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, 1132 deletions

diff --git a/driver/accelgyro_bmi3xx.c b/driver/accelgyro_bmi3xx.c
deleted file mode 100644
index ee9b30a9cf..0000000000
--- a/driver/accelgyro_bmi3xx.c
+++ /dev/null
@@ -1,1132 +0,0 @@
-/* Copyright 2021 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.
- */
-
-/**
- * BMI3XX accelerometer and gyroscope module for Chrome EC
- * 3D digital accelerometer & 3D digital gyroscope
- */
-
-#include "accelgyro.h"
-#include "accelgyro_bmi323.h"
-#include "accelgyro_bmi_common.h"
-#include "console.h"
-#include "hwtimer.h"
-#include "i2c.h"
-#include "init_rom.h"
-#include "math_util.h"
-#include "motion_sense_fifo.h"
-#include "spi.h"
-#include "task.h"
-#include "timer.h"
-#include "util.h"
-#include "watchdog.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)
-
-/* Sensor definition */
-STATIC_IF(CONFIG_BMI_ORIENTATION_SENSOR) void irq_set_orientation(
-						struct motion_sensor_t *s);
-
-STATIC_IF(CONFIG_ACCEL_FIFO) volatile uint32_t last_interrupt_timestamp;
-
-static inline int bmi3_read_n(const struct motion_sensor_t *s, const int reg,
-			      uint8_t *data_ptr, const int len)
-{
-	return bmi_read_n(s->port, s->i2c_spi_addr_flags, reg, data_ptr, len);
-}
-
-static inline int bmi3_write_n(const struct motion_sensor_t *s, const int reg,
-			       uint8_t *data_ptr, const int len)
-{
-	return bmi_write_n(s->port, s->i2c_spi_addr_flags, reg, data_ptr, len);
-}
-
-#ifdef CONFIG_ACCEL_INTERRUPTS
-
-#ifdef CONFIG_BMI_ORIENTATION_SENSOR
-
-static void irq_set_orientation(struct motion_sensor_t *s)
-{
-	int ret;
-	uint8_t reg_data[4];
-	uint8_t orient_data;
-
-	enum motionsensor_orientation orientation =
-					MOTIONSENSE_ORIENTATION_UNKNOWN;
-
-	RETURN_ERROR(bmi3_read_n(s, BMI3_FEATURE_EVENT_EXT, reg_data, 4));
-
-	orient_data = reg_data[2] & BMI3_PORTRAIT_LANDSCAPE_MASK;
-
-	if (BMI_GET_DATA(s)->raw_orientation != orient_data) {
-		BMI_GET_DATA(s)->raw_orientation = orient_data;
-
-		switch (orient_data) {
-		case BMI3_ORIENT_PORTRAIT:
-			orientation = MOTIONSENSE_ORIENTATION_PORTRAIT;
-			break;
-		case BMI3_PORTRAIT_INVERT:
-			orientation =
-				MOTIONSENSE_ORIENTATION_UPSIDE_DOWN_PORTRAIT;
-			break;
-		case BMI3_LANDSCAPE:
-			orientation = MOTIONSENSE_ORIENTATION_LANDSCAPE;
-			break;
-		case BMI3_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 */
-
-/*
- * bmi3xx_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 bmi3xx_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_BMI3XX_INT_EVENT);
-}
-
-static int enable_fifo(const struct motion_sensor_t *s, int enable)
-{
-	struct bmi_drv_data_t *data = BMI_GET_DATA(s);
-	/* Set FIFO config to enable accel gyro data */
-	uint8_t reg_data[4];
-
-	RETURN_ERROR(bmi3_read_n(s, BMI3_REG_FIFO_CONF, reg_data, 4));
-
-	if (enable) {
-		if (s->type == MOTIONSENSE_TYPE_ACCEL)
-			reg_data[3] |= BMI3_FIFO_ACC_EN;
-		else
-			reg_data[3] |=  BMI3_FIFO_GYR_EN;
-
-		data->flags |= 1 << (s->type + BMI_FIFO_FLAG_OFFSET);
-	} else {
-		if (s->type == MOTIONSENSE_TYPE_ACCEL)
-			reg_data[3] &= ~BMI3_FIFO_ACC_EN;
-		else
-			reg_data[3] &=  ~BMI3_FIFO_GYR_EN;
-
-		data->flags &= ~(1 << (s->type + BMI_FIFO_FLAG_OFFSET));
-	}
-
-	return bmi3_write_n(s, BMI3_REG_FIFO_CONF, &reg_data[2], 2);
-}
-
-static int config_interrupt(const struct motion_sensor_t *s)
-{
-	int ret;
-	uint8_t reg_data[6] = {0};
-
-	if (s->type != MOTIONSENSE_TYPE_ACCEL)
-		return EC_SUCCESS;
-
-	mutex_lock(s->mutex);
-
-	/* Clear the FIFO using Flush command */
-	reg_data[0] = BMI3_ENABLE;
-	reg_data[1] = 0;
-	ret = bmi3_write_n(s, BMI3_REG_FIFO_CTRL, reg_data, 2);
-	if (ret)
-		goto err_unlock;
-
-	/* Map FIFO water-mark and FIFO full to INT1 pin */
-	ret = bmi3_read_n(s, BMI3_REG_INT_MAP1, reg_data, 6);
-	if (ret)
-		goto err_unlock;
-
-	reg_data[5] = BMI3_SET_BITS(reg_data[5], BMI3_FWM_INT, BMI3_INT1);
-	reg_data[5] = BMI3_SET_BITS(reg_data[5], BMI3_FFULL_INT, BMI3_INT1);
-	if (IS_ENABLED(CONFIG_BMI_ORIENTATION_SENSOR)) {
-		/* Map orientation to INT1 pin */
-		reg_data[2] = BMI3_SET_BITS(reg_data[2], BMI3_ORIENT_INT,
-						BMI3_INT1);
-	}
-
-	ret = bmi3_write_n(s, BMI3_REG_INT_MAP1, &reg_data[2], 4);
-	if (ret)
-		goto err_unlock;
-
-	/* Set FIFO water-mark to read data whenever available */
-	reg_data[0] = BMI3_FIFO_ENTRY;
-	reg_data[1] = 0;
-
-	ret = bmi3_write_n(s, BMI3_REG_FIFO_WATERMARK, reg_data, 2);
-	if (ret)
-		goto err_unlock;
-
-	/* Get the previous configuration data */
-	ret = bmi3_read_n(s, BMI3_REG_IO_INT_CTRL, reg_data, 4);
-	if (ret)
-		goto err_unlock;
-
-	reg_data[2] = BMI3_SET_BIT_POS0(reg_data[2], BMI3_INT1_LVL,
-					BMI3_INT_ACTIVE_LOW);
-
-	reg_data[2] = BMI3_SET_BITS(reg_data[2], BMI3_INT1_OD,
-				    BMI3_INT_PUSH_PULL);
-
-	reg_data[2] = BMI3_SET_BITS(reg_data[2], BMI3_INT1_OUTPUT_EN,
-				    BMI3_INT_OUTPUT_ENABLE);
-
-	/*
-	 * Set the interrupt pin configurations
-	 */
-	ret = bmi3_write_n(s, BMI3_REG_IO_INT_CTRL, &reg_data[2], 2);
-	if (ret)
-		goto err_unlock;
-
-	if (IS_ENABLED(CONFIG_BMI_ORIENTATION_SENSOR)) {
-		/* Enable the orientation feature in BMI3 */
-		ret = bmi3_read_n(s, BMI3_FEATURE_IO_0, reg_data, 4);
-		if (ret)
-			goto err_unlock;
-
-		reg_data[2] |= BMI3_ANY_MOTION_X_EN_MASK;
-		ret = bmi3_write_n(s, BMI3_FEATURE_IO_0, &reg_data[2], 2);
-		if (ret)
-			goto err_unlock;
-
-		/* Write to feature engine */
-		reg_data[0] = 1;
-		reg_data[1] = 0;
-		ret = bmi3_write_n(s, BMI3_FEATURE_IO_STATUS, reg_data, 2);
-	}
-
-err_unlock:
-	mutex_unlock(s->mutex);
-	return ret;
-}
-
-static void bmi3_parse_fifo_data(struct motion_sensor_t *s,
-				 struct bmi3_fifo_frame *fifo_frame,
-				 uint32_t last_ts)
-{
-	struct bmi_drv_data_t *data = BMI_GET_DATA(s);
-	struct ec_response_motion_sensor_data vect;
-	uint16_t reg_data;
-	intv3_t v;
-	int i;
-
-	/* Start index for FIFO parsing after I2C sync word removal */
-	size_t fifo_index = 1;
-
-	/* Variable to store I2C sync data which will get in FIFO data */
-	uint16_t i2c_sync_data, fifo_size;
-
-	if (!(data->flags & (BMI_FIFO_ALL_MASK << BMI_FIFO_FLAG_OFFSET))) {
-		/*
-		 * The FIFO was disabled while we were processing it
-		 * Flush potential left over:
-		 * When sensor is resumed, we won't read old data.
-		 */
-
-		/* Clear the FIFO using Flush command */
-		reg_data = BMI3_ENABLE;
-		bmi3_write_n(s, BMI3_REG_FIFO_CTRL, (uint8_t *)&reg_data, 2);
-		return;
-	}
-
-	/* Parse the length of data read excluding I2C sync word */
-	fifo_size = fifo_frame->available_fifo_len - 1;
-
-	while (fifo_size > 0) {
-		for (i = 0; i < NUM_OF_PRIMARY_SENSOR; i++) {
-			struct motion_sensor_t *sens_output = s + i;
-
-			if (data->flags & BIT(i + BMI_FIFO_FLAG_OFFSET)) {
-				/*
-				 * In-case of FIFO read fail it has only
-				 * 0x8000.
-				 */
-				if (fifo_frame->data[fifo_index] == 0x8000)
-					break;
-
-				/*
-				 * In case the frame has been cut, FIFO was
-				 * greater than our buffer.
-				 */
-				if (fifo_size < BMI3_FIFO_ENTRY)
-					break;
-
-				/* Frame is complete, but may have no data. */
-				fifo_size -= BMI3_FIFO_ENTRY;
-				i2c_sync_data = fifo_frame->data[fifo_index++];
-				if (i2c_sync_data ==
-				    BMI3_FIFO_ACCEL_I2C_SYNC_FRAME + i) {
-					fifo_index += 2;
-					continue;
-				}
-
-				v[X] = i2c_sync_data;
-				v[Y] = fifo_frame->data[fifo_index++];
-				v[Z] = fifo_frame->data[fifo_index++];
-
-				rotate(v, *sens_output->rot_standard_ref, v);
-
-				vect.data[X] = v[X];
-				vect.data[Y] = v[Y];
-				vect.data[Z] = v[Z];
-				vect.flags = 0;
-				vect.sensor_num = sens_output - motion_sensors;
-				motion_sense_fifo_stage_data(&vect,
-						sens_output, 3, last_ts);
-			}
-		}
-	}
-}
-
-/*
- * 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)
-{
-	bool has_read_fifo = false;
-	uint16_t int_status[2];
-	uint16_t reg_data[2];
-	struct bmi3_fifo_frame fifo_frame;
-
-	if ((s->type != MOTIONSENSE_TYPE_ACCEL) ||
-	    (!(*event & CONFIG_ACCELGYRO_BMI3XX_INT_EVENT)))
-		return EC_ERROR_NOT_HANDLED;
-
-	/* Get the interrupt status */
-	do {
-		RETURN_ERROR(bmi3_read_n(s, BMI3_REG_INT_STATUS_INT1,
-					 (uint8_t *)int_status, 4));
-
-		if (IS_ENABLED(CONFIG_BMI_ORIENTATION_SENSOR) &&
-		    (BMI3_INT_STATUS_ORIENTATION & int_status[1]))
-			irq_set_orientation(s);
-
-		if ((int_status[1] &
-		    (BMI3_INT_STATUS_FWM | BMI3_INT_STATUS_FFULL)) == 0)
-			break;
-
-		/* Get the FIFO fill level in words */
-		RETURN_ERROR(bmi3_read_n(s, BMI3_REG_FIFO_FILL_LVL,
-					 (uint8_t *)reg_data, 4));
-
-		reg_data[1] = BMI3_GET_BIT_POS0(reg_data[1],
-						BMI3_FIFO_FILL_LVL);
-
-		/* Add space for the initial 16bit read. */
-		fifo_frame.available_fifo_len = reg_data[1] + 1;
-
-		/*
-		 * If fill level is greater than buffer size then wrap it to
-		 * buffer size.
-		 */
-		if (fifo_frame.available_fifo_len > ARRAY_SIZE(fifo_frame.data))
-			CPRINTS("unexpected large FIFO: %d",
-					fifo_frame.available_fifo_len);
-
-		fifo_frame.available_fifo_len =
-			MIN(fifo_frame.available_fifo_len,
-					ARRAY_SIZE(fifo_frame.data));
-		/* Read FIFO data */
-		RETURN_ERROR(bmi3_read_n(s, BMI3_REG_FIFO_DATA,
-					 (uint8_t *)fifo_frame.data,
-					 fifo_frame.available_fifo_len *
-					 sizeof(uint16_t)));
-
-		bmi3_parse_fifo_data(s, &fifo_frame, last_interrupt_timestamp);
-		has_read_fifo = true;
-	} while (true);
-
-	if (IS_ENABLED(CONFIG_ACCEL_FIFO) && has_read_fifo)
-		motion_sense_fifo_commit_data();
-
-	return EC_SUCCESS;
-}
-#endif /* CONFIG_ACCEL_INTERRUPTS */
-
-static int read_temp(const struct motion_sensor_t *s, int *temp_ptr)
-{
-	return EC_ERROR_UNIMPLEMENTED;
-}
-
-int get_gyro_offset(const struct motion_sensor_t *s, intv3_t v)
-{
-	int i;
-	uint8_t reg_data[14] = { 0 };
-
-	/* Get the accel offset values */
-	RETURN_ERROR(bmi3_read_n(s, GYR_DP_OFF_X, reg_data, 14));
-
-	v[0] = ((uint16_t)(reg_data[3] << 8) | reg_data[2]) & 0x03FF;
-	v[1] = ((uint16_t)(reg_data[7] << 8) | reg_data[6]) & 0x03FF;
-	v[2] = ((uint16_t)(reg_data[11] << 8) | reg_data[10]) & 0x03FF;
-
-	for (i = X; i <= Z; ++i) {
-		if (v[i] > 0x01FF)
-			v[i] = -1024 + v[i];
-
-		v[i] = round_divide((int64_t)v[i] * BMI_OFFSET_GYRO_MULTI_MDS,
-				    BMI_OFFSET_GYRO_DIV_MDS);
-	}
-
-	return EC_SUCCESS;
-}
-
-int set_gyro_offset(const struct motion_sensor_t *s, intv3_t v)
-{
-	uint8_t reg_data[6] = { 0 };
-	uint8_t base_addr[2] = { BMI3_GYRO_OFFSET_ADDR, 0 };
-	int i, val[3];
-
-	for (i = X; i <= Z; ++i) {
-		val[i] = round_divide((int64_t)v[i] * BMI_OFFSET_GYRO_DIV_MDS,
-					BMI_OFFSET_GYRO_MULTI_MDS);
-		if (val[i] > 511)
-			val[i] = 511;
-		if (val[i] < -512)
-			val[i] = -512;
-		if (val[i] < 0)
-			val[i] = 1024 + val[i];
-	}
-
-	/*
-	 * Set the user accel offset base address to feature engine
-	 * transmission address to start DMA transaction
-	 */
-	RETURN_ERROR(bmi3_write_n(s, BMI3_FEATURE_ENGINE_DMA_TX, base_addr, 2));
-
-	reg_data[0] = (uint8_t)(val[0] & BMI3_SET_LOW_BYTE);
-	reg_data[1] = (uint8_t)((val[0] & 0x0300) >> 8);
-	reg_data[2] = (uint8_t)(val[1] & BMI3_SET_LOW_BYTE);
-	reg_data[3] = (uint8_t)((val[1] & 0x0300) >> 8);
-	reg_data[4] = (uint8_t)(val[2] & BMI3_SET_LOW_BYTE);
-	reg_data[5] = (uint8_t)((val[2] & 0x0300) >> 8);
-
-	/* Set the configuration to the feature engine register */
-	RETURN_ERROR(bmi3_write_n(s, BMI3_FEATURE_ENGINE_DMA_TX_DATA, reg_data,
-			6));
-
-	/* Update the offset to the sensor engine */
-	reg_data[0] = (uint8_t)(BMI3_CMD_USR_GAIN_OFFS_UPDATE &
-				 BMI3_SET_LOW_BYTE);
-	reg_data[1] = (uint8_t)((BMI3_CMD_USR_GAIN_OFFS_UPDATE &
-				BMI3_SET_HIGH_BYTE) >> 8);
-	RETURN_ERROR(bmi3_write_n(s, BMI3_REG_CMD, reg_data, 2));
-
-	return EC_SUCCESS;
-}
-
-int get_accel_offset(const struct motion_sensor_t *s, intv3_t v)
-{
-	int i;
-	uint8_t reg_data[14] = { 0 };
-
-	/* Get the accel offset values from user registers */
-	RETURN_ERROR(bmi3_read_n(s, ACC_DP_OFF_X, reg_data, 14));
-
-	v[0] = ((uint16_t)(reg_data[3] << 8) | reg_data[2]) & 0x1FFF;
-	v[1] = ((uint16_t)(reg_data[7] << 8) | reg_data[6]) & 0x1FFF;
-	v[2] = ((uint16_t)(reg_data[11] << 8) | reg_data[10]) & 0x1FFF;
-
-	for (i = X; i <= Z; ++i) {
-		if (v[i] > 0x0FFF)
-			v[i] = -8192 + v[i];
-
-		v[i] = round_divide((int64_t)v[i] * BMI3_OFFSET_ACC_MULTI_MG,
-				    BMI_OFFSET_ACC_DIV_MG);
-	}
-
-	return EC_SUCCESS;
-}
-
-int set_accel_offset(const struct motion_sensor_t *s, intv3_t v)
-{
-	uint8_t reg_data[6] = { 0 };
-	uint8_t base_addr[2] = { BMI3_ACC_OFFSET_ADDR, 0 };
-	uint8_t saved_conf[6] = { 0 };
-	int i, val[3];
-
-	for (i = X; i <= Z; ++i) {
-		val[i] = round_divide((int64_t)v[i] * BMI_OFFSET_ACC_DIV_MG,
-				      BMI3_OFFSET_ACC_MULTI_MG);
-		if (val[i] > 4095)
-			val[i] = 4095;
-		if (val[i] < -4096)
-			val[i] = -4096;
-		if (val[i] < 0)
-			val[i] += 8192;
-	}
-
-	/* Set the power mode as suspend */
-	RETURN_ERROR(bmi3_read_n(s, BMI3_REG_ACC_CONF, saved_conf, 6));
-
-	/* Ignore two i2c sync bytes and store consecutive bytes in reg_data */
-	reg_data[0] = saved_conf[2];
-	reg_data[1] = 0x00;
-	reg_data[2] = saved_conf[4];
-	reg_data[3] = 0x00;
-	RETURN_ERROR(bmi3_write_n(s, BMI3_REG_ACC_CONF, reg_data, 4));
-
-	/*
-	 * Set the user accel offset base address to feature engine
-	 * transmission address to start DMA transaction
-	 */
-	RETURN_ERROR(bmi3_write_n(s, BMI3_FEATURE_ENGINE_DMA_TX, base_addr, 2));
-
-	reg_data[0] = (uint8_t)(val[0] & BMI3_SET_LOW_BYTE);
-	reg_data[1] = (uint8_t)((val[0] & 0x1F00) >> 8);
-	reg_data[2] = (uint8_t)(val[1] & BMI3_SET_LOW_BYTE);
-	reg_data[3] = (uint8_t)((val[1] & 0x1F00) >> 8);
-	reg_data[4] = (uint8_t)(val[2] & BMI3_SET_LOW_BYTE);
-	reg_data[5] = (uint8_t)((val[2] & 0x1F00) >> 8);
-
-	/* Set the configuration to the feature engine register */
-	RETURN_ERROR(bmi3_write_n(s, BMI3_FEATURE_ENGINE_DMA_TX_DATA, reg_data,
-				  6));
-
-	/* Restore ACC_CONF by storing saved_conf data */
-	RETURN_ERROR(bmi3_read_n(s, BMI3_REG_ACC_CONF, saved_conf, 6));
-
-	/* Update the offset to the sensor engine */
-	reg_data[0] = (uint8_t)(BMI3_CMD_USR_GAIN_OFFS_UPDATE &
-				BMI3_SET_LOW_BYTE);
-
-	reg_data[1] = (uint8_t)((BMI3_CMD_USR_GAIN_OFFS_UPDATE &
-				 BMI3_SET_HIGH_BYTE) >> 8);
-
-	RETURN_ERROR(bmi3_write_n(s, BMI3_REG_CMD, reg_data, 2));
-
-	return EC_SUCCESS;
-}
-
-static int wait_and_read_data(const struct motion_sensor_t *s,
-			      intv3_t accel_data)
-{
-	uint8_t reg_data[8] = {0};
-
-	/* Retry 5 times */
-	uint8_t try_cnt = FOC_TRY_COUNT;
-
-	/* Check if data is ready */
-	while (try_cnt && (!(reg_data[2] & BMI3_STAT_DATA_RDY_ACCEL_MSK))) {
-		/* 20ms delay for 50Hz ODR */
-		msleep(FOC_DELAY);
-
-		/* Read the status register */
-		RETURN_ERROR(bmi3_read_n(s, BMI3_REG_STATUS, reg_data, 4));
-		try_cnt--;
-	}
-
-	if (!(reg_data[2] & BMI3_STAT_DATA_RDY_ACCEL_MSK))
-		return EC_ERROR_TIMEOUT;
-
-	/* Read the sensor data */
-	RETURN_ERROR(bmi3_read_n(s, BMI3_REG_ACC_DATA_X, reg_data, 8));
-
-	accel_data[0] = ((int16_t)((reg_data[3] << 8) | reg_data[2]));
-	accel_data[1] = ((int16_t)((reg_data[5] << 8) | reg_data[4]));
-	accel_data[2] = ((int16_t)((reg_data[7] << 8) | reg_data[6]));
-
-	rotate(accel_data, *s->rot_standard_ref, accel_data);
-
-	return EC_SUCCESS;
-}
-
-/*!
- * @brief This internal API performs Fast Offset Compensation for accelerometer.
- */
-static int8_t perform_accel_foc(struct motion_sensor_t *s, int *target,
-				int sens_range)
-{
-	intv3_t accel_data, offset;
-	int32_t delta_value[3] = {0, 0, 0};
-
-	/* Variable to define count */
-	uint8_t i, loop, sample_count = 0;
-
-	for (loop = 0; loop < BMI3_FOC_SAMPLE_LIMIT; loop++) {
-
-		RETURN_ERROR(wait_and_read_data(s, accel_data));
-
-		sample_count++;
-
-		/* Store the data in a temporary structure */
-		delta_value[0] += accel_data[0] - target[X];
-		delta_value[1] += accel_data[1] - target[Y];
-		delta_value[2] += accel_data[2] - target[Z];
-	}
-
-	/* The data is in LSB so -> [(LSB)*1000*range/2^15] (mdps | mg) */
-	for (i = X; i <= Z; ++i) {
-		offset[i] = (((int64_t)(delta_value[i] * 1000 * sens_range
-			     / sample_count) >> 15) * -1);
-	}
-
-	rotate_inv(offset, *s->rot_standard_ref, offset);
-
-	RETURN_ERROR(set_accel_offset(s, offset));
-
-	return EC_SUCCESS;
-}
-
-static int set_gyro_foc_config(struct motion_sensor_t *s)
-{
-	uint8_t reg_data[4] = { 0 };
-	uint8_t base_addr[2] = { BMI3_BASE_ADDR_SC, 0 };
-
-	/*
-	 * Set the user accel offset base address to feature engine
-	 * transmission address to start DMA transaction
-	 */
-	RETURN_ERROR(bmi3_write_n(s, BMI3_FEATURE_ENGINE_DMA_TX, base_addr, 2));
-
-	/* Read the configuration from the feature engine register */
-	RETURN_ERROR(bmi3_read_n(s, BMI3_FEATURE_ENGINE_DMA_TX_DATA, reg_data,
-			4));
-	/* Enable self calibration */
-	reg_data[2] |= 0x07;
-
-	RETURN_ERROR(bmi3_write_n(s, BMI3_FEATURE_ENGINE_DMA_TX, base_addr, 2));
-
-	/* Set the configuration to the feature engine register */
-	RETURN_ERROR(bmi3_write_n(s, BMI3_FEATURE_ENGINE_DMA_TX_DATA,
-			&reg_data[2], 2));
-
-	/* Trigger bmi3 gyro self calibration */
-	reg_data[0] = (uint8_t)(BMI3_CMD_SELF_CALIB & BMI3_SET_LOW_BYTE);
-	reg_data[1] = (uint8_t)((BMI3_CMD_SELF_CALIB & BMI3_SET_HIGH_BYTE)
-				>> 8);
-
-	RETURN_ERROR(bmi3_write_n(s, BMI3_REG_CMD, reg_data, 2));
-
-	return EC_SUCCESS;
-}
-
-static int get_calib_result(struct motion_sensor_t *s)
-{
-	uint8_t i, reg_data[4];
-
-	for (i = 0; i < 25; i++) {
-		/* A delay of 120ms is required to read this status register */
-		msleep(120);
-
-		/* Read the configuration from the feature engine register */
-		RETURN_ERROR(bmi3_read_n(s, BMI3_FEATURE_IO_1, reg_data, 4));
-
-		switch (s->type) {
-		case MOTIONSENSE_TYPE_ACCEL:
-			if ((reg_data[3] & BMI3_UGAIN_OFFS_UPD_COMPLETE)
-			    && ((reg_data[2] & BMI3_FEATURE_IO_1_ERROR_MASK)
-			    == BMI3_FEATURE_IO_1_NO_ERROR)) {
-				return EC_SUCCESS;
-			}
-			break;
-		case MOTIONSENSE_TYPE_GYRO:
-			if (reg_data[2] & BMI3_SC_ST_STATUS_MASK) {
-				/* Check calibration result */
-				if (reg_data[2] & BMI3_SC_RESULT_MASK)
-					return EC_SUCCESS;
-			}
-			break;
-		default:
-			return EC_ERROR_UNIMPLEMENTED;
-		}
-	}
-
-	return EC_ERROR_NOT_CALIBRATED;
-}
-
-static int perform_calib(struct motion_sensor_t *s, int enable)
-{
-	int ret;
-	intv3_t target = {0, 0, 0};
-	uint8_t saved_conf[6] = {0};
-
-	/* Sensor is configured to be in 16G range */
-	int sens_range = 16;
-
-	/* Variable to set the accelerometer configuration value 50Hz for FOC */
-	uint8_t acc_conf_data[2] = {BMI3_FOC_ACC_CONF_VAL_LSB,
-					BMI3_FOC_ACC_CONF_VAL_MSB};
-
-	if (!enable)
-		return EC_SUCCESS;
-
-	/* Get default configurations for the type of feature selected. */
-	RETURN_ERROR(bmi3_read_n(s, BMI3_REG_ACC_CONF, saved_conf,
-				6));
-
-	ret = bmi3_write_n(s, BMI3_REG_ACC_CONF, acc_conf_data, 2);
-	if (ret)
-		goto end_calib;
-
-	msleep(FOC_DELAY);
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		target[Z] = BMI3_ACC_DATA_PLUS_1G(sens_range);
-
-		/* Perform accel calibration */
-		ret = perform_accel_foc(s, target, sens_range);
-		if (ret)
-			goto end_calib;
-
-		/* Get caliration results */
-		ret = get_calib_result(s);
-		if (ret)
-			goto end_calib;
-
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		ret = set_gyro_foc_config(s);
-		if (ret)
-			goto end_calib;
-
-		ret = get_calib_result(s);
-		if (ret)
-			goto end_calib;
-
-		break;
-	default:
-		/* Not supported on Magnetometer */
-		ret = EC_RES_INVALID_PARAM;
-		goto end_calib;
-	}
-
-
-end_calib:
-	/* Restore ACC_CONF before exiting */
-	RETURN_ERROR(bmi3_write_n(s, BMI3_REG_ACC_CONF, &saved_conf[2], 4));
-
-	return ret;
-}
-
-static int get_offset(const struct motion_sensor_t *s, int16_t *offset,
-		    int16_t *temp)
-{
-	int i;
-	intv3_t v;
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		/*
-		 * The offset of the accelerometer is a 8 bit
-		 * two-complement number in units of 3.9 mg independent of the
-		 * range selected for the accelerometer.
-		 */
-		RETURN_ERROR(get_accel_offset(s, v));
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		/* Gyro offset is in milli-dps */
-		RETURN_ERROR(get_gyro_offset(s, v));
-		break;
-	default:
-		for (i = X; i <= Z; i++)
-			v[i] = 0;
-	}
-
-	rotate(v, *s->rot_standard_ref, v);
-	offset[X] = v[X];
-	offset[Y] = v[Y];
-	offset[Z] = v[Z];
-	/* Saving temperature at calibration not supported yet */
-	*temp = (int16_t)EC_MOTION_SENSE_INVALID_CALIB_TEMP;
-
-	return EC_SUCCESS;
-}
-
-static int set_offset(const struct motion_sensor_t *s,
-		      const int16_t *offset,
-		      int16_t    temp)
-{
-	intv3_t v = { offset[X], offset[Y], offset[Z] };
-	(void)temp;
-
-	rotate_inv(v, *s->rot_standard_ref, v);
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		/* Offset should be in units of mg */
-		RETURN_ERROR(set_accel_offset(s, v));
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		/* Offset should be in units of mdps */
-		RETURN_ERROR(set_gyro_offset(s, v));
-		break;
-	default:
-		return EC_RES_INVALID_PARAM;
-	}
-
-	return EC_SUCCESS;
-}
-
-#ifdef CONFIG_BODY_DETECTION
-int get_rms_noise(const struct motion_sensor_t *s)
-{
-	return EC_ERROR_UNIMPLEMENTED;
-}
-#endif
-
-static int set_scale(const struct motion_sensor_t *s, const uint16_t *scale,
-		     int16_t temp)
-{
-	struct accelgyro_saved_data_t *saved_data = BMI_GET_SAVED_DATA(s);
-
-	saved_data->scale[X] = scale[X];
-	saved_data->scale[Y] = scale[Y];
-	saved_data->scale[Z] = scale[Z];
-
-	return EC_SUCCESS;
-}
-
-static int get_scale(const struct motion_sensor_t *s, uint16_t *scale,
-		   int16_t *temp)
-{
-	struct accelgyro_saved_data_t *saved_data = BMI_GET_SAVED_DATA(s);
-
-	scale[X] = saved_data->scale[X];
-	scale[Y] = saved_data->scale[Y];
-	scale[Z] = saved_data->scale[Z];
-
-	*temp = (int16_t)EC_MOTION_SENSE_INVALID_CALIB_TEMP;
-
-	return EC_SUCCESS;
-}
-
-
-static int get_data_rate(const struct motion_sensor_t *s)
-{
-	struct accelgyro_saved_data_t *saved_data = BMI_GET_SAVED_DATA(s);
-
-	return saved_data->odr;
-}
-
-static int set_data_rate(const struct motion_sensor_t *s,
-			 int rate, int rnd)
-{
-	int ret;
-	int normalized_rate = 0;
-	uint8_t reg_data[4];
-	uint8_t reg_val = 0;
-
-	struct accelgyro_saved_data_t *saved_data = BMI_GET_SAVED_DATA(s);
-
-	if (rate > 0)
-		RETURN_ERROR(bmi_get_normalized_rate(s, rate, rnd,
-						 &normalized_rate, &reg_val));
-
-	/*
-	 * Lock accel resource to prevent another task from attempting
-	 * to write accel parameters until we are done.
-	 */
-	mutex_lock(s->mutex);
-
-	/*
-	 * Get default configurations for the type of feature selected.
-	 */
-	ret = bmi3_read_n(s, BMI3_REG_ACC_CONF + s->type, reg_data, 4);
-	if (ret) {
-		mutex_unlock(s->mutex);
-		return ret;
-	}
-
-	if (s->type == MOTIONSENSE_TYPE_ACCEL) {
-		if (rate == 0) {
-			/* FIFO stop collecting events */
-			if (IS_ENABLED(CONFIG_ACCEL_FIFO))
-				ret = enable_fifo(s, 0);
-
-			/*
-			 * Disable accel to set rate equal to zero.
-			 * Accel does not have suspend mode.
-			 */
-			reg_data[3] = BMI3_SET_BITS(reg_data[3],
-				BMI3_POWER_MODE,
-				BMI3_ACC_MODE_DISABLE);
-
-			saved_data->odr = 0;
-		} else if (saved_data->odr == 0) {
-			/*
-			 * Power mode changed from suspend to
-			 * normal
-			 */
-			reg_data[3] = BMI3_SET_BITS(reg_data[3],
-				      BMI3_POWER_MODE,
-				      BMI3_ACC_MODE_NORMAL);
-		}
-	} else if (s->type == MOTIONSENSE_TYPE_GYRO) {
-		if (rate == 0) {
-			/* FIFO stop collecting events */
-			if (IS_ENABLED(CONFIG_ACCEL_FIFO))
-				ret = enable_fifo(s, 0);
-
-			/*
-			 * Set gyro to suspend mode to disable gyro
-			 * however keep internal driver enabled
-			 */
-			reg_data[3] = BMI3_SET_BITS(reg_data[3],
-				      BMI3_POWER_MODE,
-				      BMI3_GYR_MODE_SUSPEND);
-
-			saved_data->odr = 0;
-		} else if (saved_data->odr == 0) {
-			/* Power mode changed from suspend to
-			 * normal
-			 */
-			reg_data[3] = BMI3_SET_BITS(reg_data[3],
-				      BMI3_POWER_MODE,
-				      BMI3_GYR_MODE_NORMAL);
-		}
-	}
-
-	/* Set accelerometer ODR */
-	reg_data[2] = BMI3_SET_BIT_POS0(reg_data[2], BMI3_SENS_ODR, reg_val);
-
-	/* Set the accel/gyro configurations. */
-	ret = bmi3_write_n(s, BMI3_REG_ACC_CONF + s->type, &reg_data[2], 2);
-	if (ret) {
-		mutex_unlock(s->mutex);
-		return ret;
-	}
-
-	saved_data->odr = normalized_rate;
-
-	/*
-	 * If rate is non zero, FIFO start collecting events.
-	 * They will be discarded if AP does not want them.
-	 */
-	if (rate > 0)
-		ret = enable_fifo(s, 1);
-
-	mutex_unlock(s->mutex);
-	return ret;
-}
-
-static int get_resolution(const struct motion_sensor_t *s)
-{
-	return BMI3_16_BIT_RESOLUTION;
-}
-
-static int set_range(struct motion_sensor_t *s, int range, int rnd)
-{
-	int ret;
-	uint8_t index, sens_size = 0;
-	uint8_t reg_data[4] = { 0 };
-	int (*sensor_range)[2];
-
-	int acc_sensor_range[4][2] = {
-		{ 2, BMI3_ACC_RANGE_2G },
-		{ 4, BMI3_ACC_RANGE_4G },
-		{ 8, BMI3_ACC_RANGE_8G },
-		{ 16, BMI3_ACC_RANGE_16G },
-	};
-
-	int gyr_sensor_range[5][2] = {
-		{ 125, BMI3_GYR_RANGE_125DPS },
-		{ 250, BMI3_GYR_RANGE_250DPS },
-		{ 500, BMI3_GYR_RANGE_500DPS },
-		{ 1000, BMI3_GYR_RANGE_1000DPS },
-		{ 2000, BMI3_GYR_RANGE_2000DPS },
-	};
-
-	if (s->type == MOTIONSENSE_TYPE_ACCEL) {
-		sens_size = ARRAY_SIZE(acc_sensor_range);
-		sensor_range = acc_sensor_range;
-	} else {
-		sens_size = ARRAY_SIZE(gyr_sensor_range);
-		sensor_range = gyr_sensor_range;
-	}
-
-	for (index = 0; index < sens_size - 1; index++) {
-		if (range <= sensor_range[index][0])
-			break;
-
-		if (range < sensor_range[index + 1][0] && rnd) {
-			index++;
-			break;
-		}
-	}
-
-	mutex_lock(s->mutex);
-
-	/*
-	 * Read the range register from sensor for accelerometer/gyroscope
-	 * s->type should have MOTIONSENSE_TYPE_ACCEL = 0 ;
-	 * MOTIONSENSE_TYPE_GYRO = 1
-	 */
-	ret = bmi3_read_n(s, BMI3_REG_ACC_CONF + s->type, reg_data, 4);
-
-	if (ret == EC_SUCCESS) {
-		/* Set accelerometer/Gyroscope range */
-		/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-		reg_data[2] = BMI3_SET_BITS(reg_data[2], BMI3_SENS_RANGE,
-					    sensor_range[index][1]);
-
-		/* Set the accel/gyro configurations. */
-		ret = bmi3_write_n(s, BMI3_REG_ACC_CONF + s->type,
-				   &reg_data[2], 2);
-
-		/* Now that we have set the range, update the driver's value. */
-		if (ret == EC_SUCCESS)
-			s->current_range = sensor_range[index][0];
-	}
-
-	mutex_unlock(s->mutex);
-
-	return ret;
-}
-
-static int read(const struct motion_sensor_t *s, intv3_t v)
-{
-	int ret;
-	uint8_t reg_data[8] = { 0 };
-	uint16_t status_val = 0;
-
-	mutex_lock(s->mutex);
-
-	/* Read the status register */
-	ret = bmi3_read_n(s, BMI3_REG_STATUS, reg_data, 4);
-
-	if (ret == EC_SUCCESS) {
-		status_val = (reg_data[2] | ((uint16_t)reg_data[3] << 8));
-		/*
-		 * If sensor data is not ready, return the previous read data.
-		 * Note: return success so that motion sensor task can read
-		 * again to get the latest updated sensor data quickly.
-		 */
-		if (!(status_val & BMI3_DRDY_MASK(s->type))) {
-			if (v != s->raw_xyz)
-				memcpy(v, s->raw_xyz, sizeof(s->raw_xyz));
-
-			mutex_unlock(s->mutex);
-
-			return EC_SUCCESS;
-		}
-
-		if (s->type == MOTIONSENSE_TYPE_ACCEL) {
-			/* Read the sensor data */
-			ret = bmi3_read_n(s, BMI3_REG_ACC_DATA_X, reg_data, 8);
-		} else if (s->type == MOTIONSENSE_TYPE_GYRO) {
-			/* Read the sensor data */
-			ret = bmi3_read_n(s, BMI3_REG_GYR_DATA_X, reg_data, 8);
-		}
-
-		if (ret == EC_SUCCESS) {
-			v[0] = ((int16_t)((reg_data[3] << 8) | reg_data[2]));
-			v[1] = ((int16_t)((reg_data[5] << 8) | reg_data[4]));
-			v[2] = ((int16_t)((reg_data[7] << 8) | reg_data[6]));
-
-			rotate(v, *s->rot_standard_ref, v);
-		}
-	}
-
-	mutex_unlock(s->mutex);
-
-	return ret;
-}
-
-static int init(struct motion_sensor_t *s)
-{
-	/* Status of communication result */
-	uint8_t i;
-	uint8_t reg_data[4] = { 0 };
-
-	/* Store the sensor configurations */
-	struct accelgyro_saved_data_t *saved_data = BMI_GET_SAVED_DATA(s);
-	struct bmi_drv_data_t *data = BMI_GET_DATA(s);
-
-	/* This driver requires a mutex */
-	ASSERT(s->mutex);
-
-	/*
-	 * BMI3xx driver only supports MOTIONSENSE_TYPE_ACCEL and
-	 * MOTIONSENSE_TYPE_GYR0
-	 */
-	if (s->type != MOTIONSENSE_TYPE_ACCEL
-	    && s->type != MOTIONSENSE_TYPE_GYRO)
-		return EC_ERROR_UNIMPLEMENTED;
-
-	/* Read chip id */
-	RETURN_ERROR(bmi3_read_n(s, BMI3_REG_CHIP_ID, reg_data, 4));
-
-	if (reg_data[2] != BMI323_CHIP_ID)
-		return EC_ERROR_HW_INTERNAL;
-
-	if (s->type == MOTIONSENSE_TYPE_ACCEL) {
-		/* Reset bmi3 device */
-		reg_data[0] = (uint8_t)(BMI3_CMD_SOFT_RESET
-					& BMI3_SET_LOW_BYTE);
-		reg_data[1] = (uint8_t)((BMI3_CMD_SOFT_RESET
-					 & BMI3_SET_HIGH_BYTE) >> 8);
-
-		RETURN_ERROR(bmi3_write_n(s, BMI3_REG_CMD, reg_data, 2));
-
-		/* Delay of 2ms after soft reset*/
-		msleep(2);
-
-		/* Enable feature engine bit */
-		reg_data[0] = BMI3_ENABLE;
-		reg_data[1] = 0;
-
-		RETURN_ERROR(bmi3_write_n(s, BMI3_REG_FEATURE_ENGINE_GLOB_CTRL,
-					  reg_data, 2));
-
-		if (IS_ENABLED(CONFIG_ACCEL_INTERRUPTS))
-			RETURN_ERROR(config_interrupt(s));
-	}
-
-	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;
-
-	/* Flags used in FIFO parsing */
-	data->flags &= ~(BMI_FLAG_SEC_I2C_ENABLED
-			| (BMI_FIFO_ALL_MASK << BMI_FIFO_FLAG_OFFSET));
-
-	return sensor_init_done(s);
-}
-
-/* Accelerometer/Gyroscope base driver structure */
-const struct accelgyro_drv bmi3xx_drv = {
-	.init = init,
-	.read = read,
-	.set_range = set_range,
-	.get_resolution = get_resolution,
-	.set_data_rate = set_data_rate,
-	.get_data_rate = get_data_rate,
-	.get_scale = get_scale,
-	.set_scale = set_scale,
-	.set_offset = set_offset,
-	.get_offset = get_offset,
-	.perform_calib = perform_calib,
-	.read_temp = read_temp,
-#ifdef CONFIG_ACCEL_INTERRUPTS
-	.irq_handler = irq_handler,
-#endif
-#ifdef CONFIG_BODY_DETECTION
-	.get_rms_noise = get_rms_noise,
-#endif
-};