26 files changed, 87 insertions, 247 deletions

diff --git a/driver/accel_bma2x2.c b/driver/accel_bma2x2.c
index 92e273cf9a..3b1cf72a8c 100644
--- a/driver/accel_bma2x2.c
+++ b/driver/accel_bma2x2.c
@@ -43,10 +43,9 @@ static inline int raw_write8(const int port, const uint16_t i2c_addr_flags,
 	return i2c_write8(port, i2c_addr_flags, reg, data);
 }
 
-static int set_range(const struct motion_sensor_t *s, int range, int rnd)
+static int set_range(struct motion_sensor_t *s, int range, int rnd)
 {
 	int ret,  range_val, reg_val, range_reg_val;
-	struct accelgyro_saved_data_t *data = s->drv_data;
 
 	range_val = BMA2x2_RANGE_TO_REG(range);
 	if ((BMA2x2_RANGE_TO_REG(range_val) < range) && rnd)
@@ -67,20 +66,13 @@ static int set_range(const struct motion_sensor_t *s, int range, int rnd)
 
 	/* If successfully written, then save the range. */
 	if (ret == EC_SUCCESS)
-		data->range = BMA2x2_REG_TO_RANGE(range_val);
+		s->current_range = BMA2x2_REG_TO_RANGE(range_val);
 
 	mutex_unlock(s->mutex);
 
 	return ret;
 }
 
-static int get_range(const struct motion_sensor_t *s)
-{
-	struct accelgyro_saved_data_t *data = s->drv_data;
-
-	return data->range;
-}
-
 static int get_resolution(const struct motion_sensor_t *s)
 {
 	return BMA2x2_RESOLUTION;
@@ -197,7 +189,7 @@ static int read(const struct motion_sensor_t *s, intv3_t v)
 	return EC_SUCCESS;
 }
 
-static int perform_calib(const struct motion_sensor_t *s, int enable)
+static int perform_calib(struct motion_sensor_t *s, int enable)
 {
 	int ret, val, status, rate, range, i;
 	timestamp_t deadline;
@@ -213,7 +205,7 @@ static int perform_calib(const struct motion_sensor_t *s, int enable)
 		return EC_ERROR_ACCESS_DENIED;
 
 	rate = get_data_rate(s);
-	range = get_range(s);
+	range = s->current_range;
 	/*
 	 * Temporary set frequency to 100Hz to get enough data in a short
 	 * period of time.
@@ -261,7 +253,7 @@ end_perform_calib:
 	return ret;
 }
 
-static int init(const struct motion_sensor_t *s)
+static int init(struct motion_sensor_t *s)
 {
 	int ret = 0, tries = 0, val, reg, reset_field;
 
@@ -319,7 +311,6 @@ const struct accelgyro_drv bma2x2_accel_drv = {
 	.init = init,
 	.read = read,
 	.set_range = set_range,
-	.get_range = get_range,
 	.get_resolution = get_resolution,
 	.set_data_rate = set_data_rate,
 	.get_data_rate = get_data_rate,
diff --git a/driver/accel_kionix.c b/driver/accel_kionix.c
index 141e645d99..476a0341d9 100644
--- a/driver/accel_kionix.c
+++ b/driver/accel_kionix.c
@@ -321,10 +321,9 @@ static int set_value(const struct motion_sensor_t *s, int reg, int val,
 	return ret;
 }
 
-static int set_range(const struct motion_sensor_t *s, int range, int rnd)
+static int set_range(struct motion_sensor_t *s, int range, int rnd)
 {
 	int ret, index, reg, range_field, range_val;
-	struct kionix_accel_data *data = s->drv_data;
 
 	/* Find index for interface pair matching the specified range. */
 	index = find_param_index(range, rnd, ranges[T(s)],
@@ -335,17 +334,10 @@ static int set_range(const struct motion_sensor_t *s, int range, int rnd)
 
 	ret = set_value(s, reg, range_val, range_field);
 	if (ret == EC_SUCCESS)
-		data->base.range = ranges[T(s)][index].val;
+		s->current_range = ranges[T(s)][index].val;
 	return ret;
 }
 
-static int get_range(const struct motion_sensor_t *s)
-{
-	struct kionix_accel_data *data = s->drv_data;
-
-	return data->base.range;
-}
-
 static int set_resolution(const struct motion_sensor_t *s, int res, int rnd)
 {
 	int ret, index, reg, res_field, res_val;
@@ -490,7 +482,7 @@ static int read(const struct motion_sensor_t *s, intv3_t v)
 {
 	uint8_t acc[6];
 	uint8_t reg;
-	int ret, i, range, resolution;
+	int ret, i, resolution;
 	struct kionix_accel_data *data = s->drv_data;
 
 	/* Read 6 bytes starting at XOUT_L. */
@@ -535,14 +527,13 @@ static int read(const struct motion_sensor_t *s, intv3_t v)
 	rotate(v, *s->rot_standard_ref, v);
 
 	/* apply offset in the device coordinates */
-	range = get_range(s);
 	for (i = X; i <= Z; i++)
-		v[i] += (data->offset[i] << 5) / range;
+		v[i] += (data->offset[i] << 5) / s->current_range;
 
 	return EC_SUCCESS;
 }
 
-static int init(const struct motion_sensor_t *s)
+static int init(struct motion_sensor_t *s)
 {
 	int ret, val, reg, reset_field;
 	uint8_t timeout;
@@ -677,7 +668,6 @@ const struct accelgyro_drv kionix_accel_drv = {
 	.init = init,
 	.read = read,
 	.set_range = set_range,
-	.get_range = get_range,
 	.set_resolution = set_resolution,
 	.get_resolution = get_resolution,
 	.set_data_rate = set_data_rate,
diff --git a/driver/accel_lis2dh.c b/driver/accel_lis2dh.c
index d7307d46e3..35d275b379 100644
--- a/driver/accel_lis2dh.c
+++ b/driver/accel_lis2dh.c
@@ -30,10 +30,9 @@
  * @range: Range
  * @rnd: Round up/down flag
  */
-static int set_range(const struct motion_sensor_t *s, int range, int rnd)
+static int set_range(struct motion_sensor_t *s, int range, int rnd)
 {
 	int err, normalized_range;
-	struct stprivate_data *data = s->drv_data;
 	int val;
 
 	val = LIS2DH_FS_TO_REG(range);
@@ -63,19 +62,12 @@ static int set_range(const struct motion_sensor_t *s, int range, int rnd)
 
 	/* Save Gain in range for speed up data path */
 	if (err == EC_SUCCESS)
-		data->base.range = normalized_range;
+		s->current_range = normalized_range;
 
 	mutex_unlock(s->mutex);
 	return EC_SUCCESS;
 }
 
-static int get_range(const struct motion_sensor_t *s)
-{
-	struct stprivate_data *data = s->drv_data;
-
-	return data->base.range;
-}
-
 static int set_data_rate(const struct motion_sensor_t *s, int rate, int rnd)
 {
 	int ret, normalized_rate;
@@ -168,7 +160,7 @@ static int read(const struct motion_sensor_t *s, intv3_t v)
 	return EC_SUCCESS;
 }
 
-static int init(const struct motion_sensor_t *s)
+static int init(struct motion_sensor_t *s)
 {
 	int ret = 0, tmp;
 	struct stprivate_data *data = s->drv_data;
@@ -252,7 +244,6 @@ const struct accelgyro_drv lis2dh_drv = {
 	.init = init,
 	.read = read,
 	.set_range = set_range,
-	.get_range = get_range,
 	.get_resolution = st_get_resolution,
 	.set_data_rate = set_data_rate,
 	.get_data_rate = st_get_data_rate,
diff --git a/driver/accel_lis2ds.c b/driver/accel_lis2ds.c
index 5c593bdcd0..0b57f27f21 100644
--- a/driver/accel_lis2ds.c
+++ b/driver/accel_lis2ds.c
@@ -177,11 +177,10 @@ __maybe_unused static int lis2ds_irq_handler(struct motion_sensor_t *s,
  * @range: Range
  * @rnd: Round up/down flag
  */
-static int set_range(const struct motion_sensor_t *s, int range, int rnd)
+static int set_range(struct motion_sensor_t *s, int range, int rnd)
 {
 	int err;
 	uint8_t reg_val;
-	struct stprivate_data *data = s->drv_data;
 	int newrange = ST_NORMALIZE_RATE(range);
 
 	/* Adjust and check rounded value */
@@ -200,19 +199,12 @@ static int set_range(const struct motion_sensor_t *s, int range, int rnd)
 				      reg_val);
 	if (err == EC_SUCCESS)
 		/* Save internally gain for speed optimization. */
-		data->base.range = newrange;
+		s->current_range = newrange;
 	mutex_unlock(s->mutex);
 
 	return EC_SUCCESS;
 }
 
-static int get_range(const struct motion_sensor_t *s)
-{
-	struct stprivate_data *data = s->drv_data;
-
-	return data->base.range;
-}
-
 static int set_data_rate(const struct motion_sensor_t *s, int rate, int rnd)
 {
 	int ret, normalized_rate = 0;
@@ -317,7 +309,7 @@ static int read(const struct motion_sensor_t *s, intv3_t v)
 	return EC_SUCCESS;
 }
 
-static int init(const struct motion_sensor_t *s)
+static int init(struct motion_sensor_t *s)
 {
 	int ret = 0, tmp;
 	struct stprivate_data *data = s->drv_data;
@@ -383,13 +375,11 @@ const struct accelgyro_drv lis2ds_drv = {
 	.init = init,
 	.read = read,
 	.set_range = set_range,
-	.get_range = get_range,
 	.get_resolution = st_get_resolution,
 	.set_data_rate = set_data_rate,
 	.get_data_rate = st_get_data_rate,
 	.set_offset = st_set_offset,
 	.get_offset = st_get_offset,
-	.perform_calib = NULL,
 #ifdef CONFIG_ACCEL_INTERRUPTS
 	.irq_handler = lis2ds_irq_handler,
 #endif /* CONFIG_ACCEL_INTERRUPTS */
diff --git a/driver/accel_lis2dw12.c b/driver/accel_lis2dw12.c
index e67489956a..dbc3dcac03 100644
--- a/driver/accel_lis2dw12.c
+++ b/driver/accel_lis2dw12.c
@@ -307,11 +307,10 @@ static int set_power_mode(const struct motion_sensor_t *s,
  * @range: Range
  * @rnd: Round up/down flag
  */
-static int set_range(const struct motion_sensor_t *s, int range, int rnd)
+static int set_range(struct motion_sensor_t *s, int range, int rnd)
 {
 	int err = EC_SUCCESS;
 	uint8_t reg_val;
-	struct stprivate_data *data = s->drv_data;
 	int newrange = range;
 
 	/* Adjust and check rounded value. */
@@ -338,7 +337,7 @@ static int set_range(const struct motion_sensor_t *s, int range, int rnd)
 	err = st_write_data_with_mask(s, LIS2DW12_FS_ADDR, LIS2DW12_FS_MASK,
 				      reg_val);
 	if (err == EC_SUCCESS)
-		data->base.range = newrange;
+		s->current_range = newrange;
 	else
 		goto unlock_rate;
 
@@ -352,13 +351,6 @@ unlock_rate:
 	return err;
 }
 
-static int get_range(const struct motion_sensor_t *s)
-{
-	struct stprivate_data *data = s->drv_data;
-
-	return data->base.range;
-}
-
 /**
  * ODR reg value from selected data rate in mHz.
  */
@@ -498,7 +490,7 @@ static int read(const struct motion_sensor_t *s, intv3_t v)
 	return EC_SUCCESS;
 }
 
-static int init(const struct motion_sensor_t *s)
+static int init(struct motion_sensor_t *s)
 {
 	int ret = 0, tmp, timeout = 0, status;
 	struct stprivate_data *data = s->drv_data;
@@ -592,7 +584,6 @@ const struct accelgyro_drv lis2dw12_drv = {
 	.init = init,
 	.read = read,
 	.set_range = set_range,
-	.get_range = get_range,
 	.get_resolution = st_get_resolution,
 	.set_data_rate = set_data_rate,
 	.get_data_rate = st_get_data_rate,
diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c
index b89af57e62..bd32fe6d59 100644
--- a/driver/accelgyro_bmi160.c
+++ b/driver/accelgyro_bmi160.c
@@ -216,16 +216,15 @@ static int set_offset(const struct motion_sensor_t *s,
 	return ret;
 }
 
-static int perform_calib(const struct motion_sensor_t *s, int enable)
+static int perform_calib(struct motion_sensor_t *s, int enable)
 {
-	int ret, val, en_flag, status, rate, range;
+	int ret, val, en_flag, status, rate, range = s->current_range;
 	timestamp_t deadline, timeout;
 
 	if (!enable)
 		return EC_SUCCESS;
 
 	rate = bmi_get_data_rate(s);
-	range = bmi_get_range(s);
 	/*
 	 * Temporary set frequency to 100Hz to get enough data in a short
 	 * period of time.
@@ -569,7 +568,7 @@ static int irq_handler(struct motion_sensor_t *s,
 }
 #endif  /* CONFIG_ACCEL_INTERRUPTS */
 
-static int init(const struct motion_sensor_t *s)
+static int init(struct motion_sensor_t *s)
 {
 	int ret = 0, tmp, i;
 	struct accelgyro_saved_data_t *saved_data = BMI_GET_SAVED_DATA(s);
@@ -712,7 +711,6 @@ static int init(const struct motion_sensor_t *s)
 	 * so set data rate to 0.
 	 */
 	saved_data->odr = 0;
-	bmi_set_range(s, s->default_range, 0);
 
 	if (IS_ENABLED(CONFIG_ACCEL_INTERRUPTS) &&
 	    (s->type == MOTIONSENSE_TYPE_ACCEL))
@@ -725,7 +723,6 @@ const struct accelgyro_drv bmi160_drv = {
 	.init = init,
 	.read = bmi_read,
 	.set_range = bmi_set_range,
-	.get_range = bmi_get_range,
 	.get_resolution = bmi_get_resolution,
 	.set_data_rate = set_data_rate,
 	.get_data_rate = bmi_get_data_rate,
diff --git a/driver/accelgyro_bmi160.h b/driver/accelgyro_bmi160.h
index c0e8a7128b..9f8558e8b7 100644
--- a/driver/accelgyro_bmi160.h
+++ b/driver/accelgyro_bmi160.h
@@ -273,7 +273,7 @@
  * x = a * 1000 / range * 1953
  */
 #define BMI160_MOTION_TH(_s, _mg) \
-	 (MIN(((_mg) * 1000) / ((_s)->drv->get_range(_s) * 1953), 0xff))
+	 (MIN(((_mg) * 1000) / ((_s)->current_range * 1953), 0xff))
 #define BMI160_INT_MOTION_2    0x61
 #define BMI160_INT_MOTION_3    0x62
 #define BMI160_MOTION_NO_MOT_SEL   BIT(0)
@@ -295,7 +295,7 @@
 
 #define BMI160_INT_TAP_1       0x64
 #define BMI160_TAP_TH(_s, _mg) \
-	 (MIN(((_mg) * 1000) / ((_s)->drv->get_range(_s) * 31250), 0x1f))
+	 (MIN(((_mg) * 1000) / ((_s)->current_range * 31250), 0x1f))
 
 #define BMI160_INT_ORIENT_0				0x65
 
diff --git a/driver/accelgyro_bmi260.c b/driver/accelgyro_bmi260.c
index 56a3ab1a17..1be15b21c7 100644
--- a/driver/accelgyro_bmi260.c
+++ b/driver/accelgyro_bmi260.c
@@ -209,14 +209,14 @@ static int calibrate_offset(const struct motion_sensor_t *s,
 	return ret;
 }
 
-static int perform_calib(const struct motion_sensor_t *s, int enable)
+static int perform_calib(struct motion_sensor_t *s, int enable)
 {
 	int ret, rate;
 	int16_t temp;
 	int16_t offset[3];
 	intv3_t target = {0, 0, 0};
 	/* Get sensor range for calibration*/
-	int range = bmi_get_range(s);
+	int range = s->current_range;
 
 	if (!enable)
 		return EC_SUCCESS;
@@ -497,7 +497,7 @@ static int init_config(const struct motion_sensor_t *s)
 	return EC_SUCCESS;
 }
 
-static int init(const struct motion_sensor_t *s)
+static int init(struct motion_sensor_t *s)
 {
 	int ret = 0, tmp, i;
 	struct accelgyro_saved_data_t *saved_data = BMI_GET_SAVED_DATA(s);
@@ -532,7 +532,6 @@ static int init(const struct motion_sensor_t *s)
 	 * so set data rate to 0.
 	 */
 	saved_data->odr = 0;
-	bmi_set_range(s, s->default_range, 0);
 
 	if (IS_ENABLED(CONFIG_ACCEL_INTERRUPTS) &&
 	    (s->type == MOTIONSENSE_TYPE_ACCEL))
@@ -545,7 +544,6 @@ const struct accelgyro_drv bmi260_drv = {
 	.init = init,
 	.read = bmi_read,
 	.set_range = bmi_set_range,
-	.get_range = bmi_get_range,
 	.get_resolution = bmi_get_resolution,
 	.set_data_rate = set_data_rate,
 	.get_data_rate = bmi_get_data_rate,
diff --git a/driver/accelgyro_bmi_common.c b/driver/accelgyro_bmi_common.c
index 75447d54f8..d699c34cf0 100644
--- a/driver/accelgyro_bmi_common.c
+++ b/driver/accelgyro_bmi_common.c
@@ -536,15 +536,14 @@ int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts)
 	return EC_SUCCESS;
 }
 
-int bmi_set_range(const struct motion_sensor_t *s, int range, int rnd)
+int bmi_set_range(struct motion_sensor_t *s, int range, int rnd)
 {
 	int ret, range_tbl_size;
 	uint8_t reg_val, ctrl_reg;
 	const struct bmi_accel_param_pair *ranges;
-	struct accelgyro_saved_data_t *data = BMI_GET_SAVED_DATA(s);
 
 	if (s->type == MOTIONSENSE_TYPE_MAG) {
-		data->range = range;
+		s->current_range = range;
 		return EC_SUCCESS;
 	}
 
@@ -556,18 +555,11 @@ int bmi_set_range(const struct motion_sensor_t *s, int range, int rnd)
 			 ctrl_reg, reg_val);
 	/* Now that we have set the range, update the driver's value. */
 	if (ret == EC_SUCCESS)
-		data->range = bmi_get_engineering_val(reg_val, ranges,
-				range_tbl_size);
+		s->current_range = bmi_get_engineering_val(reg_val, ranges,
+							   range_tbl_size);
 	return ret;
 }
 
-int bmi_get_range(const struct motion_sensor_t *s)
-{
-	struct accelgyro_saved_data_t *data = BMI_GET_SAVED_DATA(s);
-
-	return data->range;
-}
-
 int bmi_get_data_rate(const struct motion_sensor_t *s)
 {
 	struct accelgyro_saved_data_t *data = BMI_GET_SAVED_DATA(s);
diff --git a/driver/accelgyro_bmi_common.h b/driver/accelgyro_bmi_common.h
index 33648b2539..d7906b68ee 100644
--- a/driver/accelgyro_bmi_common.h
+++ b/driver/accelgyro_bmi_common.h
@@ -267,9 +267,7 @@ int bmi_decode_header(struct motion_sensor_t *accel,
  */
 int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts);
 
-int bmi_set_range(const struct motion_sensor_t *s, int range, int rnd);
-
-int bmi_get_range(const struct motion_sensor_t *s);
+int bmi_set_range(struct motion_sensor_t *s, int range, int rnd);
 
 int bmi_get_data_rate(const struct motion_sensor_t *s);
 
diff --git a/driver/accelgyro_icm426xx.c b/driver/accelgyro_icm426xx.c
index b83c166084..4f231fdcac 100644
--- a/driver/accelgyro_icm426xx.c
+++ b/driver/accelgyro_icm426xx.c
@@ -501,7 +501,7 @@ static int icm426xx_set_range(const struct motion_sensor_t *s, int range,
 	ret = icm_field_update8(s, reg, ICM426XX_FS_MASK,
 				ICM426XX_FS_SEL(reg_val));
 	if (ret == EC_SUCCESS)
-		data->range = newrange;
+		s->current_range = newrange;
 
 	mutex_unlock(s->mutex);
 
@@ -661,7 +661,7 @@ static int icm426xx_set_offset(const struct motion_sensor_t *s,
 {
 	struct accelgyro_saved_data_t *data = ICM_GET_SAVED_DATA(s);
 	intv3_t v = { offset[X], offset[Y], offset[Z] };
-	int range, div1, div2;
+	int div1, div2;
 	int i;
 
 	/* unscale values and rotate back to chip frame */
@@ -670,16 +670,15 @@ static int icm426xx_set_offset(const struct motion_sensor_t *s,
 	rotate_inv(v, *s->rot_standard_ref, v);
 
 	/* convert raw data to hardware offset units */
-	range = icm_get_range(s);
 	switch (s->type) {
 	case MOTIONSENSE_TYPE_ACCEL:
 		/* hardware offset is 1/2048g by LSB */
-		div1 = range * 2048;
+		div1 = s->current_range * 2048;
 		div2 = 32768;
 		break;
 	case MOTIONSENSE_TYPE_GYRO:
 		/* hardware offset is 1/32dps by LSB */
-		div1 = range * 32;
+		div1 = s->current_range * 32;
 		div2 = 32768;
 		break;
 	default:
@@ -696,7 +695,7 @@ static int icm426xx_get_offset(const struct motion_sensor_t *s, int16_t *offset,
 {
 	struct accelgyro_saved_data_t *data = ICM_GET_SAVED_DATA(s);
 	intv3_t v;
-	int range, div1, div2;
+	int div1, div2;
 	int i, ret;
 
 	ret = icm426xx_get_hw_offset(s, v);
@@ -704,17 +703,16 @@ static int icm426xx_get_offset(const struct motion_sensor_t *s, int16_t *offset,
 		return ret;
 
 	/* transform offset to raw data */
-	range = icm_get_range(s);
 	switch (s->type) {
 	case MOTIONSENSE_TYPE_ACCEL:
 		/* hardware offset is 1/2048g by LSB */
 		div1 = 32768;
-		div2 = 2048 * range;
+		div2 = 2048 * s->current_range;
 		break;
 	case MOTIONSENSE_TYPE_GYRO:
 		/* hardware offset is 1/32dps by LSB */
 		div1 = 32768;
-		div2 = 32 * range;
+		div2 = 32 * s->current_range;
 		break;
 	default:
 		return EC_ERROR_INVAL;
@@ -954,7 +952,6 @@ const struct accelgyro_drv icm426xx_drv = {
 	.read = icm426xx_read,
 	.read_temp = icm426xx_read_temp,
 	.set_range = icm426xx_set_range,
-	.get_range = icm_get_range,
 	.get_resolution = icm_get_resolution,
 	.set_data_rate = icm426xx_set_data_rate,
 	.get_data_rate = icm_get_data_rate,
diff --git a/driver/accelgyro_icm_common.c b/driver/accelgyro_icm_common.c
index 03a736e76b..5a3f38dc91 100644
--- a/driver/accelgyro_icm_common.c
+++ b/driver/accelgyro_icm_common.c
@@ -282,13 +282,6 @@ int icm_get_resolution(const struct motion_sensor_t *s)
 	return ICM_RESOLUTION;
 }
 
-int icm_get_range(const struct motion_sensor_t *s)
-{
-	struct accelgyro_saved_data_t *data = ICM_GET_SAVED_DATA(s);
-
-	return data->range;
-}
-
 int icm_get_data_rate(const struct motion_sensor_t *s)
 {
 	struct accelgyro_saved_data_t *data = ICM_GET_SAVED_DATA(s);
diff --git a/driver/accelgyro_lsm6ds0.c b/driver/accelgyro_lsm6ds0.c
index 54ee1c77cc..beee41b815 100644
--- a/driver/accelgyro_lsm6ds0.c
+++ b/driver/accelgyro_lsm6ds0.c
@@ -166,14 +166,13 @@ static inline int raw_write8(const int port, const uint16_t i2c_addr_flags,
 	return i2c_write8(port, i2c_addr_flags, reg, data);
 }
 
-static int set_range(const struct motion_sensor_t *s,
+static int set_range(struct motion_sensor_t *s,
 				int range,
 				int rnd)
 {
 	int ret, ctrl_val, range_tbl_size;
 	uint8_t ctrl_reg, reg_val;
 	const struct accel_param_pair *ranges;
-	struct lsm6ds0_data *data = s->drv_data;
 
 	ctrl_reg = get_ctrl_reg(s->type);
 	ranges = get_range_table(s->type, &range_tbl_size);
@@ -197,21 +196,14 @@ static int set_range(const struct motion_sensor_t *s,
 
 	/* Now that we have set the range, update the driver's value. */
 	if (ret == EC_SUCCESS)
-		data->base.range = get_engineering_val(reg_val, ranges,
-				range_tbl_size);
+		s->current_range = get_engineering_val(reg_val, ranges,
+						       range_tbl_size);
 
 accel_cleanup:
 	mutex_unlock(s->mutex);
 	return ret;
 }
 
-static int get_range(const struct motion_sensor_t *s)
-{
-	struct lsm6ds0_data *data = s->drv_data;
-
-	return data->base.range;
-}
-
 static int get_resolution(const struct motion_sensor_t *s)
 {
 	return LSM6DS0_RESOLUTION;
@@ -328,7 +320,7 @@ static int read(const struct motion_sensor_t *s, intv3_t v)
 {
 	uint8_t raw[6];
 	uint8_t xyz_reg;
-	int ret, range, i, tmp = 0;
+	int ret, i, tmp = 0;
 	struct lsm6ds0_data *data = s->drv_data;
 
 	ret = is_data_ready(s, &tmp);
@@ -364,14 +356,13 @@ static int read(const struct motion_sensor_t *s, intv3_t v)
 	rotate(v, *s->rot_standard_ref, v);
 
 	/* apply offset in the device coordinates */
-	range = get_range(s);
 	for (i = X; i <= Z; i++)
-		v[i] += (data->offset[i] << 5) / range;
+		v[i] += (data->offset[i] << 5) / s->current_range;
 
 	return EC_SUCCESS;
 }
 
-static int init(const struct motion_sensor_t *s)
+static int init(struct motion_sensor_t *s)
 {
 	int ret = 0, tmp;
 
@@ -425,11 +416,9 @@ const struct accelgyro_drv lsm6ds0_drv = {
 	.init = init,
 	.read = read,
 	.set_range = set_range,
-	.get_range = get_range,
 	.get_resolution = get_resolution,
 	.set_data_rate = set_data_rate,
 	.get_data_rate = get_data_rate,
 	.set_offset = set_offset,
 	.get_offset = get_offset,
-	.perform_calib = NULL,
 };
diff --git a/driver/accelgyro_lsm6dsm.c b/driver/accelgyro_lsm6dsm.c
index 3383d36741..1a1308c3f5 100644
--- a/driver/accelgyro_lsm6dsm.c
+++ b/driver/accelgyro_lsm6dsm.c
@@ -514,11 +514,10 @@ __maybe_unused static int irq_handler(
  * @rnd: Round up/down flag
  * Note: Range is sensitivity/gain for speed purpose
  */
-static int set_range(const struct motion_sensor_t *s, int range, int rnd)
+static int set_range(struct motion_sensor_t *s, int range, int rnd)
 {
 	int err;
 	uint8_t ctrl_reg, reg_val;
-	struct stprivate_data *data = s->drv_data;
 	int newrange = range;
 
 	switch (s->type) {
@@ -551,25 +550,12 @@ static int set_range(const struct motion_sensor_t *s, int range, int rnd)
 	err = st_write_data_with_mask(s, ctrl_reg, LSM6DSM_RANGE_MASK, reg_val);
 	if (err == EC_SUCCESS)
 		/* Save internally gain for speed optimization. */
-		data->base.range = newrange;
+		s->current_range = newrange;
 	mutex_unlock(s->mutex);
 	return err;
 }
 
 /**
- * get_range - get full scale range
- * @s: Motion sensor pointer
- *
- * For mag range is fixed to LIS2MDL_RANGE by hardware
- */
-static int get_range(const struct motion_sensor_t *s)
-{
-	struct stprivate_data *data = s->drv_data;
-
-	return data->base.range;
-}
-
-/**
  * lsm6dsm_set_data_rate
  * @s: Motion sensor pointer
  * @range: Rate (mHz)
@@ -716,7 +702,7 @@ static int read(const struct motion_sensor_t *s, intv3_t v)
 	return EC_SUCCESS;
 }
 
-static int init(const struct motion_sensor_t *s)
+static int init(struct motion_sensor_t *s)
 {
 	int ret = 0, tmp;
 	struct stprivate_data *data = s->drv_data;
@@ -852,7 +838,6 @@ const struct accelgyro_drv lsm6dsm_drv = {
 	.init = init,
 	.read = read,
 	.set_range = set_range,
-	.get_range = get_range,
 	.get_resolution = st_get_resolution,
 	.set_data_rate = lsm6dsm_set_data_rate,
 	.get_data_rate = st_get_data_rate,
diff --git a/driver/accelgyro_lsm6dso.c b/driver/accelgyro_lsm6dso.c
index 7370ddff6b..64f7cad7c9 100644
--- a/driver/accelgyro_lsm6dso.c
+++ b/driver/accelgyro_lsm6dso.c
@@ -272,11 +272,10 @@ static int irq_handler(struct motion_sensor_t *s, uint32_t *event)
  * @rnd: Round up/down flag
  * Note: Range is sensitivity/gain for speed purpose
  */
-static int set_range(const struct motion_sensor_t *s, int range, int rnd)
+static int set_range(struct motion_sensor_t *s, int range, int rnd)
 {
 	int err;
 	uint8_t ctrl_reg, reg_val;
-	struct stprivate_data *data = LSM6DSO_GET_DATA(s);
 	int newrange = range;
 
 	ctrl_reg = LSM6DSO_RANGE_REG(s->type);
@@ -305,7 +304,7 @@ static int set_range(const struct motion_sensor_t *s, int range, int rnd)
 	err = st_write_data_with_mask(s, ctrl_reg, LSM6DSO_RANGE_MASK,
 				      reg_val);
 	if (err == EC_SUCCESS)
-		data->base.range = newrange;
+		s->current_range = newrange;
 
 	mutex_unlock(s->mutex);
 
@@ -313,17 +312,6 @@ static int set_range(const struct motion_sensor_t *s, int range, int rnd)
 }
 
 /**
- * get_range - get full scale range
- * @s: Motion sensor pointer
- */
-static int get_range(const struct motion_sensor_t *s)
-{
-	struct stprivate_data *data = LSM6DSO_GET_DATA(s);
-
-	return data->base.range;
-}
-
-/**
  * set_data_rate set sensor data rate
  * @s: Motion sensor pointer
  * @range: Rate (mHz)
@@ -425,7 +413,7 @@ static int read(const struct motion_sensor_t *s, intv3_t v)
 	return EC_SUCCESS;
 }
 
-static int init(const struct motion_sensor_t *s)
+static int init(struct motion_sensor_t *s)
 {
 	int ret = 0, tmp;
 	struct stprivate_data *data = LSM6DSO_GET_DATA(s);
@@ -493,7 +481,6 @@ const struct accelgyro_drv lsm6dso_drv = {
 	.init = init,
 	.read = read,
 	.set_range = set_range,
-	.get_range = get_range,
 	.get_resolution = st_get_resolution,
 	.set_data_rate = set_data_rate,
 	.get_data_rate = st_get_data_rate,
diff --git a/driver/als_bh1730.c b/driver/als_bh1730.c
index 872fdaa012..56afb86e0b 100644
--- a/driver/als_bh1730.c
+++ b/driver/als_bh1730.c
@@ -86,15 +86,15 @@ static int bh1730_read_lux(const struct motion_sensor_t *s, intv3_t v)
 		return EC_SUCCESS;
 }
 
-static int bh1730_set_range(const struct motion_sensor_t *s, int range,
+static int bh1730_set_range(struct motion_sensor_t *s, int range,
 			     int rnd)
 {
-	return EC_SUCCESS;
-}
+	/* Range is fixed by hardware */
+	if (range != s->default_range)
+		return EC_ERROR_INVAL;
 
-static int bh1730_get_range(const struct motion_sensor_t *s)
-{
-	return 1;
+	s->current_range = range;
+	return EC_SUCCESS;
 }
 
 static int bh1730_set_data_rate(const struct motion_sensor_t *s,
@@ -134,7 +134,7 @@ static int bh1730_get_offset(const struct motion_sensor_t *s,
 /**
  * Initialise BH1730 Ambient light sensor.
  */
-static int bh1730_init(const struct motion_sensor_t *s)
+static int bh1730_init(struct motion_sensor_t *s)
 {
 	int ret;
 
@@ -172,7 +172,6 @@ const struct accelgyro_drv bh1730_drv = {
 	.init = bh1730_init,
 	.read = bh1730_read_lux,
 	.set_range = bh1730_set_range,
-	.get_range = bh1730_get_range,
 	.set_offset = bh1730_set_offset,
 	.get_offset = bh1730_get_offset,
 	.set_data_rate = bh1730_set_data_rate,
diff --git a/driver/als_opt3001.c b/driver/als_opt3001.c
index 8f1e2bc775..53f2b7df89 100644
--- a/driver/als_opt3001.c
+++ b/driver/als_opt3001.c
@@ -177,23 +177,17 @@ int opt3001_read_lux(const struct motion_sensor_t *s, intv3_t v)
 	}
 }
 
-static int opt3001_set_range(const struct motion_sensor_t *s, int range,
+static int opt3001_set_range(struct motion_sensor_t *s, int range,
 			     int rnd)
 {
 	struct opt3001_drv_data_t *drv_data = OPT3001_GET_DATA(s);
 
 	drv_data->scale = range >> 16;
 	drv_data->uscale = range & 0xffff;
+	s->current_range = range;
 	return EC_SUCCESS;
 }
 
-static int opt3001_get_range(const struct motion_sensor_t *s)
-{
-	struct opt3001_drv_data_t *drv_data = OPT3001_GET_DATA(s);
-
-	return (drv_data->scale << 16) | (drv_data->uscale);
-}
-
 static int opt3001_set_data_rate(const struct motion_sensor_t *s,
 				int rate, int roundup)
 {
@@ -265,7 +259,7 @@ static int opt3001_get_offset(const struct motion_sensor_t *s,
 /**
  * Initialise OPT3001 light sensor.
  */
-static int opt3001_init(const struct motion_sensor_t *s)
+static int opt3001_init(struct motion_sensor_t *s)
 {
 	int data;
 	int ret;
@@ -301,7 +295,6 @@ const struct accelgyro_drv opt3001_drv = {
 	.init = opt3001_init,
 	.read = opt3001_read_lux,
 	.set_range = opt3001_set_range,
-	.get_range = opt3001_get_range,
 	.set_offset = opt3001_set_offset,
 	.get_offset = opt3001_get_offset,
 	.set_data_rate = opt3001_set_data_rate,
diff --git a/driver/als_si114x.c b/driver/als_si114x.c
index 35405bbea7..98b6c02dd5 100644
--- a/driver/als_si114x.c
+++ b/driver/als_si114x.c
@@ -23,7 +23,7 @@
 #define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args)
 #define CPRINTS(format, args...) cprints(CC_ACCEL, format, ## args)
 
-static int init(const struct motion_sensor_t *s);
+static int init(struct motion_sensor_t *s);
 
 /**
  * Read 8bit register from device.
@@ -500,22 +500,17 @@ static int get_resolution(const struct motion_sensor_t *s)
 	return val & 0x07;
 }
 
-static int set_range(const struct motion_sensor_t *s,
+static int set_range(struct motion_sensor_t *s,
 				int range,
 				int rnd)
 {
 	struct si114x_typed_data_t *data = SI114X_GET_TYPED_DATA(s);
 	data->scale = range >> 16;
 	data->uscale = range & 0xffff;
+	s->current_range = range;
 	return EC_SUCCESS;
 }
 
-static int get_range(const struct motion_sensor_t *s)
-{
-	struct si114x_typed_data_t *data = SI114X_GET_TYPED_DATA(s);
-	return (data->scale << 16) | (data->uscale);
-}
-
 static int get_data_rate(const struct motion_sensor_t *s)
 {
 	/* Sensor in forced mode, rate is used by motion_sense */
@@ -553,7 +548,7 @@ static int get_offset(const struct motion_sensor_t *s,
 	return EC_SUCCESS;
 }
 
-static int init(const struct motion_sensor_t *s)
+static int init(struct motion_sensor_t *s)
 {
 	int ret, resol;
 	struct si114x_drv_data_t *data = SI114X_GET_DATA(s);
@@ -590,7 +585,6 @@ const struct accelgyro_drv si114x_drv = {
 	.init = init,
 	.read = read,
 	.set_range = set_range,
-	.get_range = get_range,
 	.set_resolution = set_resolution,
 	.get_resolution = get_resolution,
 	.set_data_rate = set_data_rate,
diff --git a/driver/als_tcs3400.c b/driver/als_tcs3400.c
index 9ffe3cfab1..cbf9aa7d19 100644
--- a/driver/als_tcs3400.c
+++ b/driver/als_tcs3400.c
@@ -600,25 +600,19 @@ static int tcs3400_rgb_set_data_rate(const struct motion_sensor_t *s,
 }
 
 /* Enable/disable special factory calibration mode */
-static int tcs3400_perform_calib(const struct motion_sensor_t *s,
-				     int enable)
+static int tcs3400_perform_calib(struct motion_sensor_t *s, int enable)
 {
 	TCS3400_RGB_DRV_DATA(s+1)->calibration_mode = enable;
 	return EC_SUCCESS;
 }
 
-static int tcs3400_get_range(const struct motion_sensor_t *s)
-{
-	return (TCS3400_DRV_DATA(s)->als_cal.scale << 16) |
-			(TCS3400_DRV_DATA(s)->als_cal.uscale);
-}
-
-static int tcs3400_set_range(const struct motion_sensor_t *s,
+static int tcs3400_set_range(struct motion_sensor_t *s,
 			     int range,
 			     int rnd)
 {
 	TCS3400_DRV_DATA(s)->als_cal.scale = range >> 16;
 	TCS3400_DRV_DATA(s)->als_cal.uscale = range & 0xffff;
+	s->current_range = range;
 	return EC_SUCCESS;
 }
 
@@ -703,12 +697,12 @@ static int tcs3400_set_data_rate(const struct motion_sensor_t *s,
 /**
  * Initialise TCS3400 light sensor.
  */
-static int tcs3400_rgb_init(const struct motion_sensor_t *s)
+static int tcs3400_rgb_init(struct motion_sensor_t *s)
 {
 	return EC_SUCCESS;
 }
 
-static int tcs3400_init(const struct motion_sensor_t *s)
+static int tcs3400_init(struct motion_sensor_t *s)
 {
 	/*
 	 * These are default power-on register values with two exceptions:
@@ -761,7 +755,6 @@ const struct accelgyro_drv tcs3400_drv = {
 	.init = tcs3400_init,
 	.read = tcs3400_read,
 	.set_range = tcs3400_set_range,
-	.get_range = tcs3400_get_range,
 	.set_offset = tcs3400_set_offset,
 	.get_offset = tcs3400_get_offset,
 	.set_scale = tcs3400_set_scale,
diff --git a/driver/baro_bmp280.c b/driver/baro_bmp280.c
index 56376c8aa1..037a77d963 100644
--- a/driver/baro_bmp280.c
+++ b/driver/baro_bmp280.c
@@ -243,7 +243,7 @@ static int bmp280_set_power_mode(const struct motion_sensor_t *s,
 			  BMP280_CTRL_MEAS_REG, val);
 }
 
-static int bmp280_set_range(const struct motion_sensor_t *s,
+static int bmp280_set_range(struct motion_sensor_t *s,
 				int range,
 				int rnd)
 {
@@ -253,16 +253,10 @@ static int bmp280_set_range(const struct motion_sensor_t *s,
 	 * measurment to fit into 16 bits (or less if the AP wants to).
 	 */
 	data->range = 15 - __builtin_clz(range);
+	s->current_range = 1 << (16 + data->range);
 	return EC_SUCCESS;
 }
 
-static int bmp280_get_range(const struct motion_sensor_t *s)
-{
-	struct bmp280_drv_data_t *data = BMP280_GET_DATA(s);
-
-	return 1 << (16 + data->range);
-}
-
 /*
  * bmp280_init() - Used to initialize barometer with default config
  *
@@ -270,7 +264,7 @@ static int bmp280_get_range(const struct motion_sensor_t *s)
  * @retval 0 -> Success
  */
 
-static int bmp280_init(const struct motion_sensor_t *s)
+static int bmp280_init(struct motion_sensor_t *s)
 {
 	int val, ret;
 
@@ -372,7 +366,6 @@ const struct accelgyro_drv bmp280_drv = {
 	.init = bmp280_init,
 	.read = bmp280_read,
 	.set_range = bmp280_set_range,
-	.get_range = bmp280_get_range,
 	.set_data_rate = bmp280_set_data_rate,
 	.get_data_rate = bmp280_get_data_rate,
 };
diff --git a/driver/gyro_l3gd20h.c b/driver/gyro_l3gd20h.c
index 4fcaf15ed0..77dd888542 100644
--- a/driver/gyro_l3gd20h.c
+++ b/driver/gyro_l3gd20h.c
@@ -134,14 +134,13 @@ static inline int raw_write8(const int port, const int addr, const int reg,
 	return i2c_write8(port, addr, reg, data);
 }
 
-static int set_range(const struct motion_sensor_t *s,
+static int set_range(struct motion_sensor_t *s,
 				int range,
 				int rnd)
 {
 	int ret, ctrl_val, range_tbl_size;
 	uint8_t ctrl_reg, reg_val;
 	const struct gyro_param_pair *ranges;
-	struct l3gd20_data *data = (struct l3gd20_data *)s->drv_data;
 
 	ctrl_reg = L3GD20_CTRL_REG4;
 	ranges = get_range_table(s->type, &range_tbl_size);
@@ -163,21 +162,14 @@ static int set_range(const struct motion_sensor_t *s,
 
 	/* Now that we have set the range, update the driver's value. */
 	if (ret == EC_SUCCESS)
-		data->base.range = get_engineering_val(reg_val, ranges,
-							 range_tbl_size);
+		s->current_range = get_engineering_val(reg_val, ranges,
+						       range_tbl_size);
 
 gyro_cleanup:
 	mutex_unlock(s->mutex);
 	return EC_SUCCESS;
 }
 
-static int get_range(const struct motion_sensor_t *s)
-{
-	struct l3gd20_data *data = (struct l3gd20_data *)s->drv_data;
-
-	return data->base.range;
-}
-
 static int get_resolution(const struct motion_sensor_t *s)
 {
 	return L3GD20_RESOLUTION;
@@ -349,14 +341,14 @@ static int read(const struct motion_sensor_t *s, intv3_t v)
 	rotate(v, *s->rot_standard_ref, v);
 
 	/* apply offset in the device coordinates */
-	range = get_range(s);
+	range = s->current_range;
 	for (i = X; i <= Z; i++)
 		v[i] += (data->offset[i] << 5) / range;
 
 	return EC_SUCCESS;
 }
 
-static int init(const struct motion_sensor_t *s)
+static int init(struct motion_sensor_t *s)
 {
 	int ret = 0, tmp;
 
@@ -392,7 +384,6 @@ const struct accelgyro_drv l3gd20h_drv = {
 	.init = init,
 	.read = read,
 	.set_range = set_range,
-	.get_range = get_range,
 	.get_resolution = get_resolution,
 	.set_data_rate = set_data_rate,
 	.get_data_rate = get_data_rate,
diff --git a/driver/mag_bmm150.c b/driver/mag_bmm150.c
index 2289a730f9..ad1eba7ad0 100644
--- a/driver/mag_bmm150.c
+++ b/driver/mag_bmm150.c
@@ -80,7 +80,7 @@
 } while (0)
 
 
-int bmm150_init(const struct motion_sensor_t *s)
+int bmm150_init(struct motion_sensor_t *s)
 {
 	int ret;
 	int val;
diff --git a/driver/mag_bmm150.h b/driver/mag_bmm150.h
index cf80950b8d..9f517f8097 100644
--- a/driver/mag_bmm150.h
+++ b/driver/mag_bmm150.h
@@ -134,7 +134,7 @@ struct bmm150_private_data {
 #endif
 
 /* Specific initialization of BMM150 when behing BMI160 */
-int bmm150_init(const struct motion_sensor_t *s);
+int bmm150_init(struct motion_sensor_t *s);
 
 /* Command to normalize and apply temperature compensation */
 void bmm150_normalize(const struct motion_sensor_t *s,
diff --git a/driver/mag_lis2mdl.c b/driver/mag_lis2mdl.c
index a9a00cc7c9..c0f7dff90d 100644
--- a/driver/mag_lis2mdl.c
+++ b/driver/mag_lis2mdl.c
@@ -66,25 +66,16 @@ void lis2mdl_normalize(const struct motion_sensor_t *s,
 	v[Z] += cal->bias[Z];
 }
 
-static int set_range(const struct motion_sensor_t *s, int range, int rnd)
+static int set_range(struct motion_sensor_t *s, int range, int rnd)
 {
-	struct stprivate_data *data = s->drv_data;
-
 	/* Range is fixed by hardware */
 	if (range != s->default_range)
 		return EC_ERROR_INVAL;
 
-	data->base.range = range;
+	s->current_range = range;
 	return EC_SUCCESS;
 }
 
-static int get_range(const struct motion_sensor_t *s)
-{
-	struct stprivate_data *data = s->drv_data;
-
-	return data->base.range;
-}
-
 /**
  * set_offset - Set data offset
  * @s: Motion sensor pointer
@@ -140,7 +131,7 @@ int lis2mdl_thru_lsm6dsm_read(const struct motion_sensor_t *s, intv3_t v)
 	return ret;
 }
 
-int lis2mdl_thru_lsm6dsm_init(const struct motion_sensor_t *s)
+int lis2mdl_thru_lsm6dsm_init(struct motion_sensor_t *s)
 {
 	int ret = EC_ERROR_UNIMPLEMENTED;
 	struct mag_cal_t *cal = LIS2MDL_CAL(s);
@@ -261,7 +252,7 @@ int lis2mdl_read(const struct motion_sensor_t *s, intv3_t v)
 /**
  * Initialize the sensor. This function will verify the who-am-I register
  */
-int lis2mdl_init(const struct motion_sensor_t *s)
+int lis2mdl_init(struct motion_sensor_t *s)
 {
 	int ret = EC_ERROR_UNKNOWN, who_am_i, count = LIS2MDL_STARTUP_MS;
 	struct stprivate_data *data = s->drv_data;
@@ -405,7 +396,6 @@ const struct accelgyro_drv lis2mdl_drv = {
 	.set_data_rate = lis2mdl_set_data_rate,
 #endif /* !CONFIG_MAG_LSM6DSM_LIS2MDL */
 	.set_range = set_range,
-	.get_range = get_range,
 	.get_data_rate = st_get_data_rate,
 	.get_resolution = st_get_resolution,
 	.set_offset = set_offset,
diff --git a/driver/stm_mems_common.c b/driver/stm_mems_common.c
index 6cee29977d..d3088521d9 100644
--- a/driver/stm_mems_common.c
+++ b/driver/stm_mems_common.c
@@ -125,7 +125,7 @@ int st_get_data_rate(const struct motion_sensor_t *s)
  */
 void st_normalize(const struct motion_sensor_t *s, intv3_t v, uint8_t *data)
 {
-	int i, range;
+	int i;
 	struct stprivate_data *drvdata = s->drv_data;
 	/*
 	 * Data is left-aligned and the bottom bits need to be
@@ -139,8 +139,6 @@ void st_normalize(const struct motion_sensor_t *s, intv3_t v, uint8_t *data)
 
 	rotate(v, *s->rot_standard_ref, v);
 
-	/* apply offset in the device coordinates */
-	range = s->drv->get_range(s);
 	for (i = X; i <= Z; i++)
-		v[i] += (drvdata->offset[i] << 5) / range;
+		v[i] += (drvdata->offset[i] << 5) / s->current_range;
 }
diff --git a/driver/sync.c b/driver/sync.c
index 91d161765a..2d412355fb 100644
--- a/driver/sync.c
+++ b/driver/sync.c
@@ -97,7 +97,7 @@ static int motion_irq_handler(struct motion_sensor_t *s, uint32_t *event)
 	return EC_SUCCESS;
 }
 
-static int sync_init(const struct motion_sensor_t *s)
+static int sync_init(struct motion_sensor_t *s)
 {
 	vector.sensor_num = s - motion_sensors;
 	sync_enabled = 0;