common: sensors: add extra sensor attributes

Adds min_frequency and max_frequency to struct motion_sensor_t.

New attributes min_frequency and max_frequency are now returned in
ectool's MOTIONSENSE_CMD_INFO response.

Incremented ectool's MOTIONSENSE_CMD_INFO version to version 3.

Add constants for MIN_FREQUENCY and MAX_FREQUENCY to each sensor's
header file.

BUG=chromium:615059,b:123039234
BRANCH=reef
TEST=build/boot and verify MOTIONSENSE_CMD_INFO response on kevin,
make buildall -j passes.
TEST=Pass CTS P test.

Conflicts:
	board/eve/board.c
	board/kahlee/board.c
	board/poppy/board.c
	board/reef/board.c
	board/rowan/board.c
	driver/als_opt3001.h
	driver/als_si114x.h
	include/config.h

Only change boards present in the branch.
Do not upgrade opt3001, not using motion sense task yet.

Change-Id: I66db9715c122ef6bb4665ad5d086a9ecc9c7c93a
Signed-off-by: Nick Vaccaro <nvaccaro@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/482703
Reviewed-by: Aseda Aboagye <aaboagye@chromium.org>
(cherry picked from commit 9a0d0aa70d483be79c71a459dfd5f5e89da2638d)
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/1529134
Tested-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-by: Enrico Granata <egranata@chromium.org>
Commit-Queue: Gwendal Grignou <gwendal@chromium.org>

26 files changed, 200 insertions, 11 deletions

diff --git a/board/elm/board.c b/board/elm/board.c
index 4076979b4a..e6734bd4ad 100644
--- a/board/elm/board.c
+++ b/board/elm/board.c
@@ -512,6 +512,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = 1, /* SPI, device ID 0 */
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 2, /* g, enough for laptop. */
+	 .min_frequency = KX022_ACCEL_MIN_FREQ,
+	 .max_frequency = KX022_ACCEL_MAX_FREQ,
 	 .config = {
 		/* AP: by default use EC settings */
 		[SENSOR_CONFIG_AP] = {
@@ -546,6 +548,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = 3, /* SPI, device ID 1 */
 	 .rot_standard_ref = &lid_standard_ref,
 	 .default_range = 2, /* g, enough for laptop. */
+	 .min_frequency = KX022_ACCEL_MIN_FREQ,
+	 .max_frequency = KX022_ACCEL_MAX_FREQ,
 	 .config = {
 		/* AP: by default use EC settings */
 		[SENSOR_CONFIG_AP] = {
diff --git a/board/eve/board.c b/board/eve/board.c
index 4cc75b2717..626c0f6585 100644
--- a/board/eve/board.c
+++ b/board/eve/board.c
@@ -699,6 +699,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = KXCJ9_ADDR0,
 	 .rot_standard_ref = &lid_standard_ref,
 	 .default_range = 2, /* g, enough for laptop. */
+	 .min_frequency = KXCJ9_ACCEL_MIN_FREQ,
+	 .max_frequency = KXCJ9_ACCEL_MAX_FREQ,
 	 .config = {
 		/* AP: by default use EC settings */
 		[SENSOR_CONFIG_AP] = {
@@ -735,6 +737,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = BMI160_ADDR0,
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 2,  /* g, enough for laptop. */
+	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* AP: by default use EC settings */
 		 [SENSOR_CONFIG_AP] = {
@@ -772,6 +776,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = BMI160_ADDR0,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
+	 .min_frequency = BMI160_GYRO_MIN_FREQ,
+	 .max_frequency = BMI160_GYRO_MAX_FREQ,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
@@ -809,6 +815,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = BMI160_ADDR0,
 	 .default_range = 1 << 11, /* 16LSB / uT, fixed */
 	 .rot_standard_ref = &mag_standard_ref,
+	 .min_frequency = BMM150_MAG_MIN_FREQ,
+	 .max_frequency = BMM150_MAG_MAX_FREQ,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
diff --git a/board/glados/board.c b/board/glados/board.c
index 7ef71dd915..7e3ac12579 100644
--- a/board/glados/board.c
+++ b/board/glados/board.c
@@ -495,6 +495,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = BMI160_ADDR0,
 	 .rot_standard_ref = NULL, /* Identity matrix. */
 	 .default_range = 2,  /* g, enough for laptop. */
+	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* AP: by default use EC settings */
 		 [SENSOR_CONFIG_AP] = {
@@ -531,6 +533,8 @@ 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,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
@@ -567,6 +571,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = KX022_ADDR1,
 	 .rot_standard_ref = NULL, /* Identity matrix. */
 	 .default_range = 2, /* g, enough for laptop. */
+	 .min_frequency = KX022_ACCEL_MIN_FREQ,
+	 .max_frequency = KX022_ACCEL_MAX_FREQ,
 	 .config = {
 		/* AP: by default use EC settings */
 		[SENSOR_CONFIG_AP] = {
diff --git a/board/kevin/board.c b/board/kevin/board.c
index 8c183ed2bb..c733d565a6 100644
--- a/board/kevin/board.c
+++ b/board/kevin/board.c
@@ -536,6 +536,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = BMI160_SET_SPI_ADDRESS(CONFIG_SPI_ACCEL_PORT),
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 2,  /* g, enough for laptop. */
+	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* AP: by default use EC settings */
 		 [SENSOR_CONFIG_AP] = {
@@ -576,6 +578,8 @@ struct motion_sensor_t motion_sensors[] = {
 #else
 	 .rot_standard_ref = NULL, /* Identity matrix. */
 #endif
+	 .min_frequency = BMI160_GYRO_MIN_FREQ,
+	 .max_frequency = BMI160_GYRO_MAX_FREQ,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
@@ -613,6 +617,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = BMA2x2_I2C_ADDR1,
 	 .rot_standard_ref = &lid_standard_ref,
 	 .default_range = 2, /* g, enough for laptop. */
+	 .min_frequency = BMA255_ACCEL_MIN_FREQ,
+	 .max_frequency = BMA255_ACCEL_MAX_FREQ,
 	 .config = {
 		/* AP: by default use EC settings */
 		[SENSOR_CONFIG_AP] = {
@@ -649,6 +655,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = KX022_ADDR0,
 	 .rot_standard_ref = &lid_standard_ref,
 	 .default_range = 2, /* g, enough for laptop. */
+	 .min_frequency = KX022_ACCEL_MIN_FREQ,
+	 .max_frequency = KX022_ACCEL_MAX_FREQ,
 	 .config = {
 		/* AP: by default use EC settings */
 		[SENSOR_CONFIG_AP] = {
@@ -682,6 +690,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .port = I2C_PORT_BARO,
 	 .addr = BMP280_I2C_ADDRESS1,
 	 .default_range = 1 << 18, /*  1bit = 4 Pa, 16bit ~= 2600 hPa */
+	 .min_frequency = BMP280_BARO_MIN_FREQ,
+	 .max_frequency = BMP280_BARO_MAX_FREQ,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
diff --git a/board/oak/board.c b/board/oak/board.c
index f22e016622..1c4ee791f7 100644
--- a/board/oak/board.c
+++ b/board/oak/board.c
@@ -663,6 +663,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = 1,
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 2,  /* g, enough for laptop. */
+	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* AP: by default use EC settings */
 		 [SENSOR_CONFIG_AP] = {
@@ -699,6 +701,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = 1,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = NULL, /* Identity Matrix. */
+	 .min_frequency = BMI160_GYRO_MIN_FREQ,
+	 .max_frequency = BMI160_GYRO_MAX_FREQ,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
@@ -736,6 +740,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = KX022_ADDR1,
 	 .rot_standard_ref = NULL, /* Identity matrix. */
 	 .default_range = 2, /* g, enough for laptop. */
+	 .min_frequency = KX022_ACCEL_MIN_FREQ,
+	 .max_frequency = KX022_ACCEL_MAX_FREQ,
 	 .config = {
 		/* AP: by default use EC settings */
 		[SENSOR_CONFIG_AP] = {
diff --git a/board/reef/board.c b/board/reef/board.c
index 4d074b3af3..706a0f451d 100644
--- a/board/reef/board.c
+++ b/board/reef/board.c
@@ -860,6 +860,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = KX022_ADDR1,
 	 .rot_standard_ref = NULL, /* Identity matrix. */
 	 .default_range = 2, /* g, enough for laptop. */
+	 .min_frequency = KX022_ACCEL_MIN_FREQ,
+	 .max_frequency = KX022_ACCEL_MAX_FREQ,
 	 .config = {
 		/* AP: by default use EC settings */
 		[SENSOR_CONFIG_AP] = {
@@ -896,6 +898,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = BMI160_ADDR0,
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 2,  /* g, enough for laptop. */
+	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* AP: by default use EC settings */
 		 [SENSOR_CONFIG_AP] = {
@@ -933,6 +937,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = BMI160_ADDR0,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
+	 .min_frequency = BMI160_GYRO_MIN_FREQ,
+	 .max_frequency = BMI160_GYRO_MAX_FREQ,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
@@ -970,6 +976,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = BMI160_ADDR0,
 	 .default_range = 1 << 11, /* 16LSB / uT, fixed */
 	 .rot_standard_ref = &mag_standard_ref,
+	 .min_frequency = BMM150_MAG_MIN_FREQ,
+	 .max_frequency = BMM150_MAG_MAX_FREQ,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
@@ -1005,6 +1013,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .port = I2C_PORT_BARO,
 	 .addr = BMP280_I2C_ADDRESS1,
 	 .default_range = 1 << 18, /*  1bit = 4 Pa, 16bit ~= 2600 hPa */
+	 .min_frequency = BMP280_BARO_MIN_FREQ,
+	 .max_frequency = BMP280_BARO_MAX_FREQ,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
diff --git a/board/ryu/board.c b/board/ryu/board.c
index 0950bc8ae0..b4455032a6 100644
--- a/board/ryu/board.c
+++ b/board/ryu/board.c
@@ -304,6 +304,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.addr = BMI160_ADDR0,
 		.rot_standard_ref = &accelgyro_standard_ref,
 		.default_range = 8,  /* g, use hifi requirements */
+		.min_frequency = BMI160_ACCEL_MIN_FREQ,
+		.max_frequency = BMI160_ACCEL_MAX_FREQ,
 		.config = {
 			/* AP: by default shutdown all sensors */
 			[SENSOR_CONFIG_AP] = {
@@ -339,6 +341,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.addr = BMI160_ADDR0,
 		.default_range = 1000, /* dps, use hifi requirement */
 		.rot_standard_ref = &accelgyro_standard_ref,
+		.min_frequency = BMI160_GYRO_MIN_FREQ,
+		.max_frequency = BMI160_GYRO_MAX_FREQ,
 		.config = {
 			/* AP: by default shutdown all sensors */
 			[SENSOR_CONFIG_AP] = {
@@ -374,6 +378,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.addr = BMI160_ADDR0,
 		.rot_standard_ref = &mag_standard_ref,
 		.default_range = 1 << 11, /* 16LSB / uT, fixed */
+		.min_frequency = BMM150_MAG_MIN_FREQ,
+		.max_frequency = BMM150_MAG_MAX_FREQ,
 		.config = {
 			/* AP: by default shutdown all sensors */
 			[SENSOR_CONFIG_AP] = {
@@ -408,6 +414,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.addr = SI114X_ADDR,
 		.rot_standard_ref = NULL,
 		.default_range = 9000, /* 90%: int = 0 - frac = 9000/10000 */
+		.min_frequency = SI114X_LIGHT_MIN_FREQ,
+		.max_frequency = SI114X_LIGHT_MAX_FREQ,
 		.config = {
 			/* AP: by default shutdown all sensors */
 			[SENSOR_CONFIG_AP] = {
@@ -443,6 +451,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.addr = SI114X_ADDR,
 		.rot_standard_ref = NULL,
 		.default_range = 7630, /* Upon testing at desk */
+		.min_frequency = SI114X_PROX_MIN_FREQ,
+		.max_frequency = SI114X_PROX_MAX_FREQ,
 		.config = {
 			/* AP: by default shutdown all sensors */
 			[SENSOR_CONFIG_AP] = {
diff --git a/board/samus/board.c b/board/samus/board.c
index 53c56c9070..91e2ee9d7f 100644
--- a/board/samus/board.c
+++ b/board/samus/board.c
@@ -311,6 +311,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = LSM6DS0_ADDR1,
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 2,  /* g, enough for laptop. */
+	 .min_frequency = LSM6DS0_ACCEL_MIN_FREQ,
+	 .max_frequency = LSM6DS0_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
@@ -346,6 +348,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = KXCJ9_ADDR0,
 	 .rot_standard_ref = &lid_standard_ref,
 	 .default_range = 2,  /* g, enough for laptop. */
+	 .min_frequency = KXCJ9_ACCEL_MIN_FREQ,
+	 .max_frequency = KXCJ9_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
@@ -381,6 +385,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = LSM6DS0_ADDR1,
 	 .rot_standard_ref = NULL,
 	 .default_range = 2000,  /* g, enough for laptop. */
+	 .min_frequency = LSM6DS0_GYRO_MIN_FREQ,
+	 .max_frequency = LSM6DS0_GYRO_MAX_FREQ,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
diff --git a/board/strago/board.c b/board/strago/board.c
index 6459488567..9e28ca49aa 100644
--- a/board/strago/board.c
+++ b/board/strago/board.c
@@ -211,6 +211,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = KXCJ9_ADDR1,
 	 .rot_standard_ref = &base_standard_ref,
 	 .default_range = 2,  /* g, enough for laptop. */
+	 .min_frequency = KXCJ9_ACCEL_MIN_FREQ,
+	 .max_frequency = KXCJ9_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
@@ -246,6 +248,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = KXCJ9_ADDR0,
 	 .rot_standard_ref = &lid_standard_ref,
 	 .default_range = 2,  /* g, enough for laptop. */
+	 .min_frequency = KXCJ9_ACCEL_MIN_FREQ,
+	 .max_frequency = KXCJ9_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
diff --git a/board/wheatley/board.c b/board/wheatley/board.c
index c404475734..4d4f8a0914 100644
--- a/board/wheatley/board.c
+++ b/board/wheatley/board.c
@@ -471,6 +471,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = KX022_ADDR1,
 	 .rot_standard_ref = NULL, /* Identity matrix. */
 	 .default_range = 2, /* g, enough for laptop. */
+	 .min_frequency = KX022_ACCEL_MIN_FREQ,
+	 .max_frequency = KX022_ACCEL_MAX_FREQ,
 	 .config = {
 		/* AP: suspended until AP asks for data. */
 		[SENSOR_CONFIG_AP] = {
@@ -507,6 +509,8 @@ struct motion_sensor_t motion_sensors[] = {
 	 .addr = BMI160_ADDR0,
 	 .rot_standard_ref = NULL, /* Identity matrix. */
 	 .default_range = 2,  /* g, enough for laptop. */
+	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
 	 .config = {
 		/* AP: suspended until AP asks for data. */
 		[SENSOR_CONFIG_AP] = {
@@ -544,6 +548,8 @@ 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,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
diff --git a/common/motion_sense.c b/common/motion_sense.c
index 062a32d10e..1787fd0196 100644
--- a/common/motion_sense.c
+++ b/common/motion_sense.c
@@ -987,10 +987,23 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
 		else
 #endif
 			out->info.type = sensor->type;
+
 		out->info.location = sensor->location;
 		out->info.chip = sensor->chip;
-
-		args->response_size = sizeof(out->info);
+		if (args->version >= 3) {
+			out->info_3.min_frequency = sensor->min_frequency;
+			/*
+			 * Make sure reported max frequency for this sensor
+			 * doesn't exceed the max sensor frequency the EC is
+			 * capable of supporting
+			 */
+			out->info_3.max_frequency = MIN(sensor->max_frequency,
+					CONFIG_EC_MAX_SENSOR_FREQ_MILLIHZ);
+			out->info_3.fifo_max_event_count = MAX_FIFO_EVENT_COUNT;
+			args->response_size = sizeof(out->info_3);
+		} else {
+			args->response_size = sizeof(out->info);
+		}
 		break;
 
 	case MOTIONSENSE_CMD_EC_RATE:
@@ -1242,7 +1255,7 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
 
 DECLARE_HOST_COMMAND(EC_CMD_MOTION_SENSE_CMD,
 		     host_cmd_motion_sense,
-		     EC_VER_MASK(1) | EC_VER_MASK(2));
+		     EC_VER_MASK(1) | EC_VER_MASK(2) | EC_VER_MASK(3));
 
 /*****************************************************************************/
 /* Console commands */
diff --git a/driver/accel_bma2x2.h b/driver/accel_bma2x2.h
index 5a37152e99..653b71257a 100644
--- a/driver/accel_bma2x2.h
+++ b/driver/accel_bma2x2.h
@@ -154,4 +154,8 @@ extern const struct accelgyro_drv bma2x2_accel_drv;
 #define BMA2x2_BW_250HZ         0x0D /* LowPass 250HZ */
 #define BMA2x2_BW_500HZ         0x0E /* LowPass 500HZ */
 #define BMA2x2_BW_1000HZ        0x0F /* LowPass 1000HZ */
+
+/* Min and Max sampling frequency in mHz */
+#define BMA255_ACCEL_MIN_FREQ   7810
+#define BMA255_ACCEL_MAX_FREQ   1000000
 #endif /* __CROS_EC_ACCEL_BMA2x2_H */
diff --git a/driver/accel_kx022.h b/driver/accel_kx022.h
index d25d68b380..7b1ea89c43 100644
--- a/driver/accel_kx022.h
+++ b/driver/accel_kx022.h
@@ -120,4 +120,8 @@
 #define KX022_INC2_XPWUE	(1 << 4)
 #define KX022_INC2_XNWUE	(1 << 5)
 
+/* Min and Max sampling frequency in mHz */
+#define KX022_ACCEL_MIN_FREQ    781
+#define KX022_ACCEL_MAX_FREQ    1600000
+
 #endif /* __CROS_EC_ACCEL_KX022_H */
diff --git a/driver/accel_kxcj9.h b/driver/accel_kxcj9.h
index b3702ea541..778735a61b 100644
--- a/driver/accel_kxcj9.h
+++ b/driver/accel_kxcj9.h
@@ -104,4 +104,8 @@
 #define KXCJ9_OSA_1600_HZ	7
 #define KXCJ9_OSA_FIELD		0xf
 
+/* Min and Max sampling frequency in mHz */
+#define KXCJ9_ACCEL_MIN_FREQ    781
+#define KXCJ9_ACCEL_MAX_FREQ    1600000
+
 #endif /* __CROS_EC_ACCEL_KXCJ9_H */
diff --git a/driver/accelgyro_bmi160.h b/driver/accelgyro_bmi160.h
index b498503b3a..6031d8fb4e 100644
--- a/driver/accelgyro_bmi160.h
+++ b/driver/accelgyro_bmi160.h
@@ -417,6 +417,12 @@ enum fifo_header {
 /* Sensor resolution in number of bits. This sensor has fixed resolution. */
 #define BMI160_RESOLUTION      16
 
+/* Min and Max sampling frequency in mHz */
+#define BMI160_ACCEL_MIN_FREQ 12500
+#define BMI160_ACCEL_MAX_FREQ 1600000
+#define BMI160_GYRO_MIN_FREQ  25
+#define BMI160_GYRO_MAX_FREQ  3200000
+
 extern const struct accelgyro_drv bmi160_drv;
 
 enum bmi160_running_mode {
diff --git a/driver/accelgyro_lsm6ds0.h b/driver/accelgyro_lsm6ds0.h
index 481f39aa10..3236203558 100644
--- a/driver/accelgyro_lsm6ds0.h
+++ b/driver/accelgyro_lsm6ds0.h
@@ -117,6 +117,12 @@ enum lsm6ds0_bdu {
 /* Sensor resolution in number of bits. This sensor has fixed resolution. */
 #define LSM6DS0_RESOLUTION      16
 
+/* Min and Max sampling frequency in mHz */
+#define LSM6DS0_ACCEL_MIN_FREQ  14900
+#define LSM6DS0_ACCEL_MAX_FREQ  952000
+#define LSM6DS0_GYRO_MIN_FREQ   14900
+#define LSM6DS0_GYRO_MAX_FREQ   952000
+
 extern const struct accelgyro_drv lsm6ds0_drv;
 struct lsm6ds0_data {
 	struct accelgyro_saved_data_t base;
diff --git a/driver/als_si114x.h b/driver/als_si114x.h
index 5fbc3c665f..2486d05dc2 100644
--- a/driver/als_si114x.h
+++ b/driver/als_si114x.h
@@ -211,6 +211,12 @@
 /* Time to wait before re-initializing the device if access is denied */
 #define SI114X_DENIED_THRESHOLD		(10 * SECOND)
 
+/* Min and Max sampling frequency in mHz */
+#define SI114X_PROX_MIN_FREQ            504
+#define SI114X_PROX_MAX_FREQ            100000
+#define SI114X_LIGHT_MIN_FREQ           504
+#define SI114X_LIGHT_MAX_FREQ           100000
+
 extern const struct accelgyro_drv si114x_drv;
 
 enum si114x_state {
diff --git a/driver/baro_bmp280.h b/driver/baro_bmp280.h
index cd4605ed1a..c285d69b73 100644
--- a/driver/baro_bmp280.h
+++ b/driver/baro_bmp280.h
@@ -159,6 +159,14 @@
 /*******************************************************/
 #define BMP280_GET_DATA(_s) \
 	((struct bmp280_drv_data_t *)(_s)->drv_data)
+
+/* Min and Max sampling frequency in mHz based on x4 oversampling used */
+/* FIXME - verify how chip is setup to make sure MAX is correct, manual says
+ * "Typical", not Max.
+ */
+#define BMP280_BARO_MIN_FREQ  75000
+#define BMP280_BARO_MAX_FREQ  87000
+
 /**************************************************************/
 /*	STRUCTURE and ENUM DEFINITIONS                        */
 /**************************************************************/
diff --git a/driver/gyro_l3gd20h.h b/driver/gyro_l3gd20h.h
index 73c0253d27..24ad81a693 100644
--- a/driver/gyro_l3gd20h.h
+++ b/driver/gyro_l3gd20h.h
@@ -71,6 +71,10 @@
 #define L3GD20_LOW_ODR_MASK      (1 << 0)
 #define L3GD20_ODR_PD_MASK       (1 << 3)
 
+/* Min and Max sampling frequency in mHz */
+#define L3GD20_GYRO_MIN_FREQ     12500
+#define L3GD20_GYRO_MAX_FREQ     800000
+
 /*
  * Register      : STATUS_REG
  * Address       : 0X27
diff --git a/driver/mag_bmm150.h b/driver/mag_bmm150.h
index a76c68cf3d..7eb469cf43 100644
--- a/driver/mag_bmm150.h
+++ b/driver/mag_bmm150.h
@@ -74,6 +74,9 @@
 #define BMM150_HALL_OVERFLOW_ADCVAL             (-16384)
 #define BMM150_OVERFLOW_OUTPUT                  (0x8000)
 
+/* Min and Max sampling frequency in mHz */
+#define BMM150_MAG_MIN_FREQ 781
+#define BMM150_MAG_MAX_FREQ 800000
 
 struct bmm150_comp_registers {
 	/* Local copy of the compensation registers. */
diff --git a/include/common.h b/include/common.h
index f35d543ce8..a98fce3ca2 100644
--- a/include/common.h
+++ b/include/common.h
@@ -156,4 +156,7 @@ enum ec_error_list {
 #define test_export_static static
 #endif
 
+/* find the most significant bit. Not defined in n == 0. */
+#define __fls(n) (31 - __builtin_clz(n))
+
 #endif  /* __CROS_EC_COMMON_H */
diff --git a/include/config.h b/include/config.h
index b5b7656fde..818c00d0b2 100644
--- a/include/config.h
+++ b/include/config.h
@@ -879,6 +879,9 @@
 /* Support EC to Internal bus bridge. */
 #undef CONFIG_EC2I
 
+/* EC capable of sensor speeds up to 200000 mHz */
+#define CONFIG_EC_MAX_SENSOR_FREQ_MILLIHZ 200000
+
 /*
  * Allow board to override the feature bitmap provided through host command
  * and ACPI.
diff --git a/include/ec_commands.h b/include/ec_commands.h
index fb305e46d8..1bb70e482a 100644
--- a/include/ec_commands.h
+++ b/include/ec_commands.h
@@ -2083,7 +2083,8 @@ struct __ec_todo_packed ec_params_motion_sense {
 		 * and MOTIONSENSE_CMD_PERFORM_CALIB. */
 		struct __ec_todo_unpacked {
 			uint8_t sensor_num;
-		} info, data, fifo_flush, perform_calib, list_activities;
+		} info, info_3, data, fifo_flush, perform_calib,
+				list_activities;
 
 		/*
 		 * Used for MOTIONSENSE_CMD_EC_RATE, MOTIONSENSE_CMD_SENSOR_ODR
@@ -2189,6 +2190,27 @@ struct __ec_todo_packed ec_response_motion_sense {
 			uint8_t chip;
 		} info;
 
+		/* Used for MOTIONSENSE_CMD_INFO version 3 */
+		struct __ec_todo_unpacked {
+			/* Should be element of enum motionsensor_type. */
+			uint8_t type;
+
+			/* Should be element of enum motionsensor_location. */
+			uint8_t location;
+
+			/* Should be element of enum motionsensor_chip. */
+			uint8_t chip;
+
+			/* Minimum sensor sampling frequency */
+			uint32_t min_frequency;
+
+			/* Maximum sensor sampling frequency */
+			uint32_t max_frequency;
+
+			/* Max number of sensor events that could be in fifo */
+			uint32_t fifo_max_event_count;
+		} info_3;
+
 		/* Used for MOTIONSENSE_CMD_DATA */
 		struct ec_response_motion_sensor_data data;
 
diff --git a/include/motion_sense.h b/include/motion_sense.h
index 98c27ae04d..9ecd63dce0 100644
--- a/include/motion_sense.h
+++ b/include/motion_sense.h
@@ -45,6 +45,12 @@ enum sensor_config {
 #define ROUND_UP_FLAG (1 << 31)
 #define BASE_ODR(_odr) ((_odr) & ~ROUND_UP_FLAG)
 
+#ifdef CONFIG_ACCEL_FIFO
+#define MAX_FIFO_EVENT_COUNT CONFIG_ACCEL_FIFO
+#else
+#define MAX_FIFO_EVENT_COUNT 0
+#endif
+
 struct motion_data_t {
 	/*
 	 * data rate the sensor will measure, in mHz: 0 suspended.
@@ -134,6 +140,12 @@ struct motion_sensor_t {
 	 * from sensor registers.
 	 */
 	 uint32_t last_collection;
+
+	 /* Minimum supported sampling frequency in miliHertz for this sensor */
+	 uint32_t min_frequency;
+
+	 /* Maximum supported sampling frequency in miliHertz for this sensor */
+	 uint32_t max_frequency;
 };
 
 /* Defined at board level. */
diff --git a/include/util.h b/include/util.h
index e031148e45..39c0707fb4 100644
--- a/include/util.h
+++ b/include/util.h
@@ -49,9 +49,6 @@
 /* True of x is a power of two */
 #define POWER_OF_TWO(x) (x && !(x & (x - 1)))
 
-/* find the most significant bit. Not defined in n == 0. */
-#define __fls(n) (31 - __builtin_clz(n))
-
 /*
  * macros for integer division with various rounding variants
  * default integer division rounds down.
diff --git a/util/ectool.c b/util/ectool.c
index 799939249c..fc94d26414 100644
--- a/util/ectool.c
+++ b/util/ectool.c
@@ -3423,7 +3423,7 @@ static const struct {
 	uint8_t insize;
 } ms_command_sizes[] = {
 	MS_DUMP_SIZE(),
-	MS_SIZES(info),
+	MS_SIZES(info_3),
 	MS_SIZES(ec_rate),
 	MS_SIZES(sensor_odr),
 	MS_SIZES(sensor_range),
@@ -3548,18 +3548,34 @@ static int cmd_motionsense(int argc, char **argv)
 	}
 
 	if (argc == 3 && !strcasecmp(argv[1], "info")) {
-		param.cmd = MOTIONSENSE_CMD_INFO;
+		struct ec_params_get_cmd_versions p;
+		struct ec_response_get_cmd_versions r;
+		int version = 0;
 
+		param.cmd = MOTIONSENSE_CMD_INFO;
 		param.sensor_odr.sensor_num = strtol(argv[2], &e, 0);
 		if (e && *e) {
 			fprintf(stderr, "Bad %s arg.\n", argv[2]);
 			return -1;
 		}
 
-		rv = ec_command(EC_CMD_MOTION_SENSE_CMD, 1,
+		/* tool defaults to using latest version of info command */
+		p.cmd = EC_CMD_MOTION_SENSE_CMD;
+		rv = ec_command(EC_CMD_GET_CMD_VERSIONS, 0, &p, sizeof(p),
+				&r, sizeof(r));
+		if (rv < 0) {
+			if (rv == -EC_RES_INVALID_PARAM)
+				printf("Command 0x%02x not supported by EC.\n",
+						EC_CMD_GET_CMD_VERSIONS);
+			return rv;
+		}
+
+		if (r.version_mask)
+			version = __fls(r.version_mask);
+
+		rv = ec_command(EC_CMD_MOTION_SENSE_CMD, version,
 				&param, ms_command_sizes[param.cmd].outsize,
 				resp, ms_command_sizes[param.cmd].insize);
-
 		if (rv < 0)
 			return rv;
 
@@ -3632,6 +3648,14 @@ static int cmd_motionsense(int argc, char **argv)
 			printf("unknown\n");
 		}
 
+		if (version >= 3) {
+			printf("Min Frequency:              %d mHz\n",
+					resp->info_3.min_frequency);
+			printf("Max Frequency:              %d mHz\n",
+					resp->info_3.max_frequency);
+			printf("FIFO Max Event Count:       %d\n",
+					resp->info_3.fifo_max_event_count);
+		}
 		return 0;
 	}