			MAG_CAL_MIN_BATCH_SIZE,
-			(data->odr * 1000) / (MAG_CAL_MIN_BATCH_WINDOW_US));
-		CPRINTS("Batch size: %d", moc->batch_size);
-	}
-
-	/*
-	 * FIFO start collecting events.
-	 * They will be discarded if AP does not want them.
-	 */
-	if (IS_ENABLED(CONFIG_ACCEL_FIFO))
-		bmi_enable_fifo(s, 1);
-
-accel_cleanup:
-	mutex_unlock(s->mutex);
-	return ret;
-}
-
-static int set_offset(const struct motion_sensor_t *s,
-			const int16_t *offset,
-			int16_t    temp)
-{
-	int ret, val98;
-	intv3_t v = { offset[X], offset[Y], offset[Z] };
-
-	rotate_inv(v, *s->rot_standard_ref, v);
-
-	ret = bmi_read8(s->port, s->i2c_spi_addr_flags,
-			BMI160_OFFSET_EN_GYR98, &val98);
-	if (ret != 0)
-		return ret;
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		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:
-		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);
-		break;
-#ifdef CONFIG_MAG_BMI_BMM150
-	case MOTIONSENSE_TYPE_MAG:
-		ret = bmm150_set_offset(s, v);
-		break;
-#endif /* defined(CONFIG_MAG_BMI_BMM150) */
-	default:
-		ret = EC_RES_INVALID_PARAM;
-	}
-	return ret;
-}
-
-static int perform_calib(struct motion_sensor_t *s, int enable)
-{
-	int ret, val, en_flag, status, rate, range = s->current_range;
-	timestamp_t deadline, timeout;
-
-	if (!enable)
-		return EC_SUCCESS;
-
-	rate = bmi_get_data_rate(s);
-	/*
-	 * Temporary set frequency to 100Hz to get enough data in a short
-	 * period of time.
-	 */
-	ret = set_data_rate(s, 100000, 0);
-	if (ret != EC_SUCCESS)
-		goto end_perform_calib;
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		/* We assume the device is laying flat for calibration */
-		if (s->rot_standard_ref == NULL ||
-		    (*s->rot_standard_ref)[2][2] > INT_TO_FP(0))
-			val = BMI160_FOC_ACC_PLUS_1G;
-		else
-			val = BMI160_FOC_ACC_MINUS_1G;
-		val = (BMI160_FOC_ACC_0G << BMI160_FOC_ACC_X_OFFSET) |
-			(BMI160_FOC_ACC_0G << BMI160_FOC_ACC_Y_OFFSET) |
-			(val << BMI160_FOC_ACC_Z_OFFSET);
-		en_flag = BMI160_OFFSET_ACC_EN;
-		/*
-		 * Temporary set range to minimum to run calibration with
-		 * full sensitivity
-		 */
-		bmi_set_range(s, 2, 0);
-		/* Timeout for accelerometer calibration */
-		timeout.val = 400 * MSEC;
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		val = BMI160_FOC_GYRO_EN;
-		en_flag = BMI160_OFFSET_GYRO_EN;
-		/*
-		 * Temporary set range to minimum to run calibration with
-		 * full sensitivity
-		 */
-		bmi_set_range(s, 125, 0);
-		/* Timeout for gyroscope calibration */
-		timeout.val = 800 * MSEC;
-		break;
-	default:
-		/* Not supported on Magnetometer */
-		ret = EC_RES_INVALID_PARAM;
-		goto end_perform_calib;
-	}
-	ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-			 BMI160_FOC_CONF, val);
-	ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-			 BMI160_CMD_REG, BMI160_CMD_START_FOC);
-	deadline.val = get_time().val + timeout.val;
-	do {
-		if (timestamp_expired(deadline, NULL)) {
-			ret = EC_RES_TIMEOUT;
-			goto end_perform_calib;
-		}
-		msleep(50);
-		ret = bmi_read8(s->port, s->i2c_spi_addr_flags,
-				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 = bmi_enable_reg8(s, BMI160_OFFSET_EN_GYR98, en_flag, 1);
-end_perform_calib:
-	bmi_set_range(s, range, 0);
-	set_data_rate(s, rate, 0);
-	return ret;
-}
-
-/*
- * Manage gesture recognition.
- * Defined even if host interface is not defined, to enable double tap even
- * when the host does not deal with gesture.
- */
-#ifdef CONFIG_GESTURE_HOST_DETECTION
-static int manage_activity(const struct motion_sensor_t *s,
-			   enum motionsensor_activity activity,
-			   int enable,
-			   const struct ec_motion_sense_activity *param)
-{
-	int ret;
-	struct bmi_drv_data_t *data = BMI_GET_DATA(s);
-
-	switch (activity) {
-#ifdef CONFIG_GESTURE_SIGMO
-	case MOTIONSENSE_ACTIVITY_SIG_MOTION: {
-		if (enable) {
-			/* We should use parameters from caller */
-			bmi_write8(s->port, s->i2c_spi_addr_flags,
-				BMI160_INT_MOTION_3,
-				BMI160_MOTION_PROOF_TIME(
-					CONFIG_GESTURE_SIGMO_PROOF_MS) <<
-				BMI160_MOTION_PROOF_OFF |
-				BMI160_MOTION_SKIP_TIME(
-					CONFIG_GESTURE_SIGMO_SKIP_MS) <<
-				BMI160_MOTION_SKIP_OFF |
-				BMI160_MOTION_SIG_MOT_SEL);
-			bmi_write8(s->port, s->i2c_spi_addr_flags,
-				BMI160_INT_MOTION_1,
-				BMI160_MOTION_TH(s,
-					CONFIG_GESTURE_SIGMO_THRES_MG));
-		}
-		ret = bmi_enable_reg8(s, BMI160_INT_EN_0,
-				      BMI160_INT_ANYMO_X_EN |
-				      BMI160_INT_ANYMO_Y_EN |
-				      BMI160_INT_ANYMO_Z_EN,
-				      enable);
-		if (ret)
-			ret = EC_RES_UNAVAILABLE;
-		break;
-	}
-#endif
-#ifdef CONFIG_GESTURE_SENSOR_DOUBLE_TAP
-	case MOTIONSENSE_ACTIVITY_DOUBLE_TAP: {
-		/* Set double tap interrupt */
-		ret = bmi_enable_reg8(s, BMI160_INT_EN_0,
-				      BMI160_INT_D_TAP_EN,
-				      enable);
-		if (ret)
-			ret = EC_RES_UNAVAILABLE;
-		break;
-	}
-#endif
-	default:
-		ret = EC_RES_INVALID_PARAM;
-	}
-	if (ret == EC_RES_SUCCESS) {
-		if (enable) {
-			data->enabled_activities |= 1 << activity;
-			data->disabled_activities &= ~BIT(activity);
-		} else {
-			data->enabled_activities &= ~BIT(activity);
-			data->disabled_activities |= 1 << activity;
-		}
-	}
-	return ret;
-}
-#endif
-
-static __maybe_unused int config_interrupt(const struct motion_sensor_t *s)
-{
-	int ret, tmp;
-
-	if (s->type != MOTIONSENSE_TYPE_ACCEL)
-		return EC_SUCCESS;
-
-	mutex_lock(s->mutex);
-	bmi_write8(s->port, s->i2c_spi_addr_flags,
-		   BMI160_CMD_REG, BMI160_CMD_FIFO_FLUSH);
-	bmi_write8(s->port, s->i2c_spi_addr_flags,
-		   BMI160_CMD_REG, BMI160_CMD_INT_RESET);
-
-	if (IS_ENABLED(CONFIG_GESTURE_SENSOR_DOUBLE_TAP)) {
-		bmi_write8(s->port, s->i2c_spi_addr_flags,
-				BMI160_INT_TAP_0,
-				BMI160_TAP_DUR(s, CONFIG_GESTURE_TAP_MAX_INTERSTICE_T));
-		ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-				BMI160_INT_TAP_1,
-				BMI160_TAP_TH(s, CONFIG_GESTURE_TAP_THRES_MG));
-	}
-	/* only use orientation sensor on the lid sensor */
-	if (IS_ENABLED(CONFIG_BMI_ORIENTATION_SENSOR) &&
-	    (s->location == MOTIONSENSE_LOC_LID)) {
-		ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-				 BMI160_INT_ORIENT_0,
-				 BMI160_INT_ORIENT_0_INIT_VAL);
-		ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-				 BMI160_INT_ORIENT_1,
-				 BMI160_INT_ORIENT_1_INIT_VAL);
-	}
-
-	if (IS_ENABLED(CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT)) {
-		ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-				BMI160_INT_LATCH, BMI160_LATCH_5MS);
-	} else {
-		/* Also, configure int2 as an external input. */
-		ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-				BMI160_INT_LATCH,
-				BMI160_INT2_INPUT_EN | BMI160_LATCH_5MS);
-	}
-
-	/* configure int1 as an interrupt */
-	ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-			 BMI160_INT_OUT_CTRL,
-			 BMI160_INT_CTRL(1, OUTPUT_EN));
-
-	/* Map activity interrupt to int 1 */
-	tmp = 0;
-	if (IS_ENABLED(CONFIG_GESTURE_SIGMO)) {
-		tmp |= BMI160_INT_ANYMOTION;
-	} else if (IS_ENABLED(CONFIG_GESTURE_SENSOR_DOUBLE_TAP)) {
-		tmp |= BMI160_INT_D_TAP;
-	} else if (IS_ENABLED(CONFIG_BMI_ORIENTATION_SENSOR) &&
-		   (s->location == MOTIONSENSE_LOC_LID)) {
-		/* enable orientation interrupt for lid sensor only */
-		tmp |= BMI160_INT_ORIENT;
-	}
-	ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-			 BMI160_INT_MAP_REG(1), tmp);
-
-	if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
-		/* map fifo water mark to int 1 */
-		ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-				 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 = bmi_write8(s->port, s->i2c_spi_addr_flags,
-				 BMI160_FIFO_CONFIG_0, 1);
-		if (IS_ENABLED(CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT))
-			ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-					BMI160_FIFO_CONFIG_1,
-					BMI160_FIFO_HEADER_EN);
-		else
-			ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-					BMI160_FIFO_CONFIG_1,
-					BMI160_FIFO_TAG_INT2_EN |
-					BMI160_FIFO_HEADER_EN);
-
-		/* Set fifo*/
-		bmi_enable_reg8(s, BMI160_INT_EN_1,
-				BMI160_INT_FWM_EN | BMI160_INT_FFUL_EN, 1);
-	}
-	mutex_unlock(s->mutex);
-	return ret;
-}
-
-#ifdef CONFIG_ACCEL_INTERRUPTS
-#ifdef CONFIG_BMI_ORIENTATION_SENSOR
-static void irq_set_orientation(struct motion_sensor_t *s,
-				int interrupt)
-{
-	int shifted_masked_orientation =
-		(interrupt >> 24) & BMI160_ORIENT_XY_MASK;
-	if (BMI_GET_DATA(s)->raw_orientation != shifted_masked_orientation) {
-		enum motionsensor_orientation orientation =
-			MOTIONSENSE_ORIENTATION_UNKNOWN;
-
-		BMI_GET_DATA(s)->raw_orientation =
-			shifted_masked_orientation;
-
-		switch (shifted_masked_orientation) {
-		case BMI160_ORIENT_PORTRAIT:
-			orientation = MOTIONSENSE_ORIENTATION_PORTRAIT;
-			break;
-		case BMI160_ORIENT_PORTRAIT_INVERT:
-			orientation =
-				MOTIONSENSE_ORIENTATION_UPSIDE_DOWN_PORTRAIT;
-			break;
-		case BMI160_ORIENT_LANDSCAPE:
-			orientation = MOTIONSENSE_ORIENTATION_LANDSCAPE;
-			break;
-		case BMI160_ORIENT_LANDSCAPE_INVERT:
-			orientation =
-				MOTIONSENSE_ORIENTATION_UPSIDE_DOWN_LANDSCAPE;
-			break;
-		default:
-			break;
-		}
-		orientation = motion_orientation_remap(s, orientation);
-		*motion_orientation_ptr(s) = orientation;
-	}
-}
-#endif  /* CONFIG_BMI_ORIENTATION_SENSOR */
-
-/**
- * bmi160_interrupt - called when the sensor activates the interrupt line.
- *
- * This is a "top half" interrupt handler, it just asks motion sense ask
- * to schedule the "bottom half", ->irq_handler().
- */
-void bmi160_interrupt(enum gpio_signal signal)
-{
-	if (IS_ENABLED(CONFIG_ACCEL_FIFO))
-		last_interrupt_timestamp = __hw_clock_source_read();
-
-	task_set_event(TASK_ID_MOTIONSENSE, CONFIG_ACCELGYRO_BMI160_INT_EVENT);
-}
-
-/**
- * irq_handler - bottom half of the interrupt stack.
- * Ran from the motion_sense task, finds the events that raised the interrupt.
- *
- * For now, we just print out. We should set a bitmask motion sense code will
- * act upon.
- */
-static int irq_handler(struct motion_sensor_t *s,
-				      uint32_t *event)
-{
-	uint32_t interrupt;
-	int8_t has_read_fifo = 0;
-	int rv;
-
-	if ((s->type != MOTIONSENSE_TYPE_ACCEL) ||
-			(!(*event & CONFIG_ACCELGYRO_BMI160_INT_EVENT)))
-		return EC_ERROR_NOT_HANDLED;
-
-	do {
-		rv = bmi_read16(s->port, s->i2c_spi_addr_flags,
-				BMI160_INT_STATUS_0, &interrupt);
-		/*
-		 * Bail out of this loop there was an error reading the register
-		 */
-		if (rv)
-			return rv;
-
-		if (IS_ENABLED(CONFIG_GESTURE_SENSOR_DOUBLE_TAP) &&
-		    (interrupt & BMI160_D_TAP_INT))
-			*event |= TASK_EVENT_MOTION_ACTIVITY_INTERRUPT(
-					MOTIONSENSE_ACTIVITY_DOUBLE_TAP);
-		if (IS_ENABLED(CONFIG_GESTURE_SIGMO) &&
-		    (interrupt & BMI160_SIGMOT_INT))
-			*event |= TASK_EVENT_MOTION_ACTIVITY_INTERRUPT(
-					MOTIONSENSE_ACTIVITY_SIG_MOTION);
-		if (IS_ENABLED(CONFIG_ACCEL_FIFO) &&
-		    (interrupt & (BMI160_FWM_INT | BMI160_FFULL_INT))) {
-			bmi_load_fifo(s, last_interrupt_timestamp);
-			has_read_fifo = 1;
-		}
-		if (IS_ENABLED(CONFIG_BMI_ORIENTATION_SENSOR))
-			irq_set_orientation(s, interrupt);
-	} while (interrupt != 0);
-
-	if (IS_ENABLED(CONFIG_ACCEL_FIFO) && has_read_fifo)
-		motion_sense_fifo_commit_data();
-
-	return EC_SUCCESS;
-}
-#endif  /* CONFIG_ACCEL_INTERRUPTS */
-
-static int init(struct motion_sensor_t *s)
-{
-	int ret = 0, tmp, i;
-	struct accelgyro_saved_data_t *saved_data = BMI_GET_SAVED_DATA(s);
-
-	ret = bmi_read8(s->port, s->i2c_spi_addr_flags,
-			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. */
-		bmi_write8(s->port, s->i2c_spi_addr_flags,
-			   BMI160_CMD_REG, BMI160_CMD_EXT_MODE_EN_B0);
-		bmi_write8(s->port, s->i2c_spi_addr_flags,
-			   BMI160_CMD_REG, BMI160_CMD_EXT_MODE_EN_B1);
-		bmi_write8(s->port, s->i2c_spi_addr_flags,
-			   BMI160_CMD_REG, BMI160_CMD_EXT_MODE_EN_B2);
-		bmi_write8(s->port, s->i2c_spi_addr_flags,
-			   BMI160_CMD_EXT_MODE_ADDR, BMI160_CMD_PAGING_EN);
-		bmi_write8(s->port, s->i2c_spi_addr_flags,
-			   BMI160_CMD_EXT_MODE_ADDR, 0);
-		return EC_ERROR_ACCESS_DENIED;
-	}
-
-
-	if (s->type == MOTIONSENSE_TYPE_ACCEL) {
-		struct bmi_drv_data_t *data = BMI_GET_DATA(s);
-
-		/* Reset the chip to be in a good state */
-		bmi_write8(s->port, s->i2c_spi_addr_flags,
-			   BMI160_CMD_REG, BMI160_CMD_SOFT_RESET);
-		msleep(1);
-		data->flags &= ~(BMI_FLAG_SEC_I2C_ENABLED |
-				(BMI_FIFO_ALL_MASK <<
-				 BMI_FIFO_FLAG_OFFSET));
-		if (IS_ENABLED(CONFIG_GESTURE_HOST_DETECTION)) {
-			data->enabled_activities = 0;
-			data->disabled_activities = 0;
-			if (IS_ENABLED(CONFIG_GESTURE_SIGMO))
-				data->disabled_activities |=
-					BIT(MOTIONSENSE_ACTIVITY_SIG_MOTION);
-			if (IS_ENABLED(CONFIG_GESTURE_SENSOR_DOUBLE_TAP))
-				data->disabled_activities |=
-					BIT(MOTIONSENSE_ACTIVITY_DOUBLE_TAP);
-		}
-		/* To avoid gyro wakeup */
-		bmi_write8(s->port, s->i2c_spi_addr_flags,
-			   BMI160_PMU_TRIGGER, 0);
-	}
-
-#ifdef CONFIG_BMI_SEC_I2C
-	if (s->type == MOTIONSENSE_TYPE_MAG) {
-		struct bmi_drv_data_t *data = BMI_GET_DATA(s);
-
-		/*
-		 * To be able to configure the real magnetometer, we must set
-		 * the BMI160 magnetometer part (a pass through) in normal mode.
-		 */
-		bmi_write8(s->port, s->i2c_spi_addr_flags,
-			   BMI160_CMD_REG, BMI160_CMD_MODE_NORMAL(s->type));
-		msleep(wakeup_time[s->type]);
-
-		if ((data->flags & BMI_FLAG_SEC_I2C_ENABLED) == 0) {
-			int ext_page_reg;
-			/* Enable secondary interface */
-			/*
-			 * This is not part of the normal configuration but from
-			 * code on Bosh github repo:
-			 * https://github.com/BoschSensortec/BMI160_driver
-			 *
-			 * Magic command sequences
-			 */
-			bmi_write8(s->port, s->i2c_spi_addr_flags,
-				   BMI160_CMD_REG, BMI160_CMD_EXT_MODE_EN_B0);
-			bmi_write8(s->port, s->i2c_spi_addr_flags,
-				   BMI160_CMD_REG, BMI160_CMD_EXT_MODE_EN_B1);
-			bmi_write8(s->port, s->i2c_spi_addr_flags,
-				   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.
-			 */
-			bmi_enable_reg8(s, BMI160_CMD_EXT_MODE_ADDR,
-					BMI160_CMD_TARGET_PAGE, 1);
-			bmi_enable_reg8(s, BMI160_CMD_EXT_MODE_ADDR,
-					BMI160_CMD_PAGING_EN, 1);
-			bmi_enable_reg8(s, BMI160_COM_C_TRIM_ADDR,
-					BMI160_COM_C_TRIM, 1);
-			bmi_enable_reg8(s, BMI160_CMD_EXT_MODE_ADDR,
-					BMI160_CMD_TARGET_PAGE, 0);
-			bmi_read8(s->port, s->i2c_spi_addr_flags,
-				  BMI160_CMD_EXT_MODE_ADDR, &ext_page_reg);
-
-			/* Set the i2c address of the compass */
-			ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-					 BMI160_MAG_IF_0,
-					 I2C_STRIP_FLAGS(
-					     CONFIG_ACCELGYRO_SEC_ADDR_FLAGS)
-					 << 1);
-
-			/* Enable the secondary interface as I2C */
-			ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
-					 BMI160_IF_CONF,
-					 BMI160_IF_MODE_AUTO_I2C <<
-					     BMI160_IF_MODE_OFF);
-			data->flags |= BMI_FLAG_SEC_I2C_ENABLED;
-		}
-
-
-		bmi160_sec_access_ctrl(s->port, s->i2c_spi_addr_flags, 1);
-
-		ret = bmm150_init(s);
-		if (ret)
-			/* Leave the compass open for tinkering. */
-			return ret;
-
-		/* Leave the address for reading the data */
-		bmi_write8(s->port, s->i2c_spi_addr_flags,
-			   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->i2c_spi_addr_flags, 0);
-
-		/*
-		 * Clean interrupt event that may have occurred while the
-		 * BMI160 was in management mode.
-		 */
-		task_set_event(TASK_ID_MOTIONSENSE,
-			       CONFIG_ACCELGYRO_BMI160_INT_EVENT);
-	}
-#endif
-
-	for (i = X; i <= Z; i++)
-		saved_data->scale[i] = MOTION_SENSE_DEFAULT_SCALE;
-	/*
-	 * The sensor is in Suspend mode at init,
-	 * so set data rate to 0.
-	 */
-	saved_data->odr = 0;
-
-	if (IS_ENABLED(CONFIG_ACCEL_INTERRUPTS) &&
-	    (s->type == MOTIONSENSE_TYPE_ACCEL))
-		ret = config_interrupt(s);
-
-	return sensor_init_done(s);
-}
-
-const struct accelgyro_drv bmi160_drv = {
-	.init = init,
-	.read = bmi_read,
-	.set_range = bmi_set_range,
-	.get_resolution = bmi_get_resolution,
-	.set_data_rate = set_data_rate,
-	.get_data_rate = bmi_get_data_rate,
-	.set_offset = set_offset,
-	.get_scale = bmi_get_scale,
-	.set_scale = bmi_set_scale,
-	.get_offset = bmi_get_offset,
-	.perform_calib = perform_calib,
-	.read_temp = bmi_read_temp,
-#ifdef CONFIG_ACCEL_INTERRUPTS
-	.irq_handler = irq_handler,
-#endif
-#ifdef CONFIG_GESTURE_HOST_DETECTION
-	.manage_activity = manage_activity,
-	.list_activities = bmi_list_activities,
-#endif
-#ifdef CONFIG_BODY_DETECTION
-	.get_rms_noise = bmi_get_rms_noise,
-#endif
-};
-
-#ifdef CONFIG_CMD_I2C_STRESS_TEST_ACCEL
-struct i2c_stress_test_dev bmi160_i2c_stress_test_dev = {
-	.reg_info = {
-		.read_reg = BMI160_CHIP_ID,
-		.read_val = BMI160_CHIP_ID_MAJOR,
-		.write_reg = BMI160_PMU_TRIGGER,
-	},
-	.i2c_read = &bmi_read8,
-	.i2c_write = &bmi_write8,
-};
-#endif /* CONFIG_CMD_I2C_STRESS_TEST_ACCEL */
-
-/*
- * TODO(chingkang): Replace bmi160_get_sensor_temp in some board config to
- *                  bmi_get_sensor_temp. Then, remove this definition.
- */
-int bmi160_get_sensor_temp(int idx, int *temp_ptr)
-{
-	return bmi_get_sensor_temp(idx, temp_ptr);
-}