driver: Replace BMI160 to BMI in board config

Replace some macro of BMI160 to BMI version for common function of
BMI series.

Make board config include the accelgyro_bmi_common.h instead of
accel_gyro_bmi160.h.

BRANCH=None
BUG=b:146144827
TEST=make buildall -j

Conflicts:
	Changed many board.c files, which were diverted from the branch
	point. Some boards do not exist in this branch.

Change-Id: I043ff8a92f15295ead3fa5c1e292319e2b4fa21a
Signed-off-by: Ching-Kang Yen <chingkang@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2156525
Reviewed-by: Gwendal Grignou <gwendal@chromium.org>
(cherry picked from commit 557dafbacbc61cd4c5dec9f27ead4ea17b67aac6)
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3115727
Tested-by: Rong Chang <rongchang@chromium.org>
Auto-Submit: Rong Chang <rongchang@chromium.org>
Commit-Queue: Rong Chang <rongchang@chromium.org>

51 files changed, 250 insertions, 296 deletions

diff --git a/baseboard/grunt/baseboard.c b/baseboard/grunt/baseboard.c
index 18b5f80767..42eed9ef18 100644
--- a/baseboard/grunt/baseboard.c
+++ b/baseboard/grunt/baseboard.c
@@ -17,7 +17,7 @@
 #include "cros_board_info.h"
 #include "driver/accel_kionix.h"
 #include "driver/accel_kx022.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/bc12/max14637.h"
 #include "driver/ppc/sn5s330.h"
 #include "driver/tcpm/anx7447.h"
@@ -537,7 +537,7 @@ static struct mutex g_base_mutex;
 
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* TODO(gcc >= 5.0) Remove the casts to const pointer at rot_standard_ref */
 struct motion_sensor_t motion_sensors[] = {
@@ -582,8 +582,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 2, /* g, enough for laptop */
 	 .rot_standard_ref = NULL,
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -610,8 +610,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = NULL,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 
diff --git a/baseboard/zork/baseboard.c b/baseboard/zork/baseboard.c
index 8b931f9bb1..fb8a9be419 100644
--- a/baseboard/zork/baseboard.c
+++ b/baseboard/zork/baseboard.c
@@ -15,9 +15,7 @@
 #include "compile_time_macros.h"
 #include "console.h"
 #include "cros_board_info.h"
-#include "driver/accel_kionix.h"
-#include "driver/accel_kx022.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/ppc/aoz1380.h"
 #include "driver/ppc/nx20p348x.h"
@@ -608,7 +606,7 @@ static struct mutex g_base_mutex;
 
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* TODO(gcc >= 5.0) Remove the casts to const pointer at rot_standard_ref */
 struct motion_sensor_t motion_sensors[] = {
@@ -653,8 +651,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 2, /* g, enough for laptop */
 	 .rot_standard_ref = NULL,
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -681,8 +679,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = NULL,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 
diff --git a/board/aleena/board.c b/board/aleena/board.c
index d648b32f02..f5b3485354 100644
--- a/board/aleena/board.c
+++ b/board/aleena/board.c
@@ -6,7 +6,7 @@
 /* Aleena board-specific configuration */
 
 #include "button.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/led/lm3630a.h"
 #include "extpower.h"
 #include "hooks.h"
diff --git a/board/ampton/board.c b/board/ampton/board.c
index 9dfa1e1db8..1f4e60ab3b 100644
--- a/board/ampton/board.c
+++ b/board/ampton/board.c
@@ -12,7 +12,7 @@
 #include "common.h"
 #include "cros_board_info.h"
 #include "driver/accel_kionix.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/ppc/sn5s330.h"
 #include "driver/sync.h"
 #include "driver/tcpm/it83xx_pd.h"
@@ -174,7 +174,7 @@ const mat33_fp_t gyro_standard_ref = {
 
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* Drivers */
 struct motion_sensor_t motion_sensors[] = {
@@ -217,8 +217,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -245,8 +245,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &gyro_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 	[VSYNC] = {
 	 .name = "Camera VSYNC",
diff --git a/board/bobba/board.c b/board/bobba/board.c
index a89f63681b..f0fb23edd3 100644
--- a/board/bobba/board.c
+++ b/board/bobba/board.c
@@ -14,7 +14,7 @@
 #include "common.h"
 #include "cros_board_info.h"
 #include "driver/accel_kionix.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/charger/bd9995x.h"
 #include "driver/ppc/nx20p348x.h"
 #include "driver/sync.h"
@@ -154,7 +154,7 @@ const mat33_fp_t base_ar_cam_ref = {
 
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* Drivers */
 struct motion_sensor_t motion_sensors[] = {
@@ -197,8 +197,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -225,8 +225,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 	[VSYNC] = {
 	.name = "Camera VSYNC",
diff --git a/board/burnet/board.c b/board/burnet/board.c
index fd4871c159..2ece6977e2 100644
--- a/board/burnet/board.c
+++ b/board/burnet/board.c
@@ -16,7 +16,7 @@
 #include "console.h"
 #include "driver/accel_bma2x2.h"
 #include "driver/accel_kionix.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/accelgyro_icm_common.h"
 #include "driver/accelgyro_icm426xx.h"
 #include "driver/battery/max17055.h"
@@ -324,7 +324,7 @@ static const mat33_fp_t base_icm426xx_ref = {
 /* sensor private data */
 static struct accelgyro_saved_data_t g_bma253_data;
 static struct kionix_accel_data g_kx022_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 static struct icm_drv_data_t g_icm426xx_data;
 
 struct motion_sensor_t lid_accel_kx022 = {
@@ -437,8 +437,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 		.rot_standard_ref = &base_bmi160_ref,
 		.default_range = 2,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-		.min_frequency = BMI160_ACCEL_MIN_FREQ,
-		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
 		.config = {
 			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S0] = {
@@ -465,8 +465,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_bmi160_ref,
-		.min_frequency = BMI160_GYRO_MIN_FREQ,
-		.max_frequency = BMI160_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/cerise/board.c b/board/cerise/board.c
index 4d449496c1..f52bbb1d6e 100644
--- a/board/cerise/board.c
+++ b/board/cerise/board.c
@@ -15,7 +15,7 @@
 #include "common.h"
 #include "console.h"
 #include "driver/accel_lis2dw12.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/battery/max17055.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/charger/isl923x.h"
@@ -335,7 +335,7 @@ static const mat33_fp_t lid_standard_ref = {
 /* Lid accel private data */
 static struct stprivate_data g_lis2dwl_data;
 /* Base accel private data */
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
@@ -382,8 +382,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 		.rot_standard_ref = &base_standard_ref,
 		.default_range = 2,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-		.min_frequency = BMI160_ACCEL_MIN_FREQ,
-		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
 		.config = {
 			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S0] = {
@@ -410,8 +410,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_GYRO_MIN_FREQ,
-		.max_frequency = BMI160_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/cheza/board.c b/board/cheza/board.c
index 1742b9d4a2..810df45924 100644
--- a/board/cheza/board.c
+++ b/board/cheza/board.c
@@ -12,7 +12,7 @@
 #include "charge_state.h"
 #include "chipset.h"
 #include "extpower.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/als_opt3001.h"
 #include "driver/ppc/sn5s330.h"
 #include "driver/tcpm/anx74xx.h"
@@ -619,7 +619,7 @@ uint16_t tcpc_get_alert_status(void)
 /* Mutexes */
 static struct mutex g_lid_mutex;
 
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 static struct opt3001_drv_data_t g_opt3001_data = {
 	.scale = 1,
 	.uscale = 0,
@@ -652,8 +652,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 [SENSOR_CONFIG_EC_S0] = {
 			 .odr = 10000 | ROUND_UP_FLAG,
@@ -673,8 +673,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 	[LID_ALS] = {
 	 .name = "Light",
diff --git a/board/coral/board.c b/board/coral/board.c
index 021343851c..679c5b72a3 100644
--- a/board/coral/board.c
+++ b/board/coral/board.c
@@ -17,7 +17,7 @@
 #include "driver/als_opt3001.h"
 #include "driver/accel_kionix.h"
 #include "driver/accel_kx022.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/charger/bd9995x.h"
 #include "driver/tcpm/anx74xx.h"
 #include "driver/tcpm/ps8xxx.h"
@@ -709,7 +709,7 @@ const mat33_fp_t mag_standard_ref = {
 
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* FIXME(dhendrix): Copied from Amenia, probably need to tweak for Coral */
 struct motion_sensor_t motion_sensors[] = {
@@ -753,8 +753,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -782,8 +782,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/damu/board.c b/board/damu/board.c
index 4721f857ca..c0ce68c309 100644
--- a/board/damu/board.c
+++ b/board/damu/board.c
@@ -15,7 +15,7 @@
 #include "common.h"
 #include "console.h"
 #include "driver/accel_lis2dw12.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/battery/max17055.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/charger/isl923x.h"
@@ -332,7 +332,7 @@ static const mat33_fp_t lid_standard_ref = {
 /* Lid accel private data */
 static struct stprivate_data g_lis2dwl_data;
 /* Base accel private data */
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
@@ -379,8 +379,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 		.rot_standard_ref = &base_standard_ref,
 		.default_range = 2,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-		.min_frequency = BMI160_ACCEL_MIN_FREQ,
-		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
 		.config = {
 			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S0] = {
@@ -407,8 +407,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_GYRO_MIN_FREQ,
-		.max_frequency = BMI160_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/dood/board.c b/board/dood/board.c
index de51648b88..decb7003b6 100644
--- a/board/dood/board.c
+++ b/board/dood/board.c
@@ -14,7 +14,7 @@
 #include "common.h"
 #include "cros_board_info.h"
 #include "driver/accel_kionix.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/charger/bd9995x.h"
 #include "driver/ppc/nx20p348x.h"
 #include "driver/sync.h"
@@ -137,7 +137,7 @@ const mat33_fp_t base_standard_ref = {
 
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* Drivers */
 struct motion_sensor_t motion_sensors[] = {
@@ -180,8 +180,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -208,8 +208,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 
diff --git a/board/dratini/board.c b/board/dratini/board.c
index 7829ceec79..bbf3a2be34 100644
--- a/board/dratini/board.c
+++ b/board/dratini/board.c
@@ -11,7 +11,7 @@
 #include "common.h"
 #include "cros_board_info.h"
 #include "driver/accel_bma2x2.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/als_tcs3400.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/ppc/sn5s330.h"
@@ -175,7 +175,7 @@ static struct mutex g_base_mutex;
 static struct mutex g_lid_mutex;
 
 /* Base accel private data */
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* BMA255 private data */
 static struct accelgyro_saved_data_t g_bma255_data;
@@ -238,8 +238,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.port = I2C_PORT_ACCEL,
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_ACCEL_MIN_FREQ,
-		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
 		.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
 		.config = {
 			[SENSOR_CONFIG_EC_S0] = {
@@ -265,8 +265,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_GYRO_MIN_FREQ,
-		.max_frequency = BMI160_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/eve/board.c b/board/eve/board.c
index 42ff73643f..cc7c8004a5 100644
--- a/board/eve/board.c
+++ b/board/eve/board.c
@@ -19,7 +19,7 @@
 #include "device_event.h"
 #include "driver/accel_kionix.h"
 #include "driver/accel_kxcj9.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/als_si114x.h"
 #include "driver/charger/bd9995x.h"
 #include "driver/tcpm/anx74xx.h"
@@ -772,7 +772,7 @@ static struct mutex g_base_mutex;
 static struct mutex g_lid_mutex;
 
 static struct kionix_accel_data g_kxcj9_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 static struct si114x_drv_data_t g_si114x_data = {
 	.state = SI114X_NOT_READY,
@@ -845,8 +845,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .rot_standard_ref = NULL,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -879,8 +879,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = NULL,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 
 	[BASE_MAG] = {
diff --git a/board/eve/board.h b/board/eve/board.h
index 5f482f67ac..0cf1c392a6 100644
--- a/board/eve/board.h
+++ b/board/eve/board.h
@@ -123,7 +123,7 @@
 #define CONFIG_TEMP_SENSOR_BD99992GW
 #define CONFIG_THERMISTOR_NCP15WB
 #define CONFIG_ACCELGYRO_BMI160
-#define CONFIG_MAG_BMI160_BMM150
+#define CONFIG_MAG_BMI_BMM150
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
diff --git a/board/fennel/board.c b/board/fennel/board.c
index 401eef5795..0ff79439e2 100644
--- a/board/fennel/board.c
+++ b/board/fennel/board.c
@@ -15,7 +15,7 @@
 #include "common.h"
 #include "console.h"
 #include "driver/accel_lis2dw12.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/accelgyro_icm_common.h"
 #include "driver/accelgyro_icm42607.h"
 #include "driver/battery/max17055.h"
@@ -334,7 +334,7 @@ static const mat33_fp_t lid_standard_ref = {
 
 /* sensor private data */
 static struct stprivate_data g_lis2dwl_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 static struct icm_drv_data_t g_icm42607_data;
 
 enum base_accelgyro_type {
@@ -436,8 +436,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 2,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -464,8 +464,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/flapjack/board.c b/board/flapjack/board.c
index cb191c3578..0825361105 100644
--- a/board/flapjack/board.c
+++ b/board/flapjack/board.c
@@ -15,7 +15,7 @@
 #include "common.h"
 #include "console.h"
 #include "cros_board_info.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/als_tcs3400.h"
 #include "driver/battery/max17055.h"
 #include "driver/charger/rt946x.h"
@@ -452,7 +452,7 @@ void board_config_pre_init(void)
 #ifdef SECTION_IS_RW
 static struct mutex g_lid_mutex;
 
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 static struct als_drv_data_t g_tcs3400_data = {
 	.als_cal.scale = 1,
@@ -529,8 +529,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .rot_standard_ref = &lid_standard_ref,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* Enable accel in S0 */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -552,8 +552,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &lid_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 	[CLEAR_ALS] = {
 	 .name = "Clear Light",
diff --git a/board/garg/board.c b/board/garg/board.c
index 7c997ba546..862f529496 100644
--- a/board/garg/board.c
+++ b/board/garg/board.c
@@ -14,7 +14,7 @@
 #include "common.h"
 #include "cros_board_info.h"
 #include "driver/accel_kionix.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/charger/bd9995x.h"
 #include "driver/ppc/nx20p348x.h"
 #include "driver/tcpm/anx7447.h"
@@ -132,7 +132,7 @@ const mat33_fp_t base_standard_ref = {
 
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* Drivers */
 struct motion_sensor_t motion_sensors[] = {
@@ -175,8 +175,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -203,8 +203,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 
diff --git a/board/glados/board.c b/board/glados/board.c
index 8003e91906..acd9fdb5ae 100644
--- a/board/glados/board.c
+++ b/board/glados/board.c
@@ -17,7 +17,7 @@
 #include "driver/als_opt3001.h"
 #include "driver/accel_kionix.h"
 #include "driver/accel_kx022.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/tcpm/tcpci.h"
 #include "extpower.h"
 #include "gpio.h"
@@ -440,7 +440,7 @@ static struct mutex g_lid_mutex;
 static struct mutex g_base_mutex;
 
 static struct kionix_accel_data g_kx022_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 struct motion_sensor_t motion_sensors[] = {
 	/*
@@ -461,8 +461,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.addr = BMI160_ADDR0,
 		.rot_standard_ref = NULL, /* Identity matrix. */
 		.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-		.min_frequency = BMI160_ACCEL_MIN_FREQ,
-		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
 		.config = {
 			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S0] = {
@@ -485,8 +485,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.addr = BMI160_ADDR0,
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = NULL, /* Identity Matrix. */
-		.min_frequency = BMI160_GYRO_MIN_FREQ,
-		.max_frequency = BMI160_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 
 	[LID_ACCEL] = {
diff --git a/board/grunt/board.c b/board/grunt/board.c
index 85727ca088..1a01a3b3cf 100644
--- a/board/grunt/board.c
+++ b/board/grunt/board.c
@@ -6,7 +6,7 @@
 /* Grunt board-specific configuration */
 
 #include "button.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/led/lm3630a.h"
 #include "extpower.h"
 #include "hooks.h"
diff --git a/board/hatch/board.c b/board/hatch/board.c
index 180dc1be96..98913403ca 100644
--- a/board/hatch/board.c
+++ b/board/hatch/board.c
@@ -11,7 +11,7 @@
 #include "common.h"
 #include "cros_board_info.h"
 #include "driver/accel_bma2x2.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/als_tcs3400.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/ppc/sn5s330.h"
@@ -175,7 +175,7 @@ static struct mutex g_base_mutex;
 static struct mutex g_lid_mutex;
 
 /* Base accel private data */
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* BMA255 private data */
 static struct accelgyro_saved_data_t g_bma255_data;
@@ -276,8 +276,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.port = I2C_PORT_ACCEL,
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_ACCEL_MIN_FREQ,
-		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
 		.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
 		.config = {
 			[SENSOR_CONFIG_EC_S0] = {
@@ -303,8 +303,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_GYRO_MIN_FREQ,
-		.max_frequency = BMI160_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 
 	[CLEAR_ALS] = {
diff --git a/board/helios/board.c b/board/helios/board.c
index 472e19360d..dfede92a2d 100644
--- a/board/helios/board.c
+++ b/board/helios/board.c
@@ -11,7 +11,7 @@
 #include "common.h"
 #include "cros_board_info.h"
 #include "driver/accel_bma2x2.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/als_opt3001.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/ppc/sn5s330.h"
@@ -185,7 +185,7 @@ static struct mutex g_base_mutex;
 static struct mutex g_lid_mutex;
 
 /* Base accel private data */
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* BMA255 private data */
 static struct accelgyro_saved_data_t g_bma255_data;
@@ -249,8 +249,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.port = I2C_PORT_ACCEL,
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_ACCEL_MIN_FREQ,
-		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
 		.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
 		.config = {
 			[SENSOR_CONFIG_EC_S0] = {
@@ -276,8 +276,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_GYRO_MIN_FREQ,
-		.max_frequency = BMI160_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 
 	[LID_ALS] = {
diff --git a/board/jacuzzi/board.c b/board/jacuzzi/board.c
index 0502ed27b3..7c77d8ef3b 100644
--- a/board/jacuzzi/board.c
+++ b/board/jacuzzi/board.c
@@ -15,7 +15,7 @@
 #include "common.h"
 #include "console.h"
 #include "driver/accel_kionix.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/accelgyro_icm_common.h"
 #include "driver/accelgyro_icm426xx.h"
 #include "driver/battery/max17055.h"
@@ -352,7 +352,7 @@ static const mat33_fp_t base_icm426xx_ref = {
 
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 static struct icm_drv_data_t g_icm426xx_data;
 
 enum base_accelgyro_type {
@@ -404,8 +404,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 	 .rot_standard_ref = &base_bmi160_ref,
 	 .default_range = 2,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -432,8 +432,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_bmi160_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/kakadu/board.c b/board/kakadu/board.c
index 482e84e986..712c4d12e2 100644
--- a/board/kakadu/board.c
+++ b/board/kakadu/board.c
@@ -14,7 +14,7 @@
 #include "chipset.h"
 #include "common.h"
 #include "console.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/accelgyro_icm_common.h"
 #include "driver/accelgyro_icm42607.h"
 #include "driver/charger/rt946x.h"
@@ -295,7 +295,7 @@ DECLARE_HOOK(HOOK_INIT, board_rev_init, HOOK_PRIO_INIT_ADC + 1);
 #ifndef VARIANT_KUKUI_NO_SENSORS
 static struct mutex g_lid_mutex;
 
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 static struct icm_drv_data_t g_icm42607_data;
 
 enum lid_accelgyro_type {
@@ -378,8 +378,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .rot_standard_ref = &lid_standard_ref,
 	 .default_range = 4,  /* g */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* Enable accel in S0 */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -401,8 +401,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &lid_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 	[VSYNC] = {
 	 .name = "Camera vsync",
diff --git a/board/kappa/board.c b/board/kappa/board.c
index 460dbeffde..4608769127 100644
--- a/board/kappa/board.c
+++ b/board/kappa/board.c
@@ -14,7 +14,7 @@
 #include "chipset.h"
 #include "common.h"
 #include "console.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/battery/max17055.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/charger/isl923x.h"
diff --git a/board/kindred/board.c b/board/kindred/board.c
index 40038cc4b3..ed82d8f837 100644
--- a/board/kindred/board.c
+++ b/board/kindred/board.c
@@ -11,7 +11,7 @@
 #include "common.h"
 #include "cros_board_info.h"
 #include "driver/accel_bma2x2.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/ppc/sn5s330.h"
 #include "driver/tcpm/anx7447.h"
@@ -177,7 +177,7 @@ static struct mutex g_base_mutex;
 static struct mutex g_lid_mutex;
 
 /* Base accel private data */
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* BMA255 private data */
 static struct accelgyro_saved_data_t g_bma255_data;
@@ -240,8 +240,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.port = I2C_PORT_ACCEL,
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_ACCEL_MIN_FREQ,
-		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
 		.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
 		.config = {
 			[SENSOR_CONFIG_EC_S0] = {
@@ -267,8 +267,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_GYRO_MIN_FREQ,
-		.max_frequency = BMI160_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/kohaku/board.c b/board/kohaku/board.c
index d99fd830aa..99521a6e4f 100644
--- a/board/kohaku/board.c
+++ b/board/kohaku/board.c
@@ -11,7 +11,7 @@
 #include "common.h"
 #include "cros_board_info.h"
 #include "driver/accel_bma2x2.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/als_bh1730.h"
 #include "driver/als_tcs3400.h"
 #include "driver/ppc/sn5s330.h"
@@ -163,7 +163,7 @@ static struct mutex g_base_mutex;
 static struct mutex g_lid_mutex;
 
 /* Base accel private data */
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* BMA255 private data */
 static struct accelgyro_saved_data_t g_bma255_data;
@@ -268,8 +268,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.port = I2C_PORT_ACCEL,
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_ACCEL_MIN_FREQ,
-		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
 		.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
 		.config = {
 			[SENSOR_CONFIG_EC_S0] = {
@@ -295,8 +295,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_GYRO_MIN_FREQ,
-		.max_frequency = BMI160_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 
 	[BASE_ALS] = {
diff --git a/board/kukui/board.c b/board/kukui/board.c
index 5ea20a376b..a753ae650d 100644
--- a/board/kukui/board.c
+++ b/board/kukui/board.c
@@ -14,7 +14,7 @@
 #include "chipset.h"
 #include "common.h"
 #include "console.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/als_tcs3400.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/charger/rt946x.h"
@@ -350,7 +350,7 @@ DECLARE_HOOK(HOOK_INIT, board_rev_init, HOOK_PRIO_INIT_ADC + 1);
 #ifndef VARIANT_KUKUI_NO_SENSORS
 static struct mutex g_lid_mutex;
 
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* TCS3400 private data */
 static struct als_drv_data_t g_tcs3400_data = {
@@ -421,14 +421,14 @@ static const mat33_fp_t lid_standard_ref = {
 };
 #endif /* BOARD_KUKUI */
 
-#ifdef CONFIG_MAG_BMI160_BMM150
+#ifdef CONFIG_MAG_BMI_BMM150
 /* Matrix to rotate accelrator into standard reference frame */
 static const mat33_fp_t mag_standard_ref = {
 	{0, FLOAT_TO_FP(-1), 0},
 	{FLOAT_TO_FP(-1), 0, 0},
 	{0, 0, FLOAT_TO_FP(-1)}
 };
-#endif /* CONFIG_MAG_BMI160_BMM150 */
+#endif /* CONFIG_MAG_BMI_BMM150 */
 
 struct motion_sensor_t motion_sensors[] = {
 	/*
@@ -449,8 +449,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .rot_standard_ref = &lid_standard_ref,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* Enable accel in S0 */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -472,10 +472,10 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &lid_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
-#ifdef CONFIG_MAG_BMI160_BMM150
+#ifdef CONFIG_MAG_BMI_BMM150
 	[LID_MAG] = {
 	 .name = "Lid Mag",
 	 .active_mask = SENSOR_ACTIVE_S0_S3,
@@ -492,7 +492,7 @@ struct motion_sensor_t motion_sensors[] = {
 	 .min_frequency = BMM150_MAG_MIN_FREQ,
 	 .max_frequency = BMM150_MAG_MAX_FREQ(SPECIAL),
 	},
-#endif /* CONFIG_MAG_BMI160_BMM150 */
+#endif /* CONFIG_MAG_BMI_BMM150 */
 	[CLEAR_ALS] = {
 	 .name = "Clear Light",
 	 .active_mask = SENSOR_ACTIVE_S0_S3,
diff --git a/board/kukui/board.h b/board/kukui/board.h
index 4cc913389a..22d92b68ae 100644
--- a/board/kukui/board.h
+++ b/board/kukui/board.h
@@ -53,7 +53,7 @@
 /* Motion Sensors */
 #ifdef SECTION_IS_RW
 #ifndef BOARD_KRANE
-#define CONFIG_MAG_BMI160_BMM150
+#define CONFIG_MAG_BMI_BMM150
 #define CONFIG_ACCELGYRO_SEC_ADDR_FLAGS BMM150_ADDR0_FLAGS
 #define CONFIG_MAG_CALIBRATE
 #endif /* !BOARD_KRANE */
@@ -121,9 +121,9 @@ enum power_signal {
 enum sensor_id {
 	LID_ACCEL = 0,
 	LID_GYRO,
-#ifdef CONFIG_MAG_BMI160_BMM150
+#ifdef CONFIG_MAG_BMI_BMM150
 	LID_MAG,
-#endif /* CONFIG_MAG_BMI160_BMM150 */
+#endif /* CONFIG_MAG_BMI_BMM150 */
 	CLEAR_ALS,
 	RGB_ALS,
 	VSYNC,
diff --git a/board/makomo/board.c b/board/makomo/board.c
index 84575477f5..a7e5c0f516 100644
--- a/board/makomo/board.c
+++ b/board/makomo/board.c
@@ -15,7 +15,7 @@
 #include "common.h"
 #include "console.h"
 #include "driver/accel_lis2dw12.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/battery/max17055.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/charger/isl923x.h"
@@ -329,7 +329,7 @@ static const mat33_fp_t lid_standard_ref = {
 
 /* sensor private data */
 static struct stprivate_data g_lis2dwl_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
@@ -376,8 +376,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 2,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -404,8 +404,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/mchpevb1/board.c b/board/mchpevb1/board.c
index d6532bd59e..597051a35f 100644
--- a/board/mchpevb1/board.c
+++ b/board/mchpevb1/board.c
@@ -23,7 +23,7 @@
 #include "driver/als_opt3001.h"
 #include "driver/accel_kionix.h"
 #include "driver/accel_kx022.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/tcpm/tcpci.h"
 #include "extpower.h"
 #include "gpio_chip.h"
@@ -907,7 +907,7 @@ DECLARE_HOOK(HOOK_SECOND, board_one_sec, HOOK_PRIO_DEFAULT);
 
 static struct mutex g_base_mutex;
 /* BMI160 private data */
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 #ifdef CONFIG_ACCEL_KX022
 static struct mutex g_lid_mutex;
@@ -935,8 +935,8 @@ struct motion_sensor_t motion_sensors[] = {
 			CONFIG_SPI_ACCEL_PORT),
 		.rot_standard_ref = NULL, /* Identity matrix. */
 		.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-		.min_frequency = BMI160_ACCEL_MIN_FREQ,
-		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
 		.config = {
 			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S0] = {
@@ -960,8 +960,8 @@ struct motion_sensor_t motion_sensors[] = {
 			CONFIG_SPI_ACCEL_PORT),
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = NULL, /* Identity Matrix. */
-		.min_frequency = BMI160_GYRO_MIN_FREQ,
-		.max_frequency = BMI160_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 #ifdef CONFIG_ACCEL_KX022
 	[LID_ACCEL] = {
diff --git a/board/munna/board.c b/board/munna/board.c
index b2e45adb43..c5ae23300c 100644
--- a/board/munna/board.c
+++ b/board/munna/board.c
@@ -16,7 +16,7 @@
 #include "common.h"
 #include "console.h"
 #include "driver/accel_lis2dw12.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/battery/max17055.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/charger/isl923x.h"
@@ -348,7 +348,7 @@ static const mat33_fp_t lid_standard_ref = {
 
 /* sensor private data */
 static struct stprivate_data g_lis2dwl_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
@@ -395,8 +395,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 2,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -423,8 +423,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/nami/board.c b/board/nami/board.c
index f9fb3e3b33..9dee38a046 100644
--- a/board/nami/board.c
+++ b/board/nami/board.c
@@ -19,7 +19,7 @@
 #include "console.h"
 #include "cros_board_info.h"
 #include "driver/pmic_tps650x30.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/accel_bma2x2.h"
 #include "driver/accel_kionix.h"
 #include "driver/baro_bmp280.h"
@@ -716,7 +716,7 @@ static struct mutex g_lid_mutex;
 static struct mutex g_base_mutex;
 
 /* Lid accel private data */
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 static struct kionix_accel_data g_kx022_data;
 
 /* BMA255 private data */
@@ -809,8 +809,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.port = I2C_PORT_ACCEL,
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_ACCEL_MIN_FREQ,
-		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
 		.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
 		.config = {
 			/* EC use accel for angle detection */
@@ -838,8 +838,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_GYRO_MIN_FREQ,
-		.max_frequency = BMI160_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/nautilus/board.c b/board/nautilus/board.c
index 854d590202..2290b89c52 100644
--- a/board/nautilus/board.c
+++ b/board/nautilus/board.c
@@ -17,7 +17,7 @@
 #include "charger.h"
 #include "chipset.h"
 #include "console.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/accel_bma2x2.h"
 #include "driver/baro_bmp280.h"
 #include "driver/tcpm/ps8xxx.h"
@@ -583,7 +583,7 @@ int board_get_version(void)
 static struct mutex g_lid_mutex;
 static struct mutex g_base_mutex;
 
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* BMA255 private data */
 static struct accelgyro_saved_data_t g_bma255_data;
@@ -640,8 +640,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .port = I2C_PORT_ACCEL,
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
 	 .config = {
 		/* EC use accel for angle detection */
@@ -668,8 +668,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/nocturne/board.c b/board/nocturne/board.c
index 5b785e209b..2ba86bed82 100644
--- a/board/nocturne/board.c
+++ b/board/nocturne/board.c
@@ -14,7 +14,7 @@
 #include "common.h"
 #include "console.h"
 #include "compile_time_macros.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/als_opt3001.h"
 #include "driver/ppc/sn5s330.h"
 #include "driver/sync.h"
@@ -165,7 +165,7 @@ const unsigned int i2c_ports_used = ARRAY_SIZE(i2c_ports);
 static struct mutex g_lid_mutex;
 
 /* Sensor driver data */
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 static struct opt3001_drv_data_t g_opt3001_data = {
 	.scale = 1,
 	.uscale = 0,
@@ -193,8 +193,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.rot_standard_ref = &lid_standard_ref,
 		.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-		.min_frequency = BMI160_ACCEL_MIN_FREQ,
-		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
 		.config = {
 			/* EC setup accel for chrome usage */
 			[SENSOR_CONFIG_EC_S0] = {
@@ -216,8 +216,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.rot_standard_ref = &lid_standard_ref,
 		.default_range = 1000, /* dps */
-		.min_frequency = BMI160_GYRO_MIN_FREQ,
-		.max_frequency = BMI160_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 
 	[LID_ALS] = {
diff --git a/board/nucleo-f411re/board.c b/board/nucleo-f411re/board.c
index b203ea4884..97f5a8a8d3 100644
--- a/board/nucleo-f411re/board.c
+++ b/board/nucleo-f411re/board.c
@@ -8,7 +8,7 @@
 #include "adc_chip.h"
 #include "common.h"
 #include "console.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "ec_version.h"
 #include "gpio.h"
 #include "hooks.h"
@@ -62,7 +62,7 @@ const unsigned int i2c_ports_used = ARRAY_SIZE(i2c_ports);
 /* Base Sensor mutex */
 static struct mutex g_base_mutex;
 
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 struct motion_sensor_t motion_sensors[] = {
 	[BASE_ACCEL] = {
@@ -77,8 +77,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .port = I2C_PORT_ACCEL,
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -105,8 +105,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .port = I2C_PORT_ACCEL,
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/oak/board.c b/board/oak/board.c
index e7b0653907..d27d1aa105 100644
--- a/board/oak/board.c
+++ b/board/oak/board.c
@@ -18,7 +18,7 @@
 #include "console.h"
 #include "driver/accel_kionix.h"
 #include "driver/accel_kx022.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/als_opt3001.h"
 #include "driver/tcpm/tcpci.h"
 #include "driver/temp_sensor/tmp432.h"
@@ -628,7 +628,7 @@ const mat33_fp_t base_standard_ref = {
 #endif
 
 static struct kionix_accel_data g_kx022_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 struct motion_sensor_t motion_sensors[] = {
 #ifdef CONFIG_ACCELGYRO_BMI160
@@ -650,8 +650,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(0),
 		.rot_standard_ref = &base_standard_ref,
 		.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-		.min_frequency = BMI160_ACCEL_MIN_FREQ,
-		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
 		.config = {
 			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S0] = {
@@ -674,8 +674,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(0),
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_GYRO_MIN_FREQ,
-		.max_frequency = BMI160_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 #endif
 #ifdef CONFIG_ACCEL_KX022
diff --git a/board/poppy/board.c b/board/poppy/board.c
index 9faf9575b6..9f2d6c6fbd 100644
--- a/board/poppy/board.c
+++ b/board/poppy/board.c
@@ -17,7 +17,7 @@
 #include "charger.h"
 #include "chipset.h"
 #include "console.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/als_opt3001.h"
 #include "driver/baro_bmp280.h"
 #include "driver/tcpm/anx74xx.h"
@@ -706,7 +706,7 @@ int board_get_version(void)
 /* Lid Sensor mutex */
 static struct mutex g_lid_mutex;
 
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 static struct opt3001_drv_data_t g_opt3001_data = {
 	.scale = 1,
 	.uscale = 0,
@@ -755,8 +755,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .rot_standard_ref = &lid_standard_ref,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -779,8 +779,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &lid_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 
 	[LID_MAG] = {
diff --git a/board/poppy/board.h b/board/poppy/board.h
index 165f0f9e40..c52667f558 100644
--- a/board/poppy/board.h
+++ b/board/poppy/board.h
@@ -123,7 +123,7 @@
 #define CONFIG_MKBP_EVENT
 #define CONFIG_MKBP_USE_HOST_EVENT
 #define CONFIG_ACCELGYRO_BMI160
-#define CONFIG_MAG_BMI160_BMM150
+#define CONFIG_MAG_BMI_BMM150
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL)
diff --git a/board/rainier/board.c b/board/rainier/board.c
index 99751de860..bd3eb37816 100644
--- a/board/rainier/board.c
+++ b/board/rainier/board.c
@@ -13,7 +13,7 @@
 #include "common.h"
 #include "console.h"
 #include "ec_commands.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/baro_bmp280.h"
 #include "driver/tcpm/fusb302.h"
 #include "driver/temp_sensor/tmp432.h"
@@ -350,7 +350,7 @@ int board_get_version(void)
 /* Mutexes */
 static struct mutex g_base_mutex;
 
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* Matrix to rotate accelerometer into standard reference frame */
 const mat33_fp_t base_standard_ref = {
@@ -380,8 +380,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* Enable accel in S0 */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -403,8 +403,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	 .config = {
 		 /* Enable gyro in S0 */
 		 [SENSOR_CONFIG_EC_S0] = {
diff --git a/board/rammus/board.c b/board/rammus/board.c
index 5782ab4943..3605d74565 100644
--- a/board/rammus/board.c
+++ b/board/rammus/board.c
@@ -18,7 +18,7 @@
 #include "chipset.h"
 #include "console.h"
 #include "cros_board_info.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/accel_bma2x2.h"
 #include "driver/tcpm/ps8xxx.h"
 #include "driver/tcpm/tcpci.h"
@@ -574,7 +574,7 @@ BUILD_ASSERT(ARRAY_SIZE(pwm_channels) == PWM_CH_COUNT);
 static struct mutex g_lid_mutex;
 static struct mutex g_base_mutex;
 
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* BMA255 private data */
 static struct accelgyro_saved_data_t g_bma255_data;
@@ -633,8 +633,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.port = I2C_PORT_ACCEL,
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_ACCEL_MIN_FREQ,
-		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
 		.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
 		.config = {
 			/* EC use accel for angle detection */
@@ -662,8 +662,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_GYRO_MIN_FREQ,
-		.max_frequency = BMI160_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/reef/board.c b/board/reef/board.c
index 10516d6e62..7a62d58a87 100644
--- a/board/reef/board.c
+++ b/board/reef/board.c
@@ -17,7 +17,7 @@
 #include "driver/als_opt3001.h"
 #include "driver/accel_kionix.h"
 #include "driver/accel_kx022.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/baro_bmp280.h"
 #include "driver/charger/bd9995x.h"
 #include "driver/tcpm/anx74xx.h"
@@ -695,7 +695,7 @@ const mat33_fp_t mag_standard_ref = {
 
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 static struct bmp280_drv_data_t bmp280_drv_data;
 static struct opt3001_drv_data_t g_opt3001_data = {
 	.scale = 1,
@@ -745,8 +745,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -774,8 +774,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 	[BASE_MAG] = {
 	 .name = "Base Mag",
diff --git a/board/reef/board.h b/board/reef/board.h
index 4d6a65ffcc..59b4054f9a 100644
--- a/board/reef/board.h
+++ b/board/reef/board.h
@@ -194,7 +194,7 @@
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
-#define CONFIG_MAG_BMI160_BMM150
+#define CONFIG_MAG_BMI_BMM150
 #define CONFIG_ACCELGYRO_SEC_ADDR_FLAGS BMM150_ADDR0_FLAGS
 #define CONFIG_MAG_CALIBRATE
 #define CONFIG_ACCEL_KX022
diff --git a/board/reef_mchp/board.c b/board/reef_mchp/board.c
index d020d407bc..3301fd48f1 100644
--- a/board/reef_mchp/board.c
+++ b/board/reef_mchp/board.c
@@ -18,7 +18,7 @@
 #include "driver/als_opt3001.h"
 #include "driver/accel_kionix.h"
 #include "driver/accel_kx022.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/baro_bmp280.h"
 #include "driver/charger/bd9995x.h"
 #include "driver/tcpm/anx74xx.h"
@@ -937,7 +937,7 @@ const mat33_fp_t mag_standard_ref = {
 
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 static struct bmp280_drv_data_t bmp280_drv_data;
 /* MCHP: struct not present in firmware-reef-9042.B */
 static struct opt3001_drv_data_t g_opt3001_data = {
@@ -991,8 +991,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -1020,8 +1020,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 	[BASE_MAG] = {
 	 .name = "Base Mag",
diff --git a/board/reef_mchp/board.h b/board/reef_mchp/board.h
index acaf8d19be..626b66b2af 100644
--- a/board/reef_mchp/board.h
+++ b/board/reef_mchp/board.h
@@ -201,7 +201,7 @@
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
-#define CONFIG_MAG_BMI160_BMM150
+#define CONFIG_MAG_BMI_BMM150
 #define CONFIG_ACCELGYRO_SEC_ADDR_FLAGS BMM150_ADDR0_FLAGS
 #define CONFIG_MAG_CALIBRATE
 #define CONFIG_ACCEL_KX022
diff --git a/board/scarlet/board.c b/board/scarlet/board.c
index aece3503ae..b68864f908 100644
--- a/board/scarlet/board.c
+++ b/board/scarlet/board.c
@@ -15,7 +15,7 @@
 #include "common.h"
 #include "console.h"
 #include "ec_commands.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/charger/rt946x.h"
 #include "driver/sync.h"
 #include "driver/tcpm/fusb302.h"
@@ -376,7 +376,7 @@ int board_get_version(void)
 /* Mutexes */
 static struct mutex g_base_mutex;
 
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* Matrix to rotate accelerometer into standard reference frame */
 const mat33_fp_t base_standard_ref = {
@@ -404,8 +404,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* Enable accel in S0 */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -427,8 +427,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 	[VSYNC] = {
 	 .name = "Camera vsync",
diff --git a/board/stern/board.c b/board/stern/board.c
index d32cb34ba3..40feac0536 100644
--- a/board/stern/board.c
+++ b/board/stern/board.c
@@ -15,7 +15,7 @@
 #include "common.h"
 #include "console.h"
 #include "driver/accel_lis2dw12.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/battery/max17055.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/charger/isl923x.h"
@@ -332,7 +332,7 @@ static const mat33_fp_t lid_standard_ref = {
 /* Lid accel private data */
 static struct stprivate_data g_lis2dwl_data;
 /* Base accel private data */
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
@@ -379,8 +379,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 		.rot_standard_ref = &base_standard_ref,
 		.default_range = 2,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-		.min_frequency = BMI160_ACCEL_MIN_FREQ,
-		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
 		.config = {
 			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S0] = {
@@ -407,8 +407,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI160_GYRO_MIN_FREQ,
-		.max_frequency = BMI160_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/treeya/board.c b/board/treeya/board.c
index 65c825b488..5c93f49253 100644
--- a/board/treeya/board.c
+++ b/board/treeya/board.c
@@ -7,7 +7,7 @@
 
 #include "button.h"
 #include "driver/accel_lis2dw12.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/accelgyro_lsm6dsm.h"
 #include "extpower.h"
 #include "i2c.h"
diff --git a/board/trembyle/board.c b/board/trembyle/board.c
index e4e06c70f1..0471411292 100644
--- a/board/trembyle/board.c
+++ b/board/trembyle/board.c
@@ -6,7 +6,7 @@
 /* Trembyle board configuration */
 
 #include "button.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "extpower.h"
 #include "gpio.h"
 #include "lid_switch.h"
diff --git a/board/willow/board.c b/board/willow/board.c
index a162095c22..c3a372f566 100644
--- a/board/willow/board.c
+++ b/board/willow/board.c
@@ -15,7 +15,7 @@
 #include "common.h"
 #include "console.h"
 #include "driver/accel_kionix.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "driver/battery/max17055.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/charger/isl923x.h"
@@ -321,7 +321,7 @@ static const mat33_fp_t base_standard_ref = {
 
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
@@ -366,8 +366,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 2,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		 [SENSOR_CONFIG_EC_S0] = {
@@ -394,8 +394,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/driver/accelgyro_bmi160.h b/driver/accelgyro_bmi160.h
index c1b4b47359..e93d0c28c7 100644
--- a/driver/accelgyro_bmi160.h
+++ b/driver/accelgyro_bmi160.h
@@ -379,38 +379,8 @@
 #define BMI160_FF_DATA_LEN_GYR          6
 #define BMI160_FF_DATA_LEN_MAG          8
 
-/*
- * TODO(chingkang): Replace following in some board config to
- *                  bmi version. Then, remove this definition(s).
- */
-/* Min and Max sampling frequency in mHz */
-#define BMI160_ACCEL_MIN_FREQ 12500
-#define BMI160_ACCEL_MAX_FREQ MOTION_MAX_SENSOR_FREQUENCY(1600000, 100000)
-#define BMI160_GYRO_MIN_FREQ  25000
-#define BMI160_GYRO_MAX_FREQ MOTION_MAX_SENSOR_FREQUENCY(3200000, 100000)
-
 extern const struct accelgyro_drv bmi160_drv;
 
-/*
- * TODO(chingkang): Replace bmi160_drv_data_t in some board config to
- *                  bmi_drv_data_t. Then, remove this definition.
- */
-struct bmi160_drv_data_t {
-	struct accelgyro_saved_data_t saved_data[3];
-	uint8_t              flags;
-	uint8_t              enabled_activities;
-	uint8_t              disabled_activities;
-#ifdef CONFIG_MAG_BMI_BMM150
-	struct bmm150_private_data compass;
-#endif
-#ifdef CONFIG_BMI_ORIENTATION_SENSOR
-	uint8_t raw_orientation;
-	enum motionsensor_orientation orientation;
-	enum motionsensor_orientation last_orientation;
-#endif
-
-};
-
 void bmi160_interrupt(enum gpio_signal signal);
 
 #ifdef CONFIG_BMI_SEC_I2C
diff --git a/include/config.h b/include/config.h
index 627ba43ad1..584d24f6da 100644
--- a/include/config.h
+++ b/include/config.h
@@ -136,14 +136,12 @@
 #undef CONFIG_MAG_BMM150
 
 /* Presence of a Bosh Sensortec BMM150 magnetometer behind a BMIxxx. */
-#undef CONFIG_MAG_BMI160_BMM150
 #undef CONFIG_MAG_BMI_BMM150
 
 /* Presence of a Bosh Sensortec BMM150 magnetometer behind a LSM6DSM. */
 #undef CONFIG_MAG_LSM6DSM_BMM150
 
 /* Presence of a ST LIS2MDL magnetometer behind a BMIxxx. */
-#undef CONFIG_MAG_BMI160_LIS2MDL
 #undef CONFIG_MAG_BMI_LIS2MDL
 
 /* Presence of a ST LIS2MDL magnetometer behind a LSM6DSM. */
@@ -4441,18 +4439,6 @@
 #include "config_chip.h"
 #include "board.h"
 
-/*
- * Define BMI macro when BMI160 is defined
- * TODO(chingkang): replace all BMI160 macro by BMI.
- */
-#ifdef CONFIG_MAG_BMI160_BMM150
-#define CONFIG_MAG_BMI_BMM150
-#endif
-
-#ifdef CONFIG_MAG_BMI160_LIS2MDL
-#define CONFIG_MAG_BMI_LIS2MDL
-#endif
-
 /******************************************************************************/
 /*
  * Automatically define CONFIG_HOSTCMD_X86 if either child option is defined.