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, 770 deletions

diff --git a/zephyr/emul/emul_bmi160.c b/zephyr/emul/emul_bmi160.c
deleted file mode 100644
index 2a68b688ff..0000000000
--- a/zephyr/emul/emul_bmi160.c
+++ /dev/null
@@ -1,770 +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.
- */
-
-#define DT_DRV_COMPAT zephyr_bmi
-
-#define LOG_LEVEL CONFIG_I2C_LOG_LEVEL
-#include <logging/log.h>
-LOG_MODULE_REGISTER(emul_bmi160);
-
-#include <device.h>
-#include <emul.h>
-#include <drivers/i2c.h>
-#include <drivers/i2c_emul.h>
-
-#include "emul/emul_bmi.h"
-
-#include "driver/accelgyro_bmi160.h"
-#include "driver/accelgyro_bmi_common.h"
-
-/** Mask reserved bits in each register of BMI160 */
-static const uint8_t bmi_emul_160_rsvd_mask[] = {
-	[BMI160_CHIP_ID]		= 0x00,
-	[0x01]				= 0xff, /* Reserved */
-	[BMI160_ERR_REG]		= 0x00,
-	[BMI160_PMU_STATUS]		= 0xc0,
-	[BMI160_MAG_X_L_G]		= 0x00,
-	[BMI160_MAG_X_H_G]		= 0x00,
-	[BMI160_MAG_Y_L_G]		= 0x00,
-	[BMI160_MAG_Y_H_G]		= 0x00,
-	[BMI160_MAG_Z_L_G]		= 0x00,
-	[BMI160_MAG_Z_H_G]		= 0x00,
-	[BMI160_RHALL_L_G]		= 0x00,
-	[BMI160_RHALL_H_G]		= 0x00,
-	[BMI160_GYR_X_L_G]		= 0x00,
-	[BMI160_GYR_X_H_G]		= 0x00,
-	[BMI160_GYR_Y_L_G]		= 0x00,
-	[BMI160_GYR_Y_H_G]		= 0x00,
-	[BMI160_GYR_Z_L_G]		= 0x00,
-	[BMI160_GYR_Z_H_G]		= 0x00,
-	[BMI160_ACC_X_L_G]		= 0x00,
-	[BMI160_ACC_X_H_G]		= 0x00,
-	[BMI160_ACC_Y_L_G]		= 0x00,
-	[BMI160_ACC_Y_H_G]		= 0x00,
-	[BMI160_ACC_Z_L_G]		= 0x00,
-	[BMI160_ACC_Z_H_G]		= 0x00,
-	[BMI160_SENSORTIME_0]		= 0x00,
-	[BMI160_SENSORTIME_1]		= 0x00,
-	[BMI160_SENSORTIME_2]		= 0x00,
-	[BMI160_STATUS]			= 0x01,
-	[BMI160_INT_STATUS_0]		= 0x00,
-	[BMI160_INT_STATUS_1]		= 0x03,
-	[BMI160_INT_STATUS_2]		= 0x00,
-	[BMI160_INT_STATUS_3]		= 0x00,
-	[BMI160_TEMPERATURE_0]		= 0x00,
-	[BMI160_TEMPERATURE_1]		= 0x00,
-	[BMI160_FIFO_LENGTH_0]		= 0x00,
-	[BMI160_FIFO_LENGTH_1]		= 0xf8,
-	[BMI160_FIFO_DATA]		= 0x00,
-	[0x25 ... 0x3f]			= 0xff, /* Reserved */
-	[BMI160_ACC_CONF]		= 0x00,
-	[BMI160_ACC_RANGE]		= 0xf0,
-	[BMI160_GYR_CONF]		= 0xc0,
-	[BMI160_GYR_RANGE]		= 0xf8,
-	[BMI160_MAG_CONF]		= 0xf0,
-	[BMI160_FIFO_DOWNS]		= 0x00,
-	[BMI160_FIFO_CONFIG_0]		= 0x00,
-	[BMI160_FIFO_CONFIG_1]		= 0x01,
-	[0x48 ... 0x4a]			= 0xff, /* Reserved */
-	[BMI160_MAG_IF_0]		= 0x01,
-	[BMI160_MAG_IF_1]		= 0x40,
-	[BMI160_MAG_IF_2]		= 0x00,
-	[BMI160_MAG_IF_3]		= 0x00,
-	[BMI160_MAG_IF_4]		= 0x00,
-	[BMI160_INT_EN_0]		= 0x08,
-	[BMI160_INT_EN_1]		= 0x80,
-	[BMI160_INT_EN_2]		= 0xf0,
-	[BMI160_INT_OUT_CTRL]		= 0x00,
-	[BMI160_INT_LATCH]		= 0xc0,
-	[BMI160_INT_MAP_0]		= 0x00,
-	[BMI160_INT_MAP_1]		= 0x00,
-	[BMI160_INT_MAP_2]		= 0x00,
-	[BMI160_INT_DATA_0]		= 0x77,
-	[BMI160_INT_DATA_1]		= 0x7f,
-	[BMI160_INT_LOW_HIGH_0]		= 0x00,
-	[BMI160_INT_LOW_HIGH_1]		= 0x00,
-	[BMI160_INT_LOW_HIGH_2]		= 0x3c,
-	[BMI160_INT_LOW_HIGH_3]		= 0x00,
-	[BMI160_INT_LOW_HIGH_4]		= 0x00,
-	[BMI160_INT_MOTION_0]		= 0x00,
-	[BMI160_INT_MOTION_1]		= 0x00,
-	[BMI160_INT_MOTION_2]		= 0x00,
-	[BMI160_INT_MOTION_3]		= 0xc0,
-	[BMI160_INT_TAP_0]		= 0x38,
-	[BMI160_INT_TAP_1]		= 0xe0,
-	[BMI160_INT_ORIENT_0]		= 0x00,
-	[BMI160_INT_ORIENT_1]		= 0x00,
-	[BMI160_INT_FLAT_0]		= 0xc0,
-	[BMI160_INT_FLAT_1]		= 0xc8,
-	[BMI160_FOC_CONF]		= 0x80,
-	[BMI160_CONF]			= 0xfd,
-	[BMI160_IF_CONF]		= 0xce,
-	[BMI160_PMU_TRIGGER]		= 0x80,
-	[BMI160_SELF_TEST]		= 0xe0,
-	[0x6e]				= 0xff, /* Reserved */
-	[0x6f]				= 0xff, /* Reserved */
-	[BMI160_NV_CONF]		= 0xf0,
-	[BMI160_OFFSET_ACC70]		= 0x00,
-	[BMI160_OFFSET_ACC70 + 1]	= 0x00,
-	[BMI160_OFFSET_ACC70 + 2]	= 0x00,
-	[BMI160_OFFSET_GYR70]		= 0x00,
-	[BMI160_OFFSET_GYR70 + 1]	= 0x00,
-	[BMI160_OFFSET_GYR70 + 2]	= 0x00,
-	[BMI160_OFFSET_EN_GYR98]	= 0x00,
-	[BMI160_STEP_CNT_0]		= 0x00,
-	[BMI160_STEP_CNT_1]		= 0x00,
-	[BMI160_STEP_CONF_0]		= 0x00,
-	[BMI160_STEP_CONF_1]		= 0xf0,
-	[0x7c]				= 0xff, /* Reserved */
-	[0x7d]				= 0xff, /* Reserved */
-	[BMI160_CMD_REG]		= 0x00,
-};
-
-/**
- * @brief Convert range in format of ACC_RANGE register to number of bits
- *        that should be shifted right to obtain 16 bit reported accelerometer
- *        value from internal 32 bit value
- *
- * @param range Value of ACC_RANGE register
- *
- * @return shift Number of LSB that should be ignored from internal
- *               accelerometer value
- */
-static int bmi160_emul_acc_range_to_shift(uint8_t range)
-{
-	switch (range & 0xf) {
-	case BMI160_GSEL_2G:
-		return 0;
-	case BMI160_GSEL_4G:
-		return 1;
-	case BMI160_GSEL_8G:
-		return 2;
-	case BMI160_GSEL_16G:
-		return 3;
-	default:
-		return 0;
-	}
-}
-
-/**
- * @brief Convert range in format of GYR_RANGE register to number of bits
- *        that should be shifted right to obtain 16 bit reported gyroscope
- *        value from internal 32 bit value
- *
- * @param range Value of GYR_RANGE register
- *
- * @return shift Number of LSB that should be ignored from internal
- *               gyroscope value
- */
-static int bmi160_emul_gyr_range_to_shift(uint8_t range)
-{
-	switch (range & 0x7) {
-	case BMI160_DPS_SEL_2000:
-		return 4;
-	case BMI160_DPS_SEL_1000:
-		return 3;
-	case BMI160_DPS_SEL_500:
-		return 2;
-	case BMI160_DPS_SEL_250:
-		return 1;
-	case BMI160_DPS_SEL_125:
-		return 0;
-	default:
-		return 0;
-	}
-}
-
-/**
- * @brief Reset registers to default values and restore registers backed by NVM
- *
- * @param regs Pointer to array of emulator's registers
- * @param emul Pointer to BMI emulator
- */
-static void bmi160_emul_reset(uint8_t *regs, struct i2c_emul *emul)
-{
-	bool tag_time;
-	bool header;
-
-	regs[BMI160_CHIP_ID]		= 0xd1;
-	regs[BMI160_ERR_REG]		= 0x00;
-	regs[BMI160_PMU_STATUS]		= 0x00;
-	regs[BMI160_MAG_X_L_G]		= 0x00;
-	regs[BMI160_MAG_X_H_G]		= 0x00;
-	regs[BMI160_MAG_Y_L_G]		= 0x00;
-	regs[BMI160_MAG_Y_H_G]		= 0x00;
-	regs[BMI160_MAG_Z_L_G]		= 0x00;
-	regs[BMI160_MAG_Z_H_G]		= 0x00;
-	regs[BMI160_RHALL_L_G]		= 0x00;
-	regs[BMI160_RHALL_H_G]		= 0x00;
-	regs[BMI160_GYR_X_L_G]		= 0x00;
-	regs[BMI160_GYR_X_H_G]		= 0x00;
-	regs[BMI160_GYR_Y_L_G]		= 0x00;
-	regs[BMI160_GYR_Y_H_G]		= 0x00;
-	regs[BMI160_GYR_Z_L_G]		= 0x00;
-	regs[BMI160_GYR_Z_H_G]		= 0x00;
-	regs[BMI160_ACC_X_L_G]		= 0x00;
-	regs[BMI160_ACC_X_H_G]		= 0x00;
-	regs[BMI160_ACC_Y_L_G]		= 0x00;
-	regs[BMI160_ACC_Y_H_G]		= 0x00;
-	regs[BMI160_ACC_Z_L_G]		= 0x00;
-	regs[BMI160_ACC_Z_H_G]		= 0x00;
-	regs[BMI160_SENSORTIME_0]	= 0x00;
-	regs[BMI160_SENSORTIME_1]	= 0x00;
-	regs[BMI160_SENSORTIME_2]	= 0x00;
-	regs[BMI160_STATUS]		= 0x01;
-	regs[BMI160_INT_STATUS_0]	= 0x00;
-	regs[BMI160_INT_STATUS_1]	= 0x00;
-	regs[BMI160_INT_STATUS_2]	= 0x00;
-	regs[BMI160_INT_STATUS_3]	= 0x00;
-	regs[BMI160_TEMPERATURE_0]	= 0x00;
-	regs[BMI160_TEMPERATURE_1]	= 0x00;
-	regs[BMI160_FIFO_LENGTH_0]	= 0x00;
-	regs[BMI160_FIFO_LENGTH_1]	= 0x00;
-	regs[BMI160_FIFO_DATA]		= 0x00;
-	regs[BMI160_ACC_CONF]		= 0x28;
-	regs[BMI160_ACC_RANGE]		= 0x03;
-	regs[BMI160_GYR_CONF]		= 0x28;
-	regs[BMI160_GYR_RANGE]		= 0x00;
-	regs[BMI160_MAG_CONF]		= 0x0b;
-	regs[BMI160_FIFO_DOWNS]		= 0x88;
-	regs[BMI160_FIFO_CONFIG_0]	= 0x80;
-	regs[BMI160_FIFO_CONFIG_1]	= 0x10;
-	regs[BMI160_MAG_IF_0]		= 0x20;
-	regs[BMI160_MAG_IF_1]		= 0x80;
-	regs[BMI160_MAG_IF_2]		= 0x42;
-	regs[BMI160_MAG_IF_3]		= 0x4c;
-	regs[BMI160_MAG_IF_4]		= 0x00;
-	regs[BMI160_INT_EN_0]		= 0x00;
-	regs[BMI160_INT_EN_1]		= 0x00;
-	regs[BMI160_INT_EN_2]		= 0x00;
-	regs[BMI160_INT_OUT_CTRL]	= 0x00;
-	regs[BMI160_INT_LATCH]		= 0x00;
-	regs[BMI160_INT_MAP_0]		= 0x00;
-	regs[BMI160_INT_MAP_1]		= 0x00;
-	regs[BMI160_INT_MAP_2]		= 0x00;
-	regs[BMI160_INT_DATA_0]		= 0x00;
-	regs[BMI160_INT_DATA_1]		= 0x00;
-	regs[BMI160_INT_LOW_HIGH_0]	= 0x07;
-	regs[BMI160_INT_LOW_HIGH_1]	= 0x30;
-	regs[BMI160_INT_LOW_HIGH_2]	= 0x81;
-	regs[BMI160_INT_LOW_HIGH_3]	= 0xdb;
-	regs[BMI160_INT_LOW_HIGH_4]	= 0xc0;
-	regs[BMI160_INT_MOTION_0]	= 0x00;
-	regs[BMI160_INT_MOTION_1]	= 0x14;
-	regs[BMI160_INT_MOTION_2]	= 0x14;
-	regs[BMI160_INT_MOTION_3]	= 0x24;
-	regs[BMI160_INT_TAP_0]		= 0x04;
-	regs[BMI160_INT_TAP_1]		= 0xda;
-	regs[BMI160_INT_ORIENT_0]	= 0x18;
-	regs[BMI160_INT_ORIENT_1]	= 0x48;
-	regs[BMI160_INT_FLAT_0]		= 0x08;
-	regs[BMI160_INT_FLAT_1]		= 0x11;
-	regs[BMI160_FOC_CONF]		= 0x00;
-	regs[BMI160_CONF]		= 0x00;
-	regs[BMI160_IF_CONF]		= 0x00;
-	regs[BMI160_PMU_TRIGGER]	= 0x00;
-	regs[BMI160_SELF_TEST]		= 0x00;
-	regs[BMI160_STEP_CNT_0]		= 0x00;
-	regs[BMI160_STEP_CNT_1]		= 0x00;
-	regs[BMI160_STEP_CONF_0]	= 0x00;
-	regs[BMI160_STEP_CONF_1]	= 0x15;
-	regs[BMI160_CMD_REG]		= 0x03;
-
-	/* Call generic reset */
-	tag_time = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_TAG_TIME_EN;
-	header = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_HEADER_EN;
-	bmi_emul_reset_common(emul, tag_time, header);
-}
-
-/**
- * @brief Clear all interrupt registers
- *
- * @param regs Pointer to array of emulator's registers
- */
-static void bmi160_emul_clear_int(uint8_t *regs)
-{
-	regs[BMI160_INT_STATUS_0] = 0x00;
-	regs[BMI160_INT_STATUS_1] = 0x00;
-	regs[BMI160_INT_STATUS_2] = 0x00;
-	regs[BMI160_INT_STATUS_3] = 0x00;
-}
-
-/**
- * @brief Get offset value for given gyroscope value. If gyroscope value is
- *        above maximum (belowe minimum), then minimum -31,25°/s
- *        (maximum 31,25°/s) offset value is returned.
- *
- * @param gyr Gyroscope value
- */
-static int16_t bmi160_emul_get_gyr_target_off(int32_t gyr)
-{
-	if (gyr > (int32_t)BMI_EMUL_125_DEG_S / 4) {
-		return -((int32_t)BMI_EMUL_125_DEG_S / 4);
-	}
-
-	if (gyr < -((int32_t)BMI_EMUL_125_DEG_S / 4)) {
-		return BMI_EMUL_125_DEG_S / 4;
-	}
-
-	return -gyr;
-}
-
-/**
- * @brief Get offset value for given accelerometer value. If accelerometer
- *        value - target is above maximum (belowe minimum), then minimum -0.5g
- *        (maximum 0.5g) offset value is returned.
- *
- * @param acc Accelerometer value
- * @param target Target value in FOC configuration register format
- */
-static int16_t bmi160_emul_get_acc_target_off(int32_t acc, uint8_t target)
-{
-	switch (target) {
-	case BMI160_FOC_ACC_PLUS_1G:
-		acc -= BMI_EMUL_1G;
-		break;
-	case BMI160_FOC_ACC_MINUS_1G:
-		acc += BMI_EMUL_1G;
-		break;
-	}
-
-	if (acc > (int32_t)BMI_EMUL_1G / 2) {
-		return -((int32_t)BMI_EMUL_1G / 2);
-	}
-
-	if (acc < -((int32_t)BMI_EMUL_1G / 2)) {
-		return BMI_EMUL_1G / 2;
-	}
-
-	return -acc;
-}
-
-/**
- * @brief Handle fast offset compensation. Check FOC configuration register
- *        and sets gyroscope and/or accelerometer offset using current emulator
- *        state.
- *
- * @param regs Pointer to array of emulator's registers
- * @param emul Pointer to BMI emulator
- */
-static void bmi160_emul_handle_off_comp(uint8_t *regs, struct i2c_emul *emul)
-{
-	uint8_t target;
-	int16_t off;
-	int32_t val;
-
-	if (regs[BMI160_FOC_CONF] & BMI160_FOC_GYRO_EN) {
-		val = bmi_emul_get_value(emul, BMI_EMUL_GYR_X);
-		off = bmi160_emul_get_gyr_target_off(val);
-		bmi_emul_set_off(emul, BMI_EMUL_GYR_X, off);
-		val = bmi_emul_get_value(emul, BMI_EMUL_GYR_Y);
-		off = bmi160_emul_get_gyr_target_off(val);
-		bmi_emul_set_off(emul, BMI_EMUL_GYR_Y, off);
-		val = bmi_emul_get_value(emul, BMI_EMUL_GYR_Z);
-		off = bmi160_emul_get_gyr_target_off(val);
-		bmi_emul_set_off(emul, BMI_EMUL_GYR_Z, off);
-	}
-
-	target = (regs[BMI160_FOC_CONF] >> BMI160_FOC_ACC_X_OFFSET) & 0x3;
-	if (target) {
-		val = bmi_emul_get_value(emul, BMI_EMUL_ACC_X);
-		off = bmi160_emul_get_acc_target_off(val, target);
-		bmi_emul_set_off(emul, BMI_EMUL_ACC_X, off);
-	}
-
-	target = (regs[BMI160_FOC_CONF] >> BMI160_FOC_ACC_Y_OFFSET) & 0x3;
-	if (target) {
-		val = bmi_emul_get_value(emul, BMI_EMUL_ACC_Y);
-		off = bmi160_emul_get_acc_target_off(val, target);
-		bmi_emul_set_off(emul, BMI_EMUL_ACC_Y, off);
-	}
-
-	target = (regs[BMI160_FOC_CONF] >> BMI160_FOC_ACC_Z_OFFSET) & 0x3;
-	if (target) {
-		val = bmi_emul_get_value(emul, BMI_EMUL_ACC_Z);
-		off = bmi160_emul_get_acc_target_off(val, target);
-		bmi_emul_set_off(emul, BMI_EMUL_ACC_Z, off);
-	}
-}
-
-/**
- * @brief Execute first part of command. Emulate state of device which is
- *        during handling command (status bits etc). This function save time
- *        on which command should end.
- *
- * @param regs Pointer to array of emulator's registers
- * @param emul Pointer to BMI emulator
- * @param cmd Command that is starting
- *
- * @return 0 on success
- * @return -EIO on failure
- */
-static int bmi160_emul_start_cmd(uint8_t *regs, struct i2c_emul *emul, int cmd)
-{
-	int time;
-
-	switch (cmd) {
-	case BMI160_CMD_SOFT_RESET:
-		time = 1;
-		break;
-	case BMI160_CMD_START_FOC:
-		if ((regs[BMI160_FOC_CONF] & BMI160_FOC_GYRO_EN) &&
-		    ((regs[BMI160_PMU_STATUS] &
-		      (0x3 << BMI160_PMU_GYR_OFFSET)) !=
-		     BMI160_PMU_NORMAL << BMI160_PMU_GYR_OFFSET)) {
-			LOG_ERR("Starting gyroscope FOC in low power mode");
-			return -EIO;
-		}
-
-		if ((regs[BMI160_FOC_CONF] & ~BMI160_FOC_GYRO_EN) &&
-		    ((regs[BMI160_PMU_STATUS] &
-		      (0x3 << BMI160_PMU_ACC_OFFSET)) !=
-		     BMI160_PMU_NORMAL << BMI160_PMU_ACC_OFFSET)) {
-			LOG_ERR("Starting accelerometer FOC in low power mode");
-			return -EIO;
-		}
-
-		regs[BMI160_STATUS] &= ~BMI160_FOC_RDY;
-		time = 250;
-		break;
-	case BMI160_CMD_ACC_MODE_SUSP:
-	case BMI160_CMD_GYR_MODE_SUSP:
-	case BMI160_CMD_MAG_MODE_SUSP:
-		time = 0;
-		break;
-	/* Real hardware probably switch faster if not in suspend mode */
-	case BMI160_CMD_ACC_MODE_NORMAL:
-	case BMI160_CMD_ACC_MODE_LOWPOWER:
-		time = 4;
-		break;
-	case BMI160_CMD_GYR_MODE_NORMAL:
-	case BMI160_CMD_GYR_MODE_FAST_STARTUP:
-		time = 80;
-		break;
-	case BMI160_CMD_MAG_MODE_NORMAL:
-	case BMI160_CMD_MAG_MODE_LOWPOWER:
-		time = 1;
-		break;
-	case BMI160_CMD_FIFO_FLUSH:
-		time = 0;
-		break;
-	case BMI160_CMD_INT_RESET:
-		time = 0;
-		break;
-	default:
-		LOG_ERR("Unknown command 0x%x", cmd);
-		return -EIO;
-	}
-
-	regs[BMI160_CMD_REG] = cmd;
-	bmi_emul_set_cmd_end_time(emul, time);
-
-	return 0;
-}
-
-/**
- * @brief Emulate end of ongoing command.
- *
- * @param regs Pointer to array of emulator's registers
- * @param emul Pointer to BMI emulator
- */
-static void bmi160_emul_end_cmd(uint8_t *regs, struct i2c_emul *emul)
-{
-	uint8_t pmu_status;
-	bool tag_time;
-	bool header;
-	int cmd;
-
-	pmu_status = regs[BMI160_PMU_STATUS];
-	cmd = regs[BMI160_CMD_REG];
-	regs[BMI160_CMD_REG] = BMI160_CMD_NOOP;
-	tag_time = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_TAG_TIME_EN;
-	header = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_HEADER_EN;
-
-	switch (cmd) {
-	case BMI160_CMD_SOFT_RESET:
-		bmi160_emul_reset(regs, emul);
-		break;
-	case BMI160_CMD_START_FOC:
-		bmi160_emul_handle_off_comp(regs, emul);
-		regs[BMI160_STATUS] |= BMI160_FOC_RDY;
-		break;
-	case BMI160_CMD_ACC_MODE_SUSP:
-		pmu_status &= ~(0x3 << BMI160_PMU_ACC_OFFSET);
-		pmu_status |= BMI160_PMU_SUSPEND << BMI160_PMU_ACC_OFFSET;
-		break;
-	case BMI160_CMD_ACC_MODE_NORMAL:
-		pmu_status &= ~(0x3 << BMI160_PMU_ACC_OFFSET);
-		pmu_status |= BMI160_PMU_NORMAL << BMI160_PMU_ACC_OFFSET;
-		break;
-	case BMI160_CMD_ACC_MODE_LOWPOWER:
-		pmu_status &= ~(0x3 << BMI160_PMU_ACC_OFFSET);
-		pmu_status |= BMI160_PMU_LOW_POWER << BMI160_PMU_ACC_OFFSET;
-		break;
-	case BMI160_CMD_GYR_MODE_SUSP:
-		pmu_status &= ~(0x3 << BMI160_PMU_GYR_OFFSET);
-		pmu_status |= BMI160_PMU_SUSPEND << BMI160_PMU_GYR_OFFSET;
-		break;
-	case BMI160_CMD_GYR_MODE_NORMAL:
-		pmu_status &= ~(0x3 << BMI160_PMU_GYR_OFFSET);
-		pmu_status |= BMI160_PMU_NORMAL << BMI160_PMU_GYR_OFFSET;
-		break;
-	case BMI160_CMD_GYR_MODE_FAST_STARTUP:
-		pmu_status &= ~(0x3 << BMI160_PMU_GYR_OFFSET);
-		pmu_status |= BMI160_PMU_FAST_STARTUP << BMI160_PMU_GYR_OFFSET;
-		break;
-	case BMI160_CMD_MAG_MODE_SUSP:
-		pmu_status &= ~(0x3 << BMI160_PMU_MAG_OFFSET);
-		pmu_status |= BMI160_PMU_SUSPEND << BMI160_PMU_MAG_OFFSET;
-		break;
-	case BMI160_CMD_MAG_MODE_NORMAL:
-		pmu_status &= ~(0x3 << BMI160_PMU_MAG_OFFSET);
-		pmu_status |= BMI160_PMU_NORMAL << BMI160_PMU_MAG_OFFSET;
-		break;
-	case BMI160_CMD_MAG_MODE_LOWPOWER:
-		pmu_status &= ~(0x3 << BMI160_PMU_MAG_OFFSET);
-		pmu_status |= BMI160_PMU_LOW_POWER << BMI160_PMU_MAG_OFFSET;
-		break;
-	case BMI160_CMD_FIFO_FLUSH:
-		bmi_emul_flush_fifo(emul, tag_time, header);
-		break;
-	case BMI160_CMD_INT_RESET:
-		bmi160_emul_clear_int(regs);
-		break;
-	}
-
-	/* Clear FIFO on sensor on/off in headerless mode */
-	if (pmu_status != regs[BMI160_PMU_STATUS] && !header) {
-		bmi_emul_flush_fifo(emul, tag_time, header);
-	}
-
-	regs[BMI160_PMU_STATUS] = pmu_status;
-}
-
-/**
- * @brief BMI160 specific write function. It doesn't handle block writes.
- *        Check if read only register is not accessed. Before writing value,
- *        ongoing command is finished if possible. Write to CMD register is
- *        handled by BMI160 specific function. On changing of FIFO
- *        header/headerless mode, FIFO is flushed.
- *
- * @param regs Pointer to array of emulator's registers
- * @param emul Pointer to BMI emulator
- * @param reg Register address that is accessed
- * @param byte Number of handled bytes in this write command
- * @param val Value that is being written
- *
- * @return 0 on success
- * @return BMI_EMUL_ACCESS_E on RO register access
- * @return -EIO on error
- */
-static int bmi160_emul_handle_write(uint8_t *regs, struct i2c_emul *emul,
-				    int reg, int byte, uint8_t val)
-{
-	bool tag_time;
-	bool header;
-
-	if (byte > 1) {
-		LOG_ERR("Block writes are not allowed");
-		return -EIO;
-	}
-
-	if (reg <= BMI160_FIFO_DATA ||
-	    (reg >= BMI160_STEP_CNT_0 && reg <= BMI160_STEP_CNT_1)) {
-		return BMI_EMUL_ACCESS_E;
-	}
-
-	/* Stop on going command if required */
-	if (regs[BMI160_CMD_REG] != BMI160_CMD_NOOP &&
-	    bmi_emul_is_cmd_end(emul)) {
-		bmi160_emul_end_cmd(regs, emul);
-	}
-
-	switch (reg) {
-	case BMI160_CMD_REG:
-		if (regs[BMI160_CMD_REG] != BMI160_CMD_NOOP) {
-			LOG_ERR("Issued command before previous end");
-			return -EIO;
-		}
-
-		return bmi160_emul_start_cmd(regs, emul, val);
-	case BMI160_FIFO_CONFIG_1:
-		tag_time = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_TAG_TIME_EN;
-		header = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_HEADER_EN;
-		/*
-		 * Clear FIFO on transition between headerless and
-		 * header mode
-		 */
-		if (!!(val & BMI160_FIFO_HEADER_EN) != header) {
-			bmi_emul_flush_fifo(emul, tag_time, header);
-		}
-		break;
-	}
-
-	return 0;
-}
-
-/**
- * @brief Get currently accessed register. It is first register plus number of
- *        handled bytes for all registers except BMI160_FIFO_DATA for which
- *        address incrementation is disabled.
- *
- * @param emul Pointer to BMI emulator
- * @param reg First byte of last write message
- * @param bytes Number of bytes already handled from current message
- * @param read If currently handled is read message
- *
- * @return Currently accessed register
- */
-static int bmi160_emul_access_reg(struct i2c_emul *emul, int reg, int byte,
-				  bool read)
-{
-	if (!read) {
-		return reg;
-	}
-
-	/*
-	 * If register is FIFO data, then read data from FIFO.
-	 * Else block read access subsequent registers.
-	 */
-	if (reg <= BMI160_FIFO_DATA && reg + byte >= BMI160_FIFO_DATA) {
-		return BMI160_FIFO_DATA;
-	}
-
-	return reg + byte;
-}
-
-/**
- * @brief BMI160 specific read function. It handle block reads but only if
- *        device is not suspended. FIFO data register is trap register, so
- *        after reaching it, register address is not increased on block reads.
- *        Before reading value, ongoing command is finished if possible.
- *        Read of sensor data traps current emulator state in registers.
- *        Read of FIFO length and FIFO data triggers default BMI functions.
- *
- * @param regs Pointer to array of emulator's registers
- * @param emul Pointer to BMI emulator
- * @param reg Register address that is accessed
- * @param byte Byte which is accessed during block read
- * @param buf Pointer where read byte should be stored
- *
- * @return 0 on success
- * @return BMI_EMUL_ACCESS_E on WO register access
- * @return -EIO on other error
- */
-static int bmi160_emul_handle_read(uint8_t *regs, struct i2c_emul *emul,
-				   int reg, int byte, char *buf)
-{
-	uint16_t fifo_len;
-	bool acc_off_en;
-	bool gyr_off_en;
-	bool tag_time;
-	bool header;
-	int gyr_shift;
-	int acc_shift;
-	int fifo_byte;
-
-	/* Get number of bytes readed from FIFO */
-	fifo_byte = byte - (reg - BMI160_FIFO_DATA);
-
-	reg = bmi160_emul_access_reg(emul, reg, byte, true /* = read */);
-
-	/* Stop on going command if required */
-	if (regs[BMI160_CMD_REG] != BMI160_CMD_NOOP &&
-	    bmi_emul_is_cmd_end(emul)) {
-		bmi160_emul_end_cmd(regs, emul);
-	}
-
-	/* Burst reads are not supported if all sensors are in suspend mode */
-	if ((regs[BMI160_PMU_STATUS] & 0x3f) == 0 && byte > 0) {
-		LOG_ERR("Block reads are not supported in suspend mode");
-		return -EIO;
-	}
-
-	tag_time = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_TAG_TIME_EN;
-	header = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_HEADER_EN;
-	acc_off_en = regs[BMI160_OFFSET_EN_GYR98] & BMI160_OFFSET_ACC_EN;
-	gyr_off_en = regs[BMI160_OFFSET_EN_GYR98] & BMI160_OFFSET_GYRO_EN;
-	gyr_shift = bmi160_emul_gyr_range_to_shift(regs[BMI160_GYR_RANGE]);
-	acc_shift = bmi160_emul_acc_range_to_shift(regs[BMI160_ACC_RANGE]);
-
-	switch (reg) {
-	case BMI160_GYR_X_L_G:
-	case BMI160_GYR_X_H_G:
-	case BMI160_GYR_Y_L_G:
-	case BMI160_GYR_Y_H_G:
-	case BMI160_GYR_Z_L_G:
-	case BMI160_GYR_Z_H_G:
-	case BMI160_ACC_X_L_G:
-	case BMI160_ACC_X_H_G:
-	case BMI160_ACC_Y_L_G:
-	case BMI160_ACC_Y_H_G:
-	case BMI160_ACC_Z_L_G:
-	case BMI160_ACC_Z_H_G:
-	case BMI160_SENSORTIME_0:
-	case BMI160_SENSORTIME_1:
-	case BMI160_SENSORTIME_2:
-		/*
-		 * Snapshot of current emulator state is created on data read
-		 * and shouldn't be changed until next I2C operation
-		 */
-		if (byte == 0) {
-			bmi_emul_state_to_reg(emul, acc_shift, gyr_shift,
-					      BMI160_ACC_X_L_G,
-					      BMI160_GYR_X_L_G,
-					      BMI160_SENSORTIME_0,
-					      acc_off_en, gyr_off_en);
-		}
-		break;
-	case BMI160_FIFO_LENGTH_0:
-	case BMI160_FIFO_LENGTH_1:
-		if (byte == 0) {
-			fifo_len = bmi_emul_fifo_len(emul, tag_time, header);
-			regs[BMI160_FIFO_LENGTH_0] = fifo_len & 0xff;
-			regs[BMI160_FIFO_LENGTH_1] = (fifo_len >> 8) & 0x7;
-		}
-		break;
-	case BMI160_FIFO_DATA:
-		regs[reg] = bmi_emul_get_fifo_data(emul, fifo_byte, tag_time,
-						   header, acc_shift,
-						   gyr_shift);
-		break;
-	}
-
-	*buf = regs[reg];
-
-	return 0;
-}
-
-/** Registers backed in NVM by BMI160 */
-const int bmi160_nvm_reg[] = {BMI160_NV_CONF,
-			      BMI160_OFFSET_ACC70,
-			      BMI160_OFFSET_ACC70 + 1,
-			      BMI160_OFFSET_ACC70 + 2,
-			      BMI160_OFFSET_GYR70,
-			      BMI160_OFFSET_GYR70 + 1,
-			      BMI160_OFFSET_GYR70 + 2,
-			      BMI160_OFFSET_EN_GYR98};
-
-/** Confguration of BMI160 */
-struct bmi_emul_type_data bmi160_emul = {
-	.sensortime_follow_config_frame = false,
-	.handle_write = bmi160_emul_handle_write,
-	.handle_read = bmi160_emul_handle_read,
-	.access_reg = bmi160_emul_access_reg,
-	.reset = bmi160_emul_reset,
-	.rsvd_mask = bmi_emul_160_rsvd_mask,
-	.nvm_reg = bmi160_nvm_reg,
-	.nvm_len = ARRAY_SIZE(bmi160_nvm_reg),
-	.gyr_off_reg = BMI160_OFFSET_GYR70,
-	.acc_off_reg = BMI160_OFFSET_ACC70,
-	.gyr98_off_reg = BMI160_OFFSET_EN_GYR98,
-};
-
-/** Check description in emul_bmi.h */
-const struct bmi_emul_type_data *get_bmi160_emul_type_data(void)
-{
-	return &bmi160_emul;
-}