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, 981 deletions

diff --git a/driver/accelgyro_icm426xx.c b/driver/accelgyro_icm426xx.c
deleted file mode 100644
index 5d09c8e4ef..0000000000
--- a/driver/accelgyro_icm426xx.c
+++ /dev/null
@@ -1,981 +0,0 @@
-/* Copyright 2020 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-426xx 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_icm426xx.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 icm426xx_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] == ICM426XX_INVALID_DATA &&
-	    v[Y] == ICM426XX_INVALID_DATA &&
-	    v[Z] == ICM426XX_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 icm426xx_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;
-}
-
-/* use FIFO threshold interrupt on INT1 */
-#define ICM426XX_FIFO_INT_EN		ICM426XX_FIFO_THS_INT1_EN
-#define ICM426XX_FIFO_INT_STATUS	ICM426XX_FIFO_THS_INT
-
-static int __maybe_unused icm426xx_enable_fifo(const struct motion_sensor_t *s,
-					       int enable)
-{
-	int val, ret;
-
-	if (enable) {
-		/* enable FIFO interrupts */
-		ret = icm_field_update8(s, ICM426XX_REG_INT_SOURCE0,
-					ICM426XX_FIFO_INT_EN,
-					ICM426XX_FIFO_INT_EN);
-		if (ret != EC_SUCCESS)
-			return ret;
-
-		/* flush FIFO data */
-		ret = icm_write8(s, ICM426XX_REG_SIGNAL_PATH_RESET,
-				 ICM426XX_FIFO_FLUSH);
-		if (ret != EC_SUCCESS)
-			return ret;
-
-		/* set FIFO in streaming mode */
-		ret = icm_write8(s, ICM426XX_REG_FIFO_CONFIG,
-				 ICM426XX_FIFO_MODE_STREAM);
-		if (ret != EC_SUCCESS)
-			return ret;
-
-		/* workaround: first read of FIFO count is always 0 */
-		ret = icm_read16(s, ICM426XX_REG_FIFO_COUNT, &val);
-		if (ret != EC_SUCCESS)
-			return ret;
-	} else {
-		/* set FIFO in bypass mode */
-		ret = icm_write8(s, ICM426XX_REG_FIFO_CONFIG,
-				 ICM426XX_FIFO_MODE_BYPASS);
-		if (ret != EC_SUCCESS)
-			return ret;
-
-		/* flush FIFO data */
-		ret = icm_write8(s, ICM426XX_REG_SIGNAL_PATH_RESET,
-				 ICM426XX_FIFO_FLUSH);
-		if (ret != EC_SUCCESS)
-			return ret;
-
-		/* disable FIFO interrupts */
-		ret = icm_field_update8(s, ICM426XX_REG_INT_SOURCE0,
-					ICM426XX_FIFO_INT_EN, 0);
-		if (ret != EC_SUCCESS)
-			return ret;
-	}
-
-	return EC_SUCCESS;
-}
-
-static int __maybe_unused icm426xx_config_fifo(const struct motion_sensor_t *s,
-					       int enable)
-{
-	struct icm_drv_data_t *st = ICM_GET_DATA(s);
-	int mask, val;
-	uint8_t old_fifo_en;
-	int ret;
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		mask = ICM426XX_FIFO_ACCEL_EN;
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		mask = ICM426XX_FIFO_GYRO_EN;
-		break;
-	default:
-		return EC_ERROR_INVAL;
-	}
-	/* temperature data has to be always present in the FIFO */
-	mask |= ICM426XX_FIFO_TEMP_EN;
-
-	val = enable ? mask : 0;
-
-	mutex_lock(s->mutex);
-
-	ret = icm_field_update8(s, ICM426XX_REG_FIFO_CONFIG1, mask, val);
-	if (ret != EC_SUCCESS)
-		goto out_unlock;
-
-	old_fifo_en = st->fifo_en;
-	if (enable)
-		st->fifo_en |= BIT(s->type);
-	else
-		st->fifo_en &= ~BIT(s->type);
-
-	if (!old_fifo_en && st->fifo_en) {
-		/* 1st sensor enabled => turn FIFO on */
-		ret = icm426xx_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 = icm426xx_enable_fifo(s, 0);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-	}
-
-out_unlock:
-	mutex_unlock(s->mutex);
-	return ret;
-}
-
-static void __maybe_unused icm426xx_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 = icm426xx_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 icm426xx_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, ICM426XX_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");
-		ret = icm_write8(s, ICM426XX_REG_SIGNAL_PATH_RESET,
-				 ICM426XX_FIFO_FLUSH);
-		if (ret != EC_SUCCESS)
-			return ret;
-		return EC_ERROR_OVERFLOW;
-	}
-
-	ret = icm_read_n(s, ICM426XX_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 = icm426xx_check_sensor_stabilized(st->accel, ts);
-			if (ret == EC_SUCCESS)
-				icm426xx_push_fifo_data(st->accel, accel, ts);
-		}
-		if (gyro != NULL) {
-			ret = icm426xx_check_sensor_stabilized(st->gyro, ts);
-			if (ret == EC_SUCCESS)
-				icm426xx_push_fifo_data(st->gyro, gyro, ts);
-		}
-	}
-
-	return EC_SUCCESS;
-}
-
-#ifdef CONFIG_ACCEL_INTERRUPTS
-
-/**
- * icm426xx_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", ->icm426xx_irq_handler().
- */
-void icm426xx_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_ICM426XX_INT_EVENT);
-}
-
-/**
- * icm426xx_irq_handler - bottom half of the interrupt stack.
- * Ran from the motion_sense task, finds the events that raised the interrupt.
- */
-static int icm426xx_irq_handler(struct motion_sensor_t *s, uint32_t *event)
-{
-	int status;
-	int ret;
-
-	if ((s->type != MOTIONSENSE_TYPE_ACCEL) ||
-	    (!(*event & CONFIG_ACCELGYRO_ICM426XX_INT_EVENT)))
-		return EC_ERROR_NOT_HANDLED;
-
-	mutex_lock(s->mutex);
-
-	/* read and clear interrupt status */
-	ret = icm_read8(s, ICM426XX_REG_INT_STATUS, &status);
-	if (ret != EC_SUCCESS)
-		goto out_unlock;
-
-	if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
-		if (status & ICM426XX_FIFO_INT_STATUS) {
-			ret = icm426xx_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 icm426xx_config_interrupt(const struct motion_sensor_t *s)
-{
-	struct icm_drv_data_t *st = ICM_GET_DATA(s);
-	int val, ret;
-
-	/* configure INT1 pin */
-	val = ICM426XX_INT1_PUSH_PULL;
-	if (s->flags & MOTIONSENSE_FLAG_INT_ACTIVE_HIGH)
-		val |= ICM426XX_INT1_ACTIVE_HIGH;
-
-	ret = icm_write8(s, ICM426XX_REG_INT_CONFIG, val);
-	if (ret != EC_SUCCESS)
-		return ret;
-
-	/* deassert async reset for proper INT pin operation */
-	ret = icm_field_update8(s, ICM426XX_REG_INT_CONFIG1,
-				ICM426XX_INT_ASYNC_RESET, 0);
-	if (ret != EC_SUCCESS)
-		return ret;
-
-	if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
-		/*
-		 * configure FIFO:
-		 * - enable FIFO partial read
-		 * - enable continuous watermark interrupt
-		 * - disable all FIFO en bits
-		 */
-		val = ICM426XX_FIFO_PARTIAL_READ | ICM426XX_FIFO_WM_GT_TH;
-		ret = icm_field_update8(s, ICM426XX_REG_FIFO_CONFIG1,
-					GENMASK(6, 5) | ICM426XX_FIFO_EN_MASK,
-					val);
-		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, ICM426XX_REG_FIFO_WATERMARK, 8);
-		if (ret != EC_SUCCESS)
-			return ret;
-	}
-
-	return ret;
-}
-
-#endif	/* CONFIG_ACCEL_INTERRUPTS */
-
-static int icm426xx_enable_sensor(const struct motion_sensor_t *s, int enable)
-{
-	uint32_t delay, stop_delay;
-	int32_t rem;
-	uint8_t mask, val;
-	int ret;
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		mask = ICM426XX_ACCEL_MODE_MASK;
-		if (enable) {
-			delay = ICM426XX_ACCEL_START_TIME;
-			stop_delay = ICM426XX_ACCEL_STOP_TIME;
-			val = ICM426XX_ACCEL_MODE(ICM426XX_MODE_LOW_POWER);
-		} else {
-			delay = ICM426XX_ACCEL_STOP_TIME;
-			val = ICM426XX_ACCEL_MODE(ICM426XX_MODE_OFF);
-		}
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		mask = ICM426XX_GYRO_MODE_MASK;
-		if (enable) {
-			delay = ICM426XX_GYRO_START_TIME;
-			stop_delay = ICM426XX_GYRO_STOP_TIME;
-			val = ICM426XX_GYRO_MODE(ICM426XX_MODE_LOW_NOISE);
-		} else {
-			delay = ICM426XX_GYRO_STOP_TIME;
-			val = ICM426XX_GYRO_MODE(ICM426XX_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, ICM426XX_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 icm426xx_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, ret, reg_val;
-	int normalized_rate;
-	int max_rate, min_rate;
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		reg = ICM426XX_REG_ACCEL_CONFIG0;
-		min_rate = ICM426XX_ACCEL_MIN_FREQ;
-		max_rate = ICM426XX_ACCEL_MAX_FREQ;
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		reg = ICM426XX_REG_GYRO_CONFIG0;
-		min_rate = ICM426XX_GYRO_MIN_FREQ;
-		max_rate = ICM426XX_GYRO_MAX_FREQ;
-		break;
-	default:
-		return EC_RES_INVALID_PARAM;
-	}
-
-	/* normalize the rate */
-	reg_val = ICM426XX_ODR_TO_REG(rate);
-	normalized_rate = ICM426XX_REG_TO_ODR(reg_val);
-
-	/* round up the rate */
-	if (rnd && (normalized_rate < rate)) {
-		reg_val = ICM426XX_ODR_REG_UP(reg_val);
-		normalized_rate = ICM426XX_REG_TO_ODR(reg_val);
-	}
-
-	if (rate > 0) {
-		if ((normalized_rate < min_rate) ||
-			(normalized_rate > max_rate))
-			return EC_RES_INVALID_PARAM;
-	}
-
-	if (rate == 0) {
-		/* disable data in FIFO */
-		if (IS_ENABLED(CONFIG_ACCEL_FIFO))
-			icm426xx_config_fifo(s, 0);
-		/* disable sensor */
-		ret = icm426xx_enable_sensor(s, 0);
-		data->odr = 0;
-		return ret;
-	}
-
-	mutex_lock(s->mutex);
-
-	ret = icm_field_update8(s, reg, ICM426XX_ODR_MASK,
-				ICM426XX_ODR(reg_val));
-	if (ret != EC_SUCCESS)
-		goto out_unlock;
-
-	mutex_unlock(s->mutex);
-
-	if (data->odr == 0) {
-		/* enable sensor */
-		ret = icm426xx_enable_sensor(s, 1);
-		if (ret)
-			return ret;
-		/* enable data in FIFO */
-		if (IS_ENABLED(CONFIG_ACCEL_FIFO))
-			icm426xx_config_fifo(s, 1);
-	}
-
-	data->odr = normalized_rate;
-	return EC_SUCCESS;
-
-out_unlock:
-	mutex_unlock(s->mutex);
-	return ret;
-}
-
-static int icm426xx_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 = ICM426XX_REG_ACCEL_CONFIG0;
-
-		reg_val = ICM426XX_ACCEL_FS_TO_REG(range);
-		newrange = ICM426XX_ACCEL_REG_TO_FS(reg_val);
-
-		if (rnd && (newrange < range) && (reg_val > 0)) {
-			reg_val--;
-			newrange = ICM426XX_ACCEL_REG_TO_FS(reg_val);
-		}
-
-		if (newrange > ICM426XX_ACCEL_FS_MAX_VAL) {
-			newrange = ICM426XX_ACCEL_FS_MAX_VAL;
-			reg_val = ICM426XX_ACCEL_FS_TO_REG(range);
-		}
-
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		reg = ICM426XX_REG_GYRO_CONFIG0;
-
-		reg_val = ICM426XX_GYRO_FS_TO_REG(range);
-		newrange = ICM426XX_GYRO_REG_TO_FS(reg_val);
-
-		if (rnd && (newrange < range) && (reg_val > 0)) {
-			reg_val--;
-			newrange = ICM426XX_GYRO_REG_TO_FS(reg_val);
-		}
-
-		if (newrange > ICM426XX_GYRO_FS_MAX_VAL) {
-			newrange = ICM426XX_GYRO_FS_MAX_VAL;
-			reg_val = ICM426XX_GYRO_FS_TO_REG(newrange);
-		}
-
-		break;
-	default:
-		return EC_RES_INVALID_PARAM;
-	}
-
-	mutex_lock(s->mutex);
-
-	ret = icm_field_update8(s, reg, ICM426XX_FS_MASK,
-				ICM426XX_FS_SEL(reg_val));
-	if (ret == EC_SUCCESS)
-		s->current_range = newrange;
-
-	mutex_unlock(s->mutex);
-
-	return ret;
-}
-
-static int icm426xx_get_hw_offset(const struct motion_sensor_t *s,
-				  intv3_t offset)
-{
-	uint8_t raw[5];
-	int i, ret;
-
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		mutex_lock(s->mutex);
-		ret = icm_read_n(s, ICM426XX_REG_OFFSET_USER4,
-				raw, sizeof(raw));
-		mutex_unlock(s->mutex);
-		if (ret != EC_SUCCESS)
-			return ret;
-		/*
-		 * raw[0]: Accel X[11:8] | gyro Z[11:8]
-		 * raw[1]: Accel X[0:7]
-		 * 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:
-		mutex_lock(s->mutex);
-		ret = icm_read_n(s, ICM426XX_REG_OFFSET_USER0,
-				raw, sizeof(raw));
-		mutex_unlock(s->mutex);
-		if (ret != EC_SUCCESS)
-			return ret;
-		/*
-		 * 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;
-}
-
-static int icm426xx_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);
-
-	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_update8(s, ICM426XX_REG_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_write8(s, ICM426XX_REG_OFFSET_USER5, val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-
-		/* Accel Y[7:0] */
-		val = offset[Y] & GENMASK(7, 0);
-		ret = icm_write8(s, ICM426XX_REG_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_write8(s, ICM426XX_REG_OFFSET_USER7, val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-
-		/* Accel Z[7:0] */
-		val = offset[Z] & GENMASK(7, 0);
-		ret = icm_write8(s, ICM426XX_REG_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_write8(s, ICM426XX_REG_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_write8(s, ICM426XX_REG_OFFSET_USER1, val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-
-		/* Gyro Y[7:0] */
-		val = offset[Y] & GENMASK(7, 0);
-		ret = icm_write8(s, ICM426XX_REG_OFFSET_USER2, val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-
-		/* Gyro Z[7:0] */
-		val = offset[Z] & GENMASK(7, 0);
-		ret = icm_write8(s, ICM426XX_REG_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_update8(s, ICM426XX_REG_OFFSET_USER4,
-					GENMASK(3, 0), val);
-		if (ret != EC_SUCCESS)
-			goto out_unlock;
-		break;
-
-	default:
-		ret = EC_ERROR_INVAL;
-		break;
-	}
-
-out_unlock:
-	mutex_unlock(s->mutex);
-	return ret;
-}
-
-static int icm426xx_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);
-
-	/* convert raw data to hardware offset units */
-	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 icm426xx_set_hw_offset(s, v);
-}
-
-static int icm426xx_get_offset(const struct motion_sensor_t *s, int16_t *offset,
-			       int16_t *temp)
-{
-	intv3_t v;
-	int div1, div2;
-	int i, ret;
-
-	ret = icm426xx_get_hw_offset(s, v);
-	if (ret != EC_SUCCESS)
-		return ret;
-
-	/* transform offset to raw data */
-	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 icm426xx_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 = ICM426XX_REG_ACCEL_DATA_XYZ;
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		reg = ICM426XX_REG_GYRO_DATA_XYZ;
-		break;
-	default:
-		return EC_ERROR_INVAL;
-	}
-
-	/* read data registers if sensor is stabilized */
-	mutex_lock(s->mutex);
-
-	ret = icm426xx_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 = icm426xx_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 icm426xx_read_temp(const struct motion_sensor_t *s, int *temp_ptr)
-{
-	int val, ret;
-
-	mutex_lock(s->mutex);
-	ret = icm_read16(s, ICM426XX_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 == ICM426XX_INVALID_DATA)
-		return EC_ERROR_NOT_POWERED;
-
-	*temp_ptr = C_TO_K((val * 100) / 13248 + 25);
-	return EC_SUCCESS;
-}
-
-static int icm426xx_init_config(const struct motion_sensor_t *s)
-{
-	uint8_t mask, val;
-	int ret;
-
-	/*
-	 * serial bus setup (i2c or spi)
-	 *
-	 * Do not check result for INTF_CONFIG6, since it can induce
-	 * interferences on the bus.
-	 */
-
-#ifdef CONFIG_ACCELGYRO_ICM_COMM_SPI
-	icm_field_update8(
-		s, ICM426XX_REG_INTF_CONFIG6, ICM426XX_INTF_CONFIG6_MASK,
-		ICM426XX_I3C_EN | ICM426XX_I3C_SDR_EN | ICM426XX_I3C_DDR_EN);
-	ret = icm_field_update8(s, ICM426XX_REG_INTF_CONFIG4,
-				ICM426XX_I3C_BUS_MODE, ICM426XX_I3C_BUS_MODE);
-#else
-	icm_field_update8(s, ICM426XX_REG_INTF_CONFIG6,
-			  ICM426XX_INTF_CONFIG6_MASK, ICM426XX_I3C_EN);
-	ret = icm_field_update8(s, ICM426XX_REG_INTF_CONFIG4,
-				ICM426XX_I3C_BUS_MODE, 0);
-#endif
-	if (ret)
-		return ret;
-
-#ifdef CONFIG_ACCELGYRO_ICM_COMM_SPI
-	ret = icm_field_update8(
-		s, ICM426XX_REG_DRIVE_CONFIG, ICM426XX_DRIVE_CONFIG_MASK,
-		ICM426XX_I2C_SLEW_RATE(ICM426XX_SLEW_RATE_20NS_60NS) |
-			ICM426XX_SPI_SLEW_RATE(ICM426XX_SLEW_RATE_INF_2NS));
-#else
-	ret = icm_field_update8(
-		s, ICM426XX_REG_DRIVE_CONFIG, ICM426XX_DRIVE_CONFIG_MASK,
-		ICM426XX_I2C_SLEW_RATE(ICM426XX_SLEW_RATE_12NS_36NS) |
-			ICM426XX_SPI_SLEW_RATE(ICM426XX_SLEW_RATE_12NS_36NS));
-#endif
-	if (ret)
-		return ret;
-
-	/*
-	 * Use invalid value in registers and FIFO.
-	 * Data registers in little-endian format.
-	 * Disable unused serial interface.
-	 */
-	mask = ICM426XX_DATA_CONF_MASK | ICM426XX_UI_SIFS_CFG_MASK;
-#ifdef CONFIG_ACCELGYRO_ICM_COMM_SPI
-	val = ICM426XX_UI_SIFS_CFG_I2C_DIS;
-#else
-	val = ICM426XX_UI_SIFS_CFG_SPI_DIS;
-#endif
-
-	ret = icm_field_update8(s, ICM426XX_REG_INTF_CONFIG0, mask, val);
-	if (ret)
-		return ret;
-
-	/* set accel oscillator to RC clock to avoid bad transition with PLL */
-	return icm_field_update8(s, ICM426XX_REG_INTF_CONFIG1,
-				 ICM426XX_ACCEL_LP_CLK_SEL,
-				 ICM426XX_ACCEL_LP_CLK_SEL);
-}
-
-static int icm426xx_init(struct motion_sensor_t *s)
-{
-	struct icm_drv_data_t *st = ICM_GET_DATA(s);
-	struct accelgyro_saved_data_t *saved_data = ICM_GET_SAVED_DATA(s);
-	int mask, val;
-	int ret, i;
-
-	mutex_lock(s->mutex);
-
-	/* manually force register bank to 0 */
-	st->bank = 0;
-	ret = icm_write8(s, ICM426XX_REG_BANK_SEL, ICM426XX_BANK_SEL(0));
-	if (ret)
-		goto out_unlock;
-
-	/* detect chip using whoami */
-	ret = icm_read8(s, ICM426XX_REG_WHO_AM_I, &val);
-	if (ret)
-		goto out_unlock;
-
-	if (val != ICM426XX_CHIP_ICM40608 && val != ICM426XX_CHIP_ICM42605) {
-		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) {
-		/* reset the chip and verify it is ready */
-		ret = icm_write8(s, ICM426XX_REG_DEVICE_CONFIG,
-				 ICM426XX_SOFT_RESET_CONFIG);
-		if (ret)
-			goto out_unlock;
-		msleep(1);
-
-		ret = icm_read8(s, ICM426XX_REG_INT_STATUS, &val);
-		if (ret)
-			goto out_unlock;
-		if (!(val & ICM426XX_RESET_DONE_INT)) {
-			ret = EC_ERROR_ACCESS_DENIED;
-			goto out_unlock;
-		}
-
-		/* configure sensor */
-		ret = icm426xx_init_config(s);
-		if (ret)
-			goto out_unlock;
-
-		if (IS_ENABLED(CONFIG_ACCEL_INTERRUPTS))
-			ret = icm426xx_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;
-
-	/* set sensor filter */
-	switch (s->type) {
-	case MOTIONSENSE_TYPE_ACCEL:
-		mask = ICM426XX_ACCEL_UI_FILT_MASK;
-		val = ICM426XX_ACCEL_UI_FILT_BW(ICM426XX_FILTER_BW_AVG_16X);
-		if (IS_ENABLED(CONFIG_ACCEL_FIFO))
-			st->accel = (struct motion_sensor_t *)s;
-		break;
-	case MOTIONSENSE_TYPE_GYRO:
-		mask = ICM426XX_GYRO_UI_FILT_MASK;
-		val = ICM426XX_GYRO_UI_FILT_BW(ICM426XX_FILTER_BW_ODR_DIV_2);
-		if (IS_ENABLED(CONFIG_ACCEL_FIFO))
-			st->gyro = (struct motion_sensor_t *)s;
-		break;
-	default:
-		ret = EC_ERROR_INVAL;
-		goto out_unlock;
-	}
-	ret = icm_field_update8(s, ICM426XX_REG_GYRO_ACCEL_CONFIG0, mask, val);
-	if (ret != EC_SUCCESS)
-		goto out_unlock;
-
-	mutex_unlock(s->mutex);
-
-	return sensor_init_done(s);
-
-out_unlock:
-	mutex_unlock(s->mutex);
-	return ret;
-}
-
-const struct accelgyro_drv icm426xx_drv = {
-	.init = icm426xx_init,
-	.read = icm426xx_read,
-	.read_temp = icm426xx_read_temp,
-	.set_range = icm426xx_set_range,
-	.get_resolution = icm_get_resolution,
-	.set_data_rate = icm426xx_set_data_rate,
-	.get_data_rate = icm_get_data_rate,
-	.set_offset = icm426xx_set_offset,
-	.get_offset = icm426xx_get_offset,
-	.set_scale = icm_set_scale,
-	.get_scale = icm_get_scale,
-#ifdef CONFIG_ACCEL_INTERRUPTS
-	.irq_handler = icm426xx_irq_handler,
-#endif
-};