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_icm42607.c b/driver/accelgyro_icm42607.c
deleted file mode 100644
index ae831c5918..0000000000
--- a/driver/accelgyro_icm42607.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.
- */
-
-/**
- * ICM-42607 accelerometer and gyroscope module for Chrome EC
- * 3D digital accelerometer & 3D digital gyroscope
- */
-
-#include "accelgyro.h"
-#include "console.h"
-#include "driver/accelgyro_icm_common.h"
-#include "driver/accelgyro_icm42607.h"
-#include "hwtimer.h"
-#include "i2c.h"
-#include "math_util.h"
-#include "motion_sense.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)
-
-STATIC_IF(CONFIG_ACCEL_FIFO) volatile uint32_t last_interrupt_timestamp;
-
-static int icm_switch_on_mclk(const struct motion_sensor_t *s)
-{
-	int val;
-	int i, ret;
-
-	ret = icm_field_update8(s, ICM42607_REG_PWR_MGMT0, ICM42607_IDLE,
-				ICM42607_IDLE);
-	if (ret)
-		return ret;
-
-	/* Check if MCLK is ready */
-	for (i = 0; i < 10; ++i) {
-		ret = icm_read8(s, ICM42607_REG_MCLK_RDY, &val);
-		if (ret)
-			return ret;
-
-		if (val & ICM42607_MCLK_RDY)
-			return EC_SUCCESS;
-	}
-
-	return EC_ERROR_HW_INTERNAL;
-}
-
-static int icm_switch_off_mclk(const struct motion_sensor_t *s)
-{
-	return icm_field_update8(s, ICM42607_REG_PWR_MGMT0, ICM42607_IDLE, 0);
-}
-
-static int icm_read_mclk_reg(const struct motion_sensor_t *s, const int reg,
-			     int *buf)
-{
-	const int blk_sel = (reg & 0xFF00) >> 8;
-	const int val = reg & 0x00FF;
-	int ret;
-
-	/* optimize by changing BLK_SEL only if not 0 */
-	if (blk_sel) {
-		ret = icm_write8(s, ICM42607_REG_BLK_SEL_R, blk_sel);
-		if (ret)
-			return ret;
-	}
-
-	ret = icm_write8(s, ICM42607_REG_MADDR_R, val);
-	if (ret)
-		return ret;
-
-	udelay(10);
-
-	ret = icm_read8(s, ICM42607_REG_M_R, buf);
-	if (ret)
-		return ret;
-
-	udelay(10);
-
-	if (blk_sel) {
-		ret = icm_write8(s, ICM42607_REG_BLK_SEL_R, 0);
-		if (ret)
-			return ret;
-	}
-
-	return EC_SUCCESS;
-}
-
-static int icm_write_mclk_reg(const struct motion_sensor_t *s, const int reg,
-			      const int buf)
-{
-	const int blk_sel = (reg & 0xFF00) >> 8;
-	const int val = reg & 0x00FF;
-	int ret;
-
-	/* optimize by changing BLK_SEL only if not 0 */
-	if (blk_sel) {
-		ret = icm_write8(s, ICM42607_REG_BLK_SEL_W, blk_sel);
-		if (ret)
-			return ret;
-	}
-
-	ret = icm_write8(s, ICM42607_REG_MADDR_W, val);
-	if (ret)
-		return ret;
-
-	ret = icm_write8(s, ICM42607_REG_M_W, buf);
-	if (ret)
-		return ret;
-
-	udelay(10);
-
-	if (blk_sel) {
-		ret = icm_write8(s, ICM42607_REG_BLK_SEL_W, 0);
-		if (ret)
-			return ret;
-	}
-
-	return EC_SUCCESS;
-}
-
-static int icm_field_update_mclk_reg(const struct motion_sensor_t *s,
-				     const int reg, const uint8_t field_mask,
-				     const uint8_t set_value)
-{
-	int val, ret;
-
-	ret = icm_read_mclk_reg(s, reg, &val);
-	if (ret)
-		return ret;
-
-	val = (val & ~field_mask) | set_value;
-
-	return icm_write_mclk_reg(s, reg, val);
-}
-
-static int icm42607_normalize(const struct motion_sensor_t *s, intv3_t v,
-			      const uint8_t *raw)
-{
-	struct accelgyro_saved_data_t *data = ICM_GET_SAVED_DATA(s);
-	int i;
-
-	/* sensor data is configured as little-endian */
-	v[X] = (int16_t)UINT16_FROM_BYTE_ARRAY_LE(raw, 0);
-	v[Y] = (int16_t)UINT16_FROM_BYTE_ARRAY_LE(raw, 2);
-	v[Z] = (int16_t)UINT16_FROM_BYTE_ARRAY_LE(raw, 4);
-
-	/* check if data is valid */
-	if (v[X] == ICM42607_INVALID_DATA &&
-	    v[Y] == ICM42607_INVALID_DATA &&
-	    v[Z] == ICM42607_INVALID_DATA) {
-		return EC_ERROR_INVAL;
-	}
-
-	rotate(v, *s->rot_standard_ref, v);
-
-	for (i = X; i <= Z; i++)
-		v[i] = SENSOR_APPLY_SCALE(v[i], data->scale[i]);
-
-	return EC_SUCCESS;
-}
-
-static int icm42607_check_sensor_stabilized(const struct motion_sensor_t *s,
-					    uint32_t ts)
-{
-	int32_t rem;
-
-	rem = icm_get_sensor_stabilized(s, ts);
-	if (rem == 0)
-		return EC_SUCCESS;
-	if (rem > 0)
-		return EC_ERROR_BUSY;
-
-	/* rem < 0: reset check since ts has passed stabilize_ts */
-	icm_reset_stabilize_ts(s);
-	return EC_SUCCESS;
-}
-
-static int __maybe_unused icm42607_flush_fifo(const struct motion_sensor_t *s)
-{
-	int i, val, ret;
-
-	ret = icm_write8(s, ICM42607_REG_SIGNAL_PATH_RESET,
-			 ICM42607_FIFO_FLUSH);
-	if (ret)
-		return ret;
-
-	udelay(10);
-
-	for (i = 0; i < 10; ++i) {
-		ret = icm_read8(s, ICM42607_REG_SIGNAL_PATH_RESET, &val);
-		if (ret)
-			return ret;
-
-		if (!(val & ICM42607_FIFO_FLUSH))
-			return EC_SUCCESS;
-
-		udelay(1);
-	}
-
-	return EC_ERROR_HW_INTERNAL;
-}
-
-/* use FIFO threshold interrupt on INT1 */
-#define ICM42607_FIFO_INT_EN		ICM42607_FIFO_THS_INT1_EN
-#define ICM42607_FIFO_INT_STATUS	ICM42607_FIFO_THS_INT
-
-static int __maybe_unused icm42607_enable_fifo(const struct motion_sensor_t *s,
-					       int enable)
-{
-	int ret;
-
-	if (enable) {
-		/* enable FIFO interrupts */
-		ret = icm_field_update8(s, ICM42607_REG_INT_SOURCE0,
-					ICM42607_FIFO_INT_EN,
-					ICM42607_FIFO_INT_EN);
-		if (ret)
-			return ret;
-
-		/* enable FIFO in streaming mode */
-		ret = icm_write8(s, ICM42607_REG_FIFO_CONFIG1,
-				 ICM42607_FIFO_MODE_STREAM);
-		if (ret)
-			return ret;
-	} else {
-		/* disable FIFO interrupts */
-		ret = icm_field_update8(s, ICM42607_REG_INT_SOURCE0,
-					ICM42607_FIFO_INT_EN, 0);
-		if (ret)
-			return ret;
-
-		/* set FIFO in bypass mode */
-		ret = icm_write8(s, ICM42607_REG_FIFO_CONFIG1,
-				 ICM42607_FIFO_BYPASS);
-		if (ret)
-			return ret;
-
-		/* flush FIFO data */
-		ret = icm42607_flush_fifo(s);
-		if (ret)
-			return ret;
-	}
-
-	return EC_SUCCESS;
-}
-
-static int __maybe_unused icm42607_config_fifo(const struct motion_sensor_t *s,
-					       int enable)
-{
-	struct icm_drv_data_t *st = ICM_GET_DATA(s);
-	int val;
-	uint8_t old_fifo_en, fifo_en;
-	int ret;
-
-	mutex_lock(s->mutex);
-
-	/* compute new FIFO enable bits and update FIFO config */
-	fifo_en = st->fifo_en;
-	if (enable)
-		fifo_en |= BIT(s->type);
-	else
-		fifo_en &= ~BIT(s->type);
-
-	val = ICM42607_FIFO_WM_GT_TH;
-	if (fifo_en & BIT(MOTIONSENSE_TYPE_ACCEL))
-		val |= ICM42607_FIFO_ACCEL_EN;
-	if (fifo_en & BIT(MOTIONSENSE_TYPE_GYRO))
-		val |= ICM42607_FIFO_GYRO_EN;
-
-	ret = icm_switch_on_mclk(s);
-	if (ret)
-		goto out_unlock;
-
-	ret = icm_write_mclk_reg(s, ICM42607_MREG_FIFO_CONFIG5, val);
-	if (ret)
-		goto out_unlock;
-
-	ret = icm_switch_off_mclk(s);
-	if (ret)
-		goto out_unlock;
-
-	old_fifo_en = st->fifo_en;
-	st->fifo_en = fifo_en;
-
-	if (!old_fifo_en && st->fifo_en) {
-		/* 1st sensor enabled => turn FIFO on */
-		ret = icm42607_enable_fifo(s, 1);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-	} else if (old_fifo_en && !st->fifo_en) {
-		/* last sensor disabled => turn FIFO off */
-		ret = icm42607_enable_fifo(s, 0);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-	}
-
-out_unlock:
-	mutex_unlock(s->mutex);
-	return ret;
-}
-
-static void __maybe_unused icm42607_push_fifo_data(struct motion_sensor_t *s,
-						const uint8_t *raw, uint32_t ts)
-{
-	intv3_t v;
-	struct ec_response_motion_sensor_data vect;
-	int ret;
-
-	if (s == NULL)
-		return;
-
-	ret = icm42607_normalize(s, v, raw);
-	if (ret == EC_SUCCESS) {
-		vect.data[X] = v[X];
-		vect.data[Y] = v[Y];
-		vect.data[Z] = v[Z];
-		vect.flags = 0;
-		vect.sensor_num = s - motion_sensors;
-		motion_sense_fifo_stage_data(&vect, s, 3, ts);
-	}
-}
-
-static int __maybe_unused icm42607_load_fifo(struct motion_sensor_t *s,
-					     uint32_t ts)
-{
-	struct icm_drv_data_t *st = ICM_GET_DATA(s);
-	int count, i, size;
-	const uint8_t *accel, *gyro;
-	int ret;
-
-	ret = icm_read16(s, ICM42607_REG_FIFO_COUNT, &count);
-	if (ret != EC_SUCCESS)
-		return ret;
-
-	if (count <= 0)
-		return EC_ERROR_INVAL;
-
-	/* flush FIFO if buffer is not large enough */
-	if (count > ICM_FIFO_BUFFER) {
-		CPRINTS("It should not happen, the EC is too slow for the ODR");
-		/* flush FIFO data */
-		ret = icm42607_flush_fifo(s);
-		if (ret)
-			return ret;
-
-		return EC_ERROR_OVERFLOW;
-	}
-
-	ret = icm_read_n(s, ICM42607_REG_FIFO_DATA, st->fifo_buffer, count);
-	if (ret != EC_SUCCESS)
-		return ret;
-
-	for (i = 0; i < count; i += size) {
-		size = icm_fifo_decode_packet(&st->fifo_buffer[i],
-				&accel, &gyro);
-		/* exit if error or FIFO is empty */
-		if (size <= 0)
-			return -size;
-		if (accel != NULL) {
-			ret = icm42607_check_sensor_stabilized(s, ts);
-			if (ret == EC_SUCCESS)
-				icm42607_push_fifo_data(s, accel, ts);
-		}
-		if (gyro != NULL) {
-			ret = icm42607_check_sensor_stabilized(s + 1, ts);
-			if (ret == EC_SUCCESS)
-				icm42607_push_fifo_data(s + 1, gyro, ts);
-		}
-	}
-
-	return EC_SUCCESS;
-}
-
-#ifdef CONFIG_ACCEL_INTERRUPTS
-
-/**
- * icm42607_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", ->icm42607_irq_handler().
- */
-void icm42607_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_ICM42607_INT_EVENT);
-}
-
-/**
- * icm42607_irq_handler - bottom half of the interrupt stack.
- * Ran from the motion_sense task, finds the events that raised the interrupt.
- */
-static int icm42607_irq_handler(struct motion_sensor_t *s, uint32_t *event)
-{
-	int status;
-	int ret;
-
-	if ((s->type != MOTIONSENSE_TYPE_ACCEL) ||
-	    (!(*event & CONFIG_ACCELGYRO_ICM42607_INT_EVENT)))
-		return EC_ERROR_NOT_HANDLED;
-
-	mutex_lock(s->mutex);
-
-	/* read and clear interrupt status */
-	ret = icm_read8(s, ICM42607_REG_INT_STATUS, &status);
-	if (ret != EC_SUCCESS)
-		goto out_unlock;
-
-	if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
-		if (status & ICM42607_FIFO_INT_STATUS) {
-			ret = icm42607_load_fifo(s, last_interrupt_timestamp);
-			if (ret == EC_SUCCESS)
-				motion_sense_fifo_commit_data();
-		}
-	}
-
-out_unlock:
-	mutex_unlock(s->mutex);
-	return ret;
-}
-
-static int icm42607_config_interrupt(const struct motion_sensor_t *s)
-{
-	struct icm_drv_data_t *st = ICM_GET_DATA(s);
-	int val, mask, ret;
-
-	/* configure INT1 pin: push-pull active low */
-	ret = icm_write8(s, ICM42607_REG_INT_CONFIG, ICM42607_INT1_PUSH_PULL);
-	if (ret != EC_SUCCESS)
-		return ret;
-
-	if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
-		/* configure FIFO in little endian */
-		mask = ICM42607_FIFO_COUNT_ENDIAN | ICM42607_SENSOR_DATA_ENDIAN;
-		ret = icm_field_update8(s, ICM42607_REG_INTF_CONFIG0, mask, 0);
-		if (ret != EC_SUCCESS)
-			return ret;
-
-		ret = icm_switch_on_mclk(s);
-		if (ret != EC_SUCCESS)
-			return ret;
-
-		/*
-		 * configure FIFO:
-		 * - enable continuous watermark interrupt
-		 * - disable all FIFO en bits
-		 */
-		val = ICM42607_FIFO_WM_GT_TH;
-		ret = icm_write_mclk_reg(s, ICM42607_MREG_FIFO_CONFIG5, val);
-		if (ret != EC_SUCCESS)
-			return ret;
-
-		ret = icm_switch_off_mclk(s);
-		if (ret != EC_SUCCESS)
-			return ret;
-
-		/* clear internal FIFO enable bits tracking */
-		st->fifo_en = 0;
-
-		/* set FIFO watermark to 1 data packet (8 bytes) */
-		ret = icm_write16(s, ICM42607_REG_FIFO_WM, 8);
-		if (ret != EC_SUCCESS)
-			return ret;
-	}
-
-	return EC_SUCCESS;
-}
-
-#endif	/* CONFIG_ACCEL_INTERRUPTS */
-
-static int icm42607_enable_sensor(const struct motion_sensor_t *s, int enable)
-{
-	uint32_t delay, stop_delay;
-	int32_t rem;
-	uint8_t mask;
-	int val;
-	int ret;
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		mask = ICM42607_ACCEL_MODE_MASK;
-		if (enable) {
-			delay = ICM42607_ACCEL_START_TIME;
-			stop_delay = ICM42607_ACCEL_STOP_TIME;
-			val = ICM42607_ACCEL_MODE(ICM42607_MODE_LOW_POWER);
-		} else {
-			delay = ICM42607_ACCEL_STOP_TIME;
-			val = ICM42607_ACCEL_MODE(ICM42607_MODE_OFF);
-		}
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		mask = ICM42607_GYRO_MODE_MASK;
-		if (enable) {
-			delay = ICM42607_GYRO_START_TIME;
-			stop_delay = ICM42607_GYRO_STOP_TIME;
-			val = ICM42607_GYRO_MODE(ICM42607_MODE_LOW_NOISE);
-		} else {
-			delay = ICM42607_GYRO_STOP_TIME;
-			val = ICM42607_GYRO_MODE(ICM42607_MODE_OFF);
-		}
-		break;
-	default:
-		return EC_ERROR_INVAL;
-	}
-
-	/* check stop delay and sleep if required */
-	if (enable) {
-		rem = icm_get_sensor_stabilized(s, __hw_clock_source_read());
-		/* rem > stop_delay means counter rollover */
-		if (rem > 0 && rem <= stop_delay)
-			usleep(rem);
-	}
-
-	mutex_lock(s->mutex);
-
-	ret = icm_field_update8(s, ICM42607_REG_PWR_MGMT0, mask, val);
-	if (ret == EC_SUCCESS) {
-		icm_set_stabilize_ts(s, delay);
-		/* when turning sensor on block any register write for 200 us */
-		if (enable)
-			usleep(200);
-	}
-
-	mutex_unlock(s->mutex);
-
-	return ret;
-}
-
-static int icm42607_set_data_rate(const struct motion_sensor_t *s, int rate,
-				  int rnd)
-{
-	struct accelgyro_saved_data_t *data = ICM_GET_SAVED_DATA(s);
-	int reg, reg2, ret, reg_val, reg2_val;
-	int normalized_rate;
-	int max_rate, min_rate;
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		reg = ICM42607_REG_ACCEL_CONFIG0;
-		reg2 = ICM42607_REG_ACCEL_CONFIG1;
-		min_rate = ICM42607_ACCEL_MIN_FREQ;
-		max_rate = ICM42607_ACCEL_MAX_FREQ;
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		reg = ICM42607_REG_GYRO_CONFIG0;
-		reg2 = ICM42607_REG_GYRO_CONFIG1;
-		min_rate = ICM42607_GYRO_MIN_FREQ;
-		max_rate = ICM42607_GYRO_MAX_FREQ;
-		break;
-	default:
-		return EC_RES_INVALID_PARAM;
-	}
-
-	if (rate == 0) {
-		/* disable data in FIFO */
-		if (IS_ENABLED(CONFIG_ACCEL_FIFO))
-			icm42607_config_fifo(s, 0);
-		/* disable sensor */
-		ret = icm42607_enable_sensor(s, 0);
-		data->odr = 0;
-		return ret;
-	}
-
-	/* normalize the rate */
-	reg_val = ICM42607_ODR_TO_REG(rate);
-	normalized_rate = ICM42607_REG_TO_ODR(reg_val);
-
-	/* round up the rate */
-	if (rnd && (normalized_rate < rate)) {
-		reg_val = ICM42607_ODR_REG_UP(reg_val);
-		normalized_rate = ICM42607_REG_TO_ODR(reg_val);
-	}
-
-	if (rate > 0) {
-		if ((normalized_rate < min_rate) ||
-				(normalized_rate > max_rate))
-			return EC_RES_INVALID_PARAM;
-	}
-
-	reg2_val = ICM42607_ODR_TO_FILT_BW(reg_val);
-
-	mutex_lock(s->mutex);
-
-	/* update filter bandwidth */
-	ret = icm_field_update8(s, reg2, ICM42607_UI_FILT_BW_MASK,
-				ICM42607_UI_FILT_BW_SET(reg2_val));
-	if (ret != EC_SUCCESS)
-		goto out_unlock;
-
-	/* update ODR */
-	ret = icm_field_update8(s, reg, ICM42607_ODR_MASK,
-				ICM42607_ODR(reg_val));
-	if (ret != EC_SUCCESS)
-		goto out_unlock;
-
-	mutex_unlock(s->mutex);
-
-	if (data->odr == 0) {
-		/* enable sensor */
-		ret = icm42607_enable_sensor(s, 1);
-		if (ret)
-			return ret;
-		/* enable data in FIFO */
-		if (IS_ENABLED(CONFIG_ACCEL_FIFO))
-			icm42607_config_fifo(s, 1);
-	}
-
-	data->odr = normalized_rate;
-
-	return EC_SUCCESS;
-
-out_unlock:
-	mutex_unlock(s->mutex);
-	return ret;
-}
-
-static int icm42607_set_range(struct motion_sensor_t *s, int range,
-			      int rnd)
-{
-	int reg, ret, reg_val;
-	int newrange;
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		reg = ICM42607_REG_ACCEL_CONFIG0;
-		reg_val = ICM42607_ACCEL_FS_TO_REG(range);
-		newrange = ICM42607_ACCEL_REG_TO_FS(reg_val);
-
-		if (rnd && (newrange < range) && (reg_val > 0)) {
-			reg_val--;
-			newrange = ICM42607_ACCEL_REG_TO_FS(reg_val);
-		}
-
-		if (newrange > ICM42607_ACCEL_FS_MAX_VAL) {
-			newrange = ICM42607_ACCEL_FS_MAX_VAL;
-			reg_val = ICM42607_ACCEL_FS_TO_REG(range);
-		}
-
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		reg = ICM42607_REG_GYRO_CONFIG0;
-		reg_val = ICM42607_GYRO_FS_TO_REG(range);
-		newrange = ICM42607_GYRO_REG_TO_FS(reg_val);
-
-		if (rnd && (newrange < range) && (reg_val > 0)) {
-			reg_val--;
-			newrange = ICM42607_GYRO_REG_TO_FS(reg_val);
-		}
-
-		if (newrange > ICM42607_GYRO_FS_MAX_VAL) {
-			newrange = ICM42607_GYRO_FS_MAX_VAL;
-			reg_val = ICM42607_GYRO_FS_TO_REG(newrange);
-		}
-
-		break;
-	default:
-		return EC_RES_INVALID_PARAM;
-	}
-
-	mutex_lock(s->mutex);
-
-	ret = icm_field_update8(s, reg, ICM42607_FS_MASK,
-				ICM42607_FS_SEL(reg_val));
-	if (ret == EC_SUCCESS)
-		s->current_range = newrange;
-
-	mutex_unlock(s->mutex);
-
-	return ret;
-}
-
-static int icm42607_get_hw_offset(const struct motion_sensor_t *s,
-				  intv3_t offset)
-{
-	uint8_t raw[5];
-	int i, reg, val, ret;
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		reg = ICM42607_MREG_OFFSET_USER4;
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		reg = ICM42607_MREG_OFFSET_USER0;
-		break;
-	default:
-		return EC_ERROR_INVAL;
-	}
-
-	mutex_lock(s->mutex);
-
-	ret = icm_switch_on_mclk(s);
-	if (ret != EC_SUCCESS)
-		goto out_unlock;
-
-	for (i = 0; i < sizeof(raw); ++i) {
-		ret = icm_read_mclk_reg(s, reg + i, &val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-		raw[i] = val;
-	}
-
-	ret = icm_switch_off_mclk(s);
-	if (ret != EC_SUCCESS)
-		goto out_unlock;
-
-	mutex_unlock(s->mutex);
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		/*
-		 * raw[0]: Accel X[11:8] | gyro Z[11:8]
-		 * raw[1]: Accel X[7:0]
-		 * raw[2]: Accel Y[7:0]
-		 * raw[3]: Accel Z[11:8] | Accel Y[11:8]
-		 * raw[4]: Accel Z[7:0]
-		 */
-		offset[X] = (((int)raw[0] << 4) & ~GENMASK(7, 0)) | raw[1];
-		offset[Y] = (((int)raw[3] << 8) & ~GENMASK(7, 0)) | raw[2];
-		offset[Z] = (((int)raw[3] << 4) & ~GENMASK(7, 0)) | raw[4];
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		/*
-		 * raw[0]: Gyro X[7:0]
-		 * raw[1]: Gyro Y[11:8] | Gyro X[11:8]
-		 * raw[2]: Gyro Y[7:0]
-		 * raw[3]: Gyro Z[7:0]
-		 * raw[4]: Accel X[11:8] | gyro Z[11:8]
-		 */
-		offset[X] = (((int)raw[1] << 8) & ~GENMASK(7, 0)) | raw[0];
-		offset[Y] = (((int)raw[1] << 4) & ~GENMASK(7, 0)) | raw[2];
-		offset[Z] = (((int)raw[4] << 8) & ~GENMASK(7, 0)) | raw[3];
-		break;
-	default:
-		return EC_ERROR_INVAL;
-	}
-
-	/* Extend sign-bit of 12 bits signed values */
-	for (i = X; i <= Z; ++i)
-		offset[i] = sign_extend(offset[i], 11);
-
-	return EC_SUCCESS;
-
-out_unlock:
-	mutex_unlock(s->mutex);
-	return ret;
-}
-
-static int icm42607_set_hw_offset(const struct motion_sensor_t *s,
-				  intv3_t offset)
-{
-	int i, val, ret;
-
-	/* value is 12 bits signed maximum */
-	for (i = X; i <= Z; ++i) {
-		if (offset[i] > 2047)
-			offset[i] = 2047;
-		else if (offset[i] < -2048)
-			offset[i] = -2048;
-	}
-
-	mutex_lock(s->mutex);
-
-	ret = icm_switch_on_mclk(s);
-	if (ret != EC_SUCCESS)
-		goto out_unlock;
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		/* Accel X[11:8] | gyro Z[11:8] */
-		val = (offset[X] >> 4) & GENMASK(7, 4);
-		ret = icm_field_update_mclk_reg(s, ICM42607_MREG_OFFSET_USER4,
-						GENMASK(7, 4), val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-
-		/* Accel X[7:0] */
-		val = offset[X] & GENMASK(7, 0);
-		ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER5, val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-
-		/* Accel Y[7:0] */
-		val = offset[Y] & GENMASK(7, 0);
-		ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER6, val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-
-		/* Accel Z[11:8] | Accel Y[11:8] */
-		val = ((offset[Z] >> 4) & GENMASK(7, 4)) |
-		      ((offset[Y] >> 8) & GENMASK(3, 0));
-		ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER7, val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-
-		/* Accel Z[7:0] */
-		val = offset[Z] & GENMASK(7, 0);
-		ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER8, val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-		break;
-
-	case MOTIONSENSE_TYPE_GYRO:
-		/* Gyro X[7:0] */
-		val = offset[X] & GENMASK(7, 0);
-		ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER0, val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-
-		/* Gyro Y[11:8] | Gyro X[11:8] */
-		val = ((offset[Y] >> 4) & GENMASK(7, 4)) |
-		      ((offset[X] >> 8) & GENMASK(3, 0));
-		ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER1, val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-
-		/* Gyro Y[7:0] */
-		val = offset[Y] & GENMASK(7, 0);
-		ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER2, val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-
-		/* Gyro Z[7:0] */
-		val = offset[Z] & GENMASK(7, 0);
-		ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER3, val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-
-		/* Accel X[11:8] | gyro Z[11:8] */
-		val = (offset[Z] >> 8) & GENMASK(3, 0);
-		ret = icm_field_update_mclk_reg(s, ICM42607_MREG_OFFSET_USER4,
-						GENMASK(3, 0), val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-		break;
-
-	default:
-		ret = EC_ERROR_INVAL;
-		goto out_unlock;
-	}
-
-	ret = icm_switch_off_mclk(s);
-
-out_unlock:
-	mutex_unlock(s->mutex);
-	return ret;
-}
-
-static int icm42607_set_offset(const struct motion_sensor_t *s,
-			       const int16_t *offset, int16_t temp)
-{
-	intv3_t v = { offset[X], offset[Y], offset[Z] };
-	int div1, div2;
-	int i;
-
-	/* rotate back to chip frame */
-	rotate_inv(v, *s->rot_standard_ref, v);
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		/* hardware offset is 1/2048g /LSB, EC offset 1/1024g /LSB. */
-		div1 = 2;
-		div2 = 1;
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		/* hardware offset is 1/32dps /LSB, EC offset 1/1024dps /LSB. */
-		div1 = 1;
-		div2 = 32;
-		break;
-	default:
-		return EC_ERROR_INVAL;
-	}
-	for (i = X; i <= Z; ++i)
-		v[i] = round_divide(v[i] * div1, div2);
-
-	return icm42607_set_hw_offset(s, v);
-}
-
-static int icm42607_get_offset(const struct motion_sensor_t *s, int16_t *offset,
-			       int16_t *temp)
-{
-	intv3_t v;
-	int div1, div2;
-	int i, ret;
-
-	ret = icm42607_get_hw_offset(s, v);
-	if (ret != EC_SUCCESS)
-		return ret;
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		/* hardware offset is 1/2048g /LSB, EC offset 1/1024g /LSB. */
-		div1 = 1;
-		div2 = 2;
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		/* hardware offset is 1/32dps /LSB, EC offset 1/1024dps /LSB. */
-		div1 = 32;
-		div2 = 1;
-		break;
-	default:
-		return EC_ERROR_INVAL;
-	}
-
-	for (i = X; i <= Z; ++i)
-		v[i] = round_divide(v[i] * div1, div2);
-
-	rotate(v, *s->rot_standard_ref, v);
-	offset[X] = v[X];
-	offset[Y] = v[Y];
-	offset[Z] = v[Z];
-	*temp = EC_MOTION_SENSE_INVALID_CALIB_TEMP;
-
-	return EC_SUCCESS;
-}
-
-static int icm42607_read(const struct motion_sensor_t *s, intv3_t v)
-{
-	uint8_t raw[6];
-	int reg, ret;
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		reg = ICM42607_REG_ACCEL_DATA_XYZ;
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		reg = ICM42607_REG_GYRO_DATA_XYZ;
-		break;
-	default:
-		return EC_ERROR_INVAL;
-	}
-
-	/* read data registers if sensor is stabilized */
-	mutex_lock(s->mutex);
-
-	ret = icm42607_check_sensor_stabilized(s, __hw_clock_source_read());
-	if (ret == EC_SUCCESS)
-		ret = icm_read_n(s, reg, raw, sizeof(raw));
-
-	mutex_unlock(s->mutex);
-	if (ret != EC_SUCCESS)
-		return ret;
-
-	ret = icm42607_normalize(s, v, raw);
-	/* if data is invalid return the previous read data */
-	if (ret != EC_SUCCESS) {
-		if (v != s->raw_xyz)
-			memcpy(v, s->raw_xyz, sizeof(s->raw_xyz));
-	}
-
-	return EC_SUCCESS;
-}
-
-static int icm42607_read_temp(const struct motion_sensor_t *s, int *temp_ptr)
-{
-	int val, ret;
-
-	mutex_lock(s->mutex);
-	ret = icm_read16(s, ICM42607_REG_TEMP_DATA, &val);
-	mutex_unlock(s->mutex);
-
-	if (ret != EC_SUCCESS)
-		return ret;
-
-	/* ensure correct propagation of 16 bits sign bit */
-	val = sign_extend(val, 15);
-
-	if (val == ICM42607_INVALID_DATA)
-		return EC_ERROR_NOT_POWERED;
-
-	*temp_ptr = C_TO_K((val / 128) + 25);
-	return EC_SUCCESS;
-}
-
-static int icm42607_init_config(const struct motion_sensor_t *s)
-{
-	int mask, val, ret;
-
-	ret = icm_switch_on_mclk(s);
-	if (ret)
-		return ret;
-
-	/* Set otp_copy_mode register field */
-	ret = icm_field_update_mclk_reg(s, ICM42607_MREG_OTP_CONFIG,
-					ICM42607_OTP_COPY_MODE_MASK,
-					ICM42607_OTP_COPY_TRIM);
-	if (ret)
-		return ret;
-
-	/* Set otp_power_down register field to 0 */
-	ret = icm_field_update_mclk_reg(s, ICM42607_MREG_OTP_CTRL7,
-					ICM42607_OTP_PWR_DOWN, 0);
-	if (ret)
-		return ret;
-
-	/* Wait for 300us for the OTP to fully power up */
-	usleep(300);
-
-	/* Set otp_reload register field */
-	ret = icm_field_update_mclk_reg(s, ICM42607_MREG_OTP_CTRL7,
-					ICM42607_OTP_RELOAD,
-					ICM42607_OTP_RELOAD);
-	if (ret)
-		return ret;
-
-	/* Wait for 280 us for the OTP to load */
-	usleep(280);
-
-	ret = icm_switch_off_mclk(s);
-	if (ret)
-		return ret;
-
-	/* disable i3c support */
-	mask = ICM42607_I3C_SDR_EN | ICM42607_I3C_DDR_EN;
-	ret = icm_field_update8(s, ICM42607_REG_INTF_CONFIG1, mask, 0);
-	if (ret)
-		return ret;
-
-	/* set averaging filter for accel, 8x is max for 400Hz */
-	if (ICM42607_ACCEL_MAX_FREQ == 400000)
-		val = ICM42607_UI_AVG_SET(ICM42607_UI_AVG_8X);
-	else
-		val = ICM42607_UI_AVG_SET(ICM42607_UI_AVG_32X);
-	ret = icm_field_update8(s, ICM42607_REG_ACCEL_CONFIG1,
-				ICM42607_UI_AVG_MASK, val);
-	if (ret)
-		return ret;
-
-	/* disable all interrupts */
-	ret = icm_write8(s, ICM42607_REG_INT_SOURCE0, 0);
-	if (ret)
-		return ret;
-
-	/* disable FIFO */
-	return icm_write8(s, ICM42607_REG_FIFO_CONFIG1, ICM42607_FIFO_BYPASS);
-}
-
-static int icm42607_init(struct motion_sensor_t *s)
-{
-	struct accelgyro_saved_data_t *saved_data = ICM_GET_SAVED_DATA(s);
-	int val;
-	int ret, i;
-
-	mutex_lock(s->mutex);
-
-	/* detect chip using whoami */
-	ret = icm_read8(s, ICM42607_REG_WHO_AM_I, &val);
-	if (ret)
-		goto out_unlock;
-
-	if (val != ICM42607_CHIP_ICM42607P) {
-		CPRINTS("Unknown WHO_AM_I: 0x%02x", val);
-		ret = EC_ERROR_ACCESS_DENIED;
-		goto out_unlock;
-	}
-
-	/* first time init done only for 1st sensor (accel) */
-	if (s->type == MOTIONSENSE_TYPE_ACCEL) {
-		/* clear status register */
-		ret = icm_read8(s, ICM42607_REG_INT_STATUS, &val);
-		if (ret)
-			goto out_unlock;
-
-		/* Reset to make sure previous state are not there */
-		ret = icm_write8(s, ICM42607_REG_SIGNAL_PATH_RESET,
-				 ICM42607_SOFT_RESET_DEV_CONFIG);
-		if (ret)
-			goto out_unlock;
-
-		/* Check reset is done, 1ms max */
-		for (i = 0; i < 5; ++i) {
-			usleep(200);
-			ret = icm_read8(s, ICM42607_REG_INT_STATUS, &val);
-			if (ret)
-				goto out_unlock;
-			if (val == ICM42607_RESET_DONE_INT)
-				break;
-		}
-		if (val != ICM42607_RESET_DONE_INT) {
-			ret = EC_ERROR_HW_INTERNAL;
-			goto out_unlock;
-		}
-
-		/* configure sensor */
-		ret = icm42607_init_config(s);
-		if (ret)
-			goto out_unlock;
-
-		if (IS_ENABLED(CONFIG_ACCEL_INTERRUPTS)) {
-			ret = icm42607_config_interrupt(s);
-			if (ret)
-				goto out_unlock;
-		}
-	}
-
-	for (i = X; i <= Z; i++)
-		saved_data->scale[i] = MOTION_SENSE_DEFAULT_SCALE;
-
-	saved_data->odr = 0;
-
-	mutex_unlock(s->mutex);
-
-	return sensor_init_done(s);
-
-out_unlock:
-	mutex_unlock(s->mutex);
-	return ret;
-}
-
-const struct accelgyro_drv icm42607_drv = {
-	.init = icm42607_init,
-	.read = icm42607_read,
-	.read_temp = icm42607_read_temp,
-	.set_range = icm42607_set_range,
-	.get_resolution = icm_get_resolution,
-	.set_data_rate = icm42607_set_data_rate,
-	.get_data_rate = icm_get_data_rate,
-	.set_offset = icm42607_set_offset,
-	.get_offset = icm42607_get_offset,
-	.set_scale = icm_set_scale,
-	.get_scale = icm_get_scale,
-#ifdef CONFIG_ACCEL_INTERRUPTS
-	.irq_handler = icm42607_irq_handler,
-#endif
-};