BACKPORT: board: strago: Adapt to new sensor stack.

Remove sensor stack on devices that do not have sensors: umaro wizpig
kunimitsu [last one is not used anyway]
Add FIFO on strago, kefka, ultima and setzer only.
Remove code included by #ifdef CONFIG_GYRO_L3GD20H, unused.
Add MKBP support on ultima.

BUG=b:27849483, b:36973851
TEST=Check on Kefka, Ultima
BRANCH=strago, ultima, ultima

Reviewed-on: https://chromium-review.googlesource.com/409508
Reviewed-by: Aseda Aboagye <aaboagye@chromium.org>
(cherry picked from commit 5246e8bffed2cea283f4e0104468b8d73d77789c)
Change-Id: I634ec16ad5df91fe002dc126a4d5b592ff0cc10c
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/489781

10 files changed, 253 insertions, 333 deletions

diff --git a/board/cyan/board.c b/board/cyan/board.c
index 8eae0ae633..ebe9c92e07 100644
--- a/board/cyan/board.c
+++ b/board/cyan/board.c
@@ -8,7 +8,6 @@
 #include "charger.h"
 #include "charge_state.h"
 #include "driver/accel_kionix.h"
-#include "driver/accel_kxcj9.h"
 #include "driver/temp_sensor/tmp432.h"
 #include "extpower.h"
 #include "gpio.h"
diff --git a/board/setzer/board.c b/board/setzer/board.c
index 0e0e93c9e4..8d14fe1c56 100644
--- a/board/setzer/board.c
+++ b/board/setzer/board.c
@@ -9,7 +9,7 @@
 #include "button.h"
 #include "charger.h"
 #include "charge_state.h"
-#include "driver/accel_kxcj9.h"
+#include "driver/accel_kionix.h"
 #include "driver/als_isl29035.h"
 #include "driver/gyro_l3gd20h.h"
 #include "driver/temp_sensor/tmp432.h"
@@ -122,14 +122,7 @@ BUILD_ASSERT(ARRAY_SIZE(buttons) == CONFIG_BUTTON_COUNT);
 /* Four Motion sensors */
 /* kxcj9 mutex and local/private data*/
 static struct mutex g_kxcj9_mutex[2];
-struct kxcj9_data g_kxcj9_data[2];
-
-#ifdef CONFIG_GYRO_L3GD20H
-/* Gyro sensor */
-/* l3gd20h mutex and local/private data*/
-static struct mutex g_l3gd20h_mutex;
-struct l3gd20_data g_l3gd20h_data;
-#endif
+struct kionix_accel_data g_kxcj9_data[2];
 
 /* Matrix to rotate accelrator into standard reference frame */
 const matrix_3x3_t base_standard_ref = {
@@ -145,97 +138,81 @@ const matrix_3x3_t lid_standard_ref = {
 };
 
 struct motion_sensor_t motion_sensors[] = {
-	{.name = "Base Accel",
-	 .active_mask = SENSOR_ACTIVE_S0,
+	[BASE_ACCEL] = {
+	 .name = "Base",
+	 .active_mask = SENSOR_ACTIVE_S0_S3,
 	 .chip = MOTIONSENSE_CHIP_KXCJ9,
 	 .type = MOTIONSENSE_TYPE_ACCEL,
 	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &kxcj9_drv,
+	 .drv = &kionix_accel_drv,
 	 .mutex = &g_kxcj9_mutex[0],
 	 .drv_data = &g_kxcj9_data[0],
-	 .i2c_addr = KXCJ9_ADDR1,
+	 .port = I2C_PORT_ACCEL,
+	 .addr = KXCJ9_ADDR1,
 	 .rot_standard_ref = &base_standard_ref,
-	 .default_config = {
-		 .odr = 100000,
-		 .range = 2,
-		 .ec_rate = SUSPEND_SAMPLING_INTERVAL,
+	 .default_range = 2,  /* g, enough for laptop. */
+	 .config = {
+		 /* AP: by default shutdown all sensors */
+		 [SENSOR_CONFIG_AP] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+		 /* EC use accel for angle detection */
+		 [SENSOR_CONFIG_EC_S0] = {
+			 .odr = 10000 | ROUND_UP_FLAG,
+			 .ec_rate = 0,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S3] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S5] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
 	 }
 	},
-	{.name = "Lid Accel",
-	 .active_mask = SENSOR_ACTIVE_S0,
+	[LID_ACCEL] = {
+	 .name = "Lid",
+	 .active_mask = SENSOR_ACTIVE_S0_S3,
 	 .chip = MOTIONSENSE_CHIP_KXCJ9,
 	 .type = MOTIONSENSE_TYPE_ACCEL,
 	 .location = MOTIONSENSE_LOC_LID,
-	 .drv = &kxcj9_drv,
+	 .drv = &kionix_accel_drv,
 	 .mutex = &g_kxcj9_mutex[1],
 	 .drv_data = &g_kxcj9_data[1],
-	 .i2c_addr = KXCJ9_ADDR0,
+	 .port = I2C_PORT_ACCEL,
+	 .addr = KXCJ9_ADDR0,
 	 .rot_standard_ref = &lid_standard_ref,
-	 .default_config = {
-		 .odr = 100000,
-		 .range = 2,
-		 .ec_rate = SUSPEND_SAMPLING_INTERVAL,
-	 }
-	},
-#ifdef CONFIG_GYRO_L3GD20H
-	{.name = "Lid Gyro",
-	 .active_mask = SENSOR_ACTIVE_S0,
-	 .chip = MOTIONSENSE_CHIP_L3GD20H,
-	 .type = MOTIONSENSE_TYPE_GYRO,
-	 .location = MOTIONSENSE_LOC_LID,
-	 .drv = &l3gd20h_drv,
-	 .mutex = &g_l3gd20h_mutex,
-	 .drv_data = &g_l3gd20h_data,
-	 .i2c_addr = L3GD20_ADDR1,
-	 .rot_standard_ref = NULL,
-	 .default_config = {
-		 .odr = 190000,
-		 .range = 2000,
-		 .ec_rate = SUSPEND_SAMPLING_INTERVAL,
-	 }
+	 .default_range = 2,  /* g, enough for laptop. */
+	 .config = {
+		 /* AP: by default shutdown all sensors */
+		 [SENSOR_CONFIG_AP] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+		 /* EC use accel for angle detection */
+		 [SENSOR_CONFIG_EC_S0] = {
+			 .odr = 10000 | ROUND_UP_FLAG,
+			 .ec_rate = 0,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S3] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S5] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
+	 },
 	},
-#endif
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
-/* Define the accelerometer orientation matrices. */
-const struct accel_orientation acc_orient = {
-	/* Hinge aligns with x axis. */
-	.rot_hinge_90 = {
-		{ FLOAT_TO_FP(1),  0,  0},
-		{ 0,  0,  FLOAT_TO_FP(1)},
-		{ 0, FLOAT_TO_FP(-1),  0}
-	},
-	.rot_hinge_180 = {
-		{ FLOAT_TO_FP(1),  0,  0},
-		{ 0, FLOAT_TO_FP(-1),  0},
-		{ 0,  0, FLOAT_TO_FP(-1)}
-	},
-	.hinge_axis = {1, 0, 0},
-};
-
-/*
- * In S3, power rail for sensors (+V3p3S) goes down asynchronous to EC. We need
- * to execute this routine first and set the sensor state to "Not Initialized".
- * This prevents the motion_sense_suspend hook routine from communicating with
- * the sensor.
- */
-static void motion_sensors_pre_init(void)
-{
-	struct motion_sensor_t *sensor;
-	int i;
-
-	for (i = 0; i < motion_sensor_count; ++i) {
-		sensor = &motion_sensors[i];
-		sensor->state = SENSOR_NOT_INITIALIZED;
-
-		sensor->runtime_config.odr = sensor->default_config.odr;
-		sensor->runtime_config.range = sensor->default_config.range;
-	}
-}
-DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, motion_sensors_pre_init,
-	MOTION_SENSE_HOOK_PRIO - 1);
-
 /* init ADC ports to avoid floating state due to thermistors */
 static void adc_pre_init(void)
 {
diff --git a/board/setzer/board.h b/board/setzer/board.h
index a17d2805d8..30c14dea50 100644
--- a/board/setzer/board.h
+++ b/board/setzer/board.h
@@ -8,6 +8,15 @@
 #ifndef __CROS_EC_BOARD_H
 #define __CROS_EC_BOARD_H
 
+/*
+ * By default, enable all console messages excepted HC, ACPI and event:
+ * The sensor stack is generating a lot of activity.
+ */
+#define CC_DEFAULT     (CC_ALL & ~(CC_MASK(CC_EVENTS) | CC_MASK(CC_LPC)))
+/* By default, set hcdebug to off */
+#undef CONFIG_HOSTCMD_DEBUG_MODE
+#define CONFIG_HOSTCMD_DEBUG_MODE HCDEBUG_OFF
+
 /* Optional features */
 #define CONFIG_WATCHDOG_HELP
 #define CONFIG_CLOCK_CRYSTAL
@@ -71,8 +80,10 @@
 #define CONFIG_CMD_ACCELS
 #define CONFIG_CMD_ACCEL_INFO
 #define CONFIG_LID_ANGLE
-#define CONFIG_LID_ANGLE_SENSOR_BASE	0
-#define CONFIG_LID_ANGLE_SENSOR_LID	1
+
+/* Depends on how fast the AP boots and typical ODRs */
+#define CONFIG_ACCEL_FIFO 512
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
 
 /* Wireless signals */
 #define WIRELESS_GPIO_WLAN	GPIO_WLAN_OFF_L
@@ -108,6 +119,22 @@ enum adc_channel {
 	ADC_CH_COUNT
 };
 
+/* Sensor index definition */
+enum sensor_id {
+	BASE_ACCEL = 0,
+	LID_ACCEL = 1,
+};
+
+/*
+ * We have not enabled the sensor FIFO on the accels, so we force the EC
+ * to collect at every sample.
+ */
+#define CONFIG_ACCEL_FORCE_MODE_MASK \
+	((1 << BASE_ACCEL) | (1 << LID_ACCEL))
+
+#define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
+#define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
+
 /* power signal definitions */
 enum power_signal {
 	X86_ALL_SYS_PWRGD = 0,
diff --git a/board/strago/board.c b/board/strago/board.c
index b0e61f89c8..c749d809ac 100644
--- a/board/strago/board.c
+++ b/board/strago/board.c
@@ -9,7 +9,7 @@
 #include "button.h"
 #include "charger.h"
 #include "charge_state.h"
-#include "driver/accel_kxcj9.h"
+#include "driver/accel_kionix.h"
 #include "driver/als_isl29035.h"
 #include "driver/gyro_l3gd20h.h"
 #include "driver/temp_sensor/tmp432.h"
@@ -122,14 +122,7 @@ BUILD_ASSERT(ARRAY_SIZE(buttons) == CONFIG_BUTTON_COUNT);
 /* Four Motion sensors */
 /* kxcj9 mutex and local/private data*/
 static struct mutex g_kxcj9_mutex[2];
-struct kxcj9_data g_kxcj9_data[2];
-
-#ifdef CONFIG_GYRO_L3GD20H
-/* Gyro sensor */
-/* l3gd20h mutex and local/private data*/
-static struct mutex g_l3gd20h_mutex;
-struct l3gd20_data g_l3gd20h_data;
-#endif
+struct kionix_accel_data g_kxcj9_data[2];
 
 /* Matrix to rotate accelrator into standard reference frame */
 const matrix_3x3_t base_standard_ref = {
@@ -145,97 +138,81 @@ const matrix_3x3_t lid_standard_ref = {
 };
 
 struct motion_sensor_t motion_sensors[] = {
-	{.name = "Base Accel",
-	 .active_mask = SENSOR_ACTIVE_S0,
+	[BASE_ACCEL] = {
+	 .name = "Base Accel",
+	 .active_mask = SENSOR_ACTIVE_S0_S3,
 	 .chip = MOTIONSENSE_CHIP_KXCJ9,
 	 .type = MOTIONSENSE_TYPE_ACCEL,
 	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &kxcj9_drv,
+	 .drv = &kionix_accel_drv,
 	 .mutex = &g_kxcj9_mutex[0],
 	 .drv_data = &g_kxcj9_data[0],
-	 .i2c_addr = KXCJ9_ADDR1,
+	 .port = I2C_PORT_ACCEL,
+	 .addr = KXCJ9_ADDR1,
 	 .rot_standard_ref = &base_standard_ref,
-	 .default_config = {
-		 .odr = 100000,
-		 .range = 2,
-		 .ec_rate = SUSPEND_SAMPLING_INTERVAL,
+	 .default_range = 2,  /* g, enough for laptop. */
+	 .config = {
+		 /* AP: by default shutdown all sensors */
+		 [SENSOR_CONFIG_AP] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+		 /* EC use accel for angle detection */
+		 [SENSOR_CONFIG_EC_S0] = {
+			 .odr = 10000 | ROUND_UP_FLAG,
+			 .ec_rate = 0,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S3] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S5] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
 	 }
 	},
-	{.name = "Lid Accel",
-	 .active_mask = SENSOR_ACTIVE_S0,
+	[LID_ACCEL] = {
+	 .name = "Lid Accel",
+	 .active_mask = SENSOR_ACTIVE_S0_S3,
 	 .chip = MOTIONSENSE_CHIP_KXCJ9,
 	 .type = MOTIONSENSE_TYPE_ACCEL,
 	 .location = MOTIONSENSE_LOC_LID,
-	 .drv = &kxcj9_drv,
+	 .drv = &kionix_accel_drv,
 	 .mutex = &g_kxcj9_mutex[1],
 	 .drv_data = &g_kxcj9_data[1],
-	 .i2c_addr = KXCJ9_ADDR0,
+	 .port = I2C_PORT_ACCEL,
+	 .addr = KXCJ9_ADDR0,
 	 .rot_standard_ref = &lid_standard_ref,
-	 .default_config = {
-		 .odr = 100000,
-		 .range = 2,
-		 .ec_rate = SUSPEND_SAMPLING_INTERVAL,
-	 }
-	},
-#ifdef CONFIG_GYRO_L3GD20H
-	{.name = "Lid Gyro",
-	 .active_mask = SENSOR_ACTIVE_S0,
-	 .chip = MOTIONSENSE_CHIP_L3GD20H,
-	 .type = MOTIONSENSE_TYPE_GYRO,
-	 .location = MOTIONSENSE_LOC_LID,
-	 .drv = &l3gd20h_drv,
-	 .mutex = &g_l3gd20h_mutex,
-	 .drv_data = &g_l3gd20h_data,
-	 .i2c_addr = L3GD20_ADDR1,
-	 .rot_standard_ref = NULL,
-	 .default_config = {
-		 .odr = 190000,
-		 .range = 2000,
-		 .ec_rate = SUSPEND_SAMPLING_INTERVAL,
-	 }
+	 .default_range = 2,  /* g, enough for laptop. */
+	 .config = {
+		 /* AP: by default shutdown all sensors */
+		 [SENSOR_CONFIG_AP] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+		 /* EC use accel for angle detection */
+		 [SENSOR_CONFIG_EC_S0] = {
+			 .odr = 10000 | ROUND_UP_FLAG,
+			 .ec_rate = 0,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S3] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S5] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
+	 },
 	},
-#endif
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
-/* Define the accelerometer orientation matrices. */
-const struct accel_orientation acc_orient = {
-	/* Hinge aligns with x axis. */
-	.rot_hinge_90 = {
-		{ FLOAT_TO_FP(1),  0,  0},
-		{ 0,  0,  FLOAT_TO_FP(1)},
-		{ 0, FLOAT_TO_FP(-1),  0}
-	},
-	.rot_hinge_180 = {
-		{ FLOAT_TO_FP(1),  0,  0},
-		{ 0, FLOAT_TO_FP(-1),  0},
-		{ 0,  0, FLOAT_TO_FP(-1)}
-	},
-	.hinge_axis = {1, 0, 0},
-};
-
-/*
- * In S3, power rail for sensors (+V3p3S) goes down asynchronous to EC. We need
- * to execute this routine first and set the sensor state to "Not Initialized".
- * This prevents the motion_sense_suspend hook routine from communicating with
- * the sensor.
- */
-static void motion_sensors_pre_init(void)
-{
-	struct motion_sensor_t *sensor;
-	int i;
-
-	for (i = 0; i < motion_sensor_count; ++i) {
-		sensor = &motion_sensors[i];
-		sensor->state = SENSOR_NOT_INITIALIZED;
-
-		sensor->runtime_config.odr = sensor->default_config.odr;
-		sensor->runtime_config.range = sensor->default_config.range;
-	}
-}
-DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, motion_sensors_pre_init,
-	MOTION_SENSE_HOOK_PRIO - 1);
-
 /* init ADC ports to avoid floating state due to thermistors */
 static void adc_pre_init(void)
 {
diff --git a/board/strago/board.h b/board/strago/board.h
index cf0a02b29c..29214bec14 100644
--- a/board/strago/board.h
+++ b/board/strago/board.h
@@ -71,8 +71,6 @@
 #define CONFIG_CMD_ACCELS
 #define CONFIG_CMD_ACCEL_INFO
 #define CONFIG_LID_ANGLE
-#define CONFIG_LID_ANGLE_SENSOR_BASE	0
-#define CONFIG_LID_ANGLE_SENSOR_LID	1
 
 /* Wireless signals */
 #define WIRELESS_GPIO_WLAN	GPIO_WLAN_OFF_L
@@ -108,6 +106,22 @@ enum adc_channel {
 	ADC_CH_COUNT
 };
 
+/* Sensor index definition */
+enum sensor_id {
+	BASE_ACCEL = 0,
+	LID_ACCEL = 1,
+};
+
+/*
+ * We have not enabled the sensor FIFO on the accels, so we force the EC
+ * to collect at every sample.
+ */
+#define CONFIG_ACCEL_FORCE_MODE_MASK \
+	((1 << BASE_ACCEL) | (1 << LID_ACCEL))
+
+#define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
+#define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
+
 /* power signal definitions */
 enum power_signal {
 	X86_ALL_SYS_PWRGD = 0,
diff --git a/board/ultima/board.c b/board/ultima/board.c
index e7f78cc1f2..e2731faf54 100644
--- a/board/ultima/board.c
+++ b/board/ultima/board.c
@@ -8,7 +8,7 @@
 #include "button.h"
 #include "charger.h"
 #include "charge_state.h"
-#include "driver/accel_kxcj9.h"
+#include "driver/accel_kionix.h"
 #include "driver/temp_sensor/tmp432.h"
 #include "extpower.h"
 #include "gpio.h"
@@ -112,7 +112,7 @@ BUILD_ASSERT(ARRAY_SIZE(buttons) == CONFIG_BUTTON_COUNT);
 /* Four Motion sensors */
 /* kxcj9 mutex and local/private data*/
 static struct mutex g_kxcj9_mutex[2];
-struct kxcj9_data g_kxcj9_data[2];
+struct kionix_accel_data g_kxcj9_data[2];
 
 /* Matrix to rotate accelrator into standard reference frame */
 const matrix_3x3_t base_standard_ref = {
@@ -128,57 +128,81 @@ const matrix_3x3_t lid_standard_ref = {
 };
 
 struct motion_sensor_t motion_sensors[] = {
-	{.name = "Base Accel",
+	[BASE_ACCEL] = {
+	 .name = "Base",
 	 .active_mask = SENSOR_ACTIVE_S0_S3,
 	 .chip = MOTIONSENSE_CHIP_KXCJ9,
 	 .type = MOTIONSENSE_TYPE_ACCEL,
 	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &kxcj9_drv,
+	 .drv = &kionix_accel_drv,
 	 .mutex = &g_kxcj9_mutex[0],
 	 .drv_data = &g_kxcj9_data[0],
-	 .i2c_addr = KXCJ9_ADDR1,
+	 .port = I2C_PORT_ACCEL,
+	 .addr = KXCJ9_ADDR1,
 	 .rot_standard_ref = &base_standard_ref,
-	 .default_config = {
-		 .odr = 100000,
-		 .range = 2,
-		 .ec_rate = SUSPEND_SAMPLING_INTERVAL,
+	 .default_range = 2,  /* g, enough for laptop. */
+	 .config = {
+		 /* AP: by default shutdown all sensors */
+		 [SENSOR_CONFIG_AP] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+		 /* EC use accel for angle detection */
+		 [SENSOR_CONFIG_EC_S0] = {
+			 .odr = 10000 | ROUND_UP_FLAG,
+			 .ec_rate = 0,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S3] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S5] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
 	 }
 	},
-	{.name = "Lid Accel",
+	[LID_ACCEL] = {
+	 .name = "Lid",
 	 .active_mask = SENSOR_ACTIVE_S0_S3,
 	 .chip = MOTIONSENSE_CHIP_KXCJ9,
 	 .type = MOTIONSENSE_TYPE_ACCEL,
 	 .location = MOTIONSENSE_LOC_LID,
-	 .drv = &kxcj9_drv,
+	 .drv = &kionix_accel_drv,
 	 .mutex = &g_kxcj9_mutex[1],
 	 .drv_data = &g_kxcj9_data[1],
-	 .i2c_addr = KXCJ9_ADDR0,
+	 .port = I2C_PORT_ACCEL,
+	 .addr = KXCJ9_ADDR0,
 	 .rot_standard_ref = &lid_standard_ref,
-	 .default_config = {
-		 .odr = 100000,
-		 .range = 2,
-		 .ec_rate = SUSPEND_SAMPLING_INTERVAL,
-	 }
+	 .default_range = 2,  /* g, enough for laptop. */
+	 .config = {
+		 /* AP: by default shutdown all sensors */
+		 [SENSOR_CONFIG_AP] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+		 /* EC use accel for angle detection */
+		 [SENSOR_CONFIG_EC_S0] = {
+			 .odr = 10000 | ROUND_UP_FLAG,
+			 .ec_rate = 0,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S3] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S5] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
+	 },
 	},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
-/* Define the accelerometer orientation matrices. */
-const struct accel_orientation acc_orient = {
-	/* Hinge aligns with x axis. */
-	.rot_hinge_90 = {
-		{ FLOAT_TO_FP(1),  0,  0},
-		{ 0,  0,  FLOAT_TO_FP(1)},
-		{ 0, FLOAT_TO_FP(-1),  0}
-	},
-	.rot_hinge_180 = {
-		{ FLOAT_TO_FP(1),  0,  0},
-		{ 0, FLOAT_TO_FP(-1),  0},
-		{ 0,  0, FLOAT_TO_FP(-1)}
-	},
-	.hinge_axis = {1, 0, 0},
-};
-
 /* init ADC ports to avoid floating state due to thermistors */
 static void adc_pre_init(void)
 {
diff --git a/board/ultima/board.h b/board/ultima/board.h
index 0a3ea76e43..01c0f9b360 100644
--- a/board/ultima/board.h
+++ b/board/ultima/board.h
@@ -8,6 +8,15 @@
 #ifndef __CROS_EC_BOARD_H
 #define __CROS_EC_BOARD_H
 
+/*
+ * By default, enable all console messages excepted HC, ACPI and event:
+ * The sensor stack is generating a lot of activity.
+ */
+#define CC_DEFAULT     (CC_ALL & ~(CC_MASK(CC_EVENTS) | CC_MASK(CC_LPC)))
+/* By default, set hcdebug to off */
+#undef CONFIG_HOSTCMD_DEBUG_MODE
+#define CONFIG_HOSTCMD_DEBUG_MODE HCDEBUG_OFF
+
 /* Optional features */
 #define CONFIG_WATCHDOG_HELP
 #define CONFIG_CLOCK_CRYSTAL
@@ -26,6 +35,8 @@
 #define CONFIG_LID_SWITCH
 #define CONFIG_LOW_POWER_IDLE
 #define CONFIG_LOW_POWER_PSEUDO_G3
+#define CONFIG_MKBP_EVENT
+#define CONFIG_MKBP_USE_HOST_EVENT
 #define CONFIG_POWER_COMMON
 #define CONFIG_POWER_SHUTDOWN_PAUSE_IN_S5
 #define CONFIG_EXTPOWER_GPIO
@@ -70,9 +81,12 @@
 #define CONFIG_ACCEL_KXCJ9
 #define CONFIG_CMD_ACCELS
 #define CONFIG_CMD_ACCEL_INFO
+
+/* Depends on how fast the AP boots and typical ODRs */
+#define CONFIG_ACCEL_FIFO 512
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+
 #define CONFIG_LID_ANGLE
-#define CONFIG_LID_ANGLE_SENSOR_BASE	0
-#define CONFIG_LID_ANGLE_SENSOR_LID	1
 #define CONFIG_LID_ANGLE_UPDATE
 
 /* Wireless signals */
@@ -113,6 +127,22 @@ enum adc_channel {
 	ADC_CH_COUNT
 };
 
+/* Sensor index definition */
+enum sensor_id {
+	BASE_ACCEL = 0,
+	LID_ACCEL = 1,
+};
+
+/*
+ * We have not enabled the sensor FIFO on the accels, so we force the EC
+ * to collect at every sample.
+ */
+#define CONFIG_ACCEL_FORCE_MODE_MASK \
+	((1 << BASE_ACCEL) | (1 << LID_ACCEL))
+
+#define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
+#define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
+
 /* power signal definitions */
 enum power_signal {
 	X86_ALL_SYS_PWRGD = 0,
diff --git a/board/wizpig/board.c b/board/wizpig/board.c
index 532b582ce8..83207468f9 100644
--- a/board/wizpig/board.c
+++ b/board/wizpig/board.c
@@ -9,7 +9,7 @@
 #include "button.h"
 #include "charger.h"
 #include "charge_state.h"
-#include "driver/accel_kxcj9.h"
+#include "driver/accel_kionix.h"
 #include "driver/gyro_l3gd20h.h"
 #include "driver/temp_sensor/tmp432.h"
 #include "extpower.h"
@@ -112,123 +112,6 @@ const struct button_config buttons[] = {
 };
 BUILD_ASSERT(ARRAY_SIZE(buttons) == CONFIG_BUTTON_COUNT);
 
-/* Four Motion sensors */
-/* kxcj9 mutex and local/private data*/
-static struct mutex g_kxcj9_mutex[2];
-struct kxcj9_data g_kxcj9_data[2];
-
-#ifdef CONFIG_GYRO_L3GD20H
-/* Gyro sensor */
-/* l3gd20h mutex and local/private data*/
-static struct mutex g_l3gd20h_mutex;
-struct l3gd20_data g_l3gd20h_data;
-#endif
-
-/* Matrix to rotate accelrator into standard reference frame */
-const matrix_3x3_t base_standard_ref = {
-	{ 0,  FLOAT_TO_FP(1),  0},
-	{FLOAT_TO_FP(-1),  0,  0},
-	{ 0,  0,  FLOAT_TO_FP(1)}
-};
-
-const matrix_3x3_t lid_standard_ref = {
-	{FLOAT_TO_FP(1),  0,  0},
-	{ 0, FLOAT_TO_FP(1),  0},
-	{ 0,  0, FLOAT_TO_FP(1)}
-};
-
-struct motion_sensor_t motion_sensors[] = {
-	{.name = "Base Accel",
-	 .active_mask = SENSOR_ACTIVE_S0,
-	 .chip = MOTIONSENSE_CHIP_KXCJ9,
-	 .type = MOTIONSENSE_TYPE_ACCEL,
-	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &kxcj9_drv,
-	 .mutex = &g_kxcj9_mutex[0],
-	 .drv_data = &g_kxcj9_data[0],
-	 .i2c_addr = KXCJ9_ADDR1,
-	 .rot_standard_ref = &base_standard_ref,
-	 .default_config = {
-		 .odr = 100000,
-		 .range = 2,
-		 .ec_rate = SUSPEND_SAMPLING_INTERVAL,
-	 }
-	},
-	{.name = "Lid Accel",
-	 .active_mask = SENSOR_ACTIVE_S0,
-	 .chip = MOTIONSENSE_CHIP_KXCJ9,
-	 .type = MOTIONSENSE_TYPE_ACCEL,
-	 .location = MOTIONSENSE_LOC_LID,
-	 .drv = &kxcj9_drv,
-	 .mutex = &g_kxcj9_mutex[1],
-	 .drv_data = &g_kxcj9_data[1],
-	 .i2c_addr = KXCJ9_ADDR0,
-	 .rot_standard_ref = &lid_standard_ref,
-	 .default_config = {
-		 .odr = 100000,
-		 .range = 2,
-		 .ec_rate = SUSPEND_SAMPLING_INTERVAL,
-	 }
-	},
-#ifdef CONFIG_GYRO_L3GD20H
-	{.name = "Lid Gyro",
-	 .active_mask = SENSOR_ACTIVE_S0,
-	 .chip = MOTIONSENSE_CHIP_L3GD20H,
-	 .type = MOTIONSENSE_TYPE_GYRO,
-	 .location = MOTIONSENSE_LOC_LID,
-	 .drv = &l3gd20h_drv,
-	 .mutex = &g_l3gd20h_mutex,
-	 .drv_data = &g_l3gd20h_data,
-	 .i2c_addr = L3GD20_ADDR1,
-	 .rot_standard_ref = NULL,
-	 .default_config = {
-		 .odr = 190000,
-		 .range = 2000,
-		 .ec_rate = SUSPEND_SAMPLING_INTERVAL,
-	 }
-	},
-#endif
-};
-const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
-
-/* Define the accelerometer orientation matrices. */
-const struct accel_orientation acc_orient = {
-	/* Hinge aligns with x axis. */
-	.rot_hinge_90 = {
-		{ FLOAT_TO_FP(1),  0,  0},
-		{ 0,  0,  FLOAT_TO_FP(1)},
-		{ 0, FLOAT_TO_FP(-1),  0}
-	},
-	.rot_hinge_180 = {
-		{ FLOAT_TO_FP(1),  0,  0},
-		{ 0, FLOAT_TO_FP(-1),  0},
-		{ 0,  0, FLOAT_TO_FP(-1)}
-	},
-	.hinge_axis = {1, 0, 0},
-};
-
-/*
- * In S3, power rail for sensors (+V3p3S) goes down asynchronous to EC. We need
- * to execute this routine first and set the sensor state to "Not Initialized".
- * This prevents the motion_sense_suspend hook routine from communicating with
- * the sensor.
- */
-static void motion_sensors_pre_init(void)
-{
-	struct motion_sensor_t *sensor;
-	int i;
-
-	for (i = 0; i < motion_sensor_count; ++i) {
-		sensor = &motion_sensors[i];
-		sensor->state = SENSOR_NOT_INITIALIZED;
-
-		sensor->runtime_config.odr = sensor->default_config.odr;
-		sensor->runtime_config.range = sensor->default_config.range;
-	}
-}
-DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, motion_sensors_pre_init,
-	MOTION_SENSE_HOOK_PRIO - 1);
-
 /* init ADC ports to avoid floating state due to thermistors */
 static void adc_pre_init(void)
 {
diff --git a/board/wizpig/board.h b/board/wizpig/board.h
index a337eb4553..c1f4edc5ae 100644
--- a/board/wizpig/board.h
+++ b/board/wizpig/board.h
@@ -64,14 +64,6 @@
 
 #define CONFIG_I2C
 
-/* Accelerometer */
-#define CONFIG_ACCEL_KXCJ9
-#define CONFIG_CMD_ACCELS
-#define CONFIG_CMD_ACCEL_INFO
-#define CONFIG_LID_ANGLE
-#define CONFIG_LID_ANGLE_SENSOR_BASE	0
-#define CONFIG_LID_ANGLE_SENSOR_LID	1
-
 /* Wireless signals */
 #define WIRELESS_GPIO_WLAN	GPIO_WLAN_OFF_L
 
@@ -95,8 +87,6 @@
 #define I2C_PORT_CHARGER	MEC1322_I2C0_0
 #define I2C_PORT_PD_MCU		MEC1322_I2C1
 #define I2C_PORT_TCPC		MEC1322_I2C1
-#define I2C_PORT_ACCEL		MEC1322_I2C2
-#define I2C_PORT_GYRO		MEC1322_I2C2
 #define I2C_PORT_THERMAL	MEC1322_I2C3
 
 /* ADC signal */
diff --git a/board/wizpig/ec.tasklist b/board/wizpig/ec.tasklist
index 3261d956d6..33240cdf02 100644
--- a/board/wizpig/ec.tasklist
+++ b/board/wizpig/ec.tasklist
@@ -19,7 +19,6 @@
 #define CONFIG_TASK_LIST \
 	TASK_ALWAYS(HOOKS, hook_task, NULL, LARGER_TASK_STACK_SIZE) \
 	TASK_ALWAYS(CHARGER, charger_task, NULL, LARGER_TASK_STACK_SIZE) \
-	TASK_NOTEST(MOTIONSENSE, motion_sense_task, NULL, LARGER_TASK_STACK_SIZE) \
 	TASK_NOTEST(CHIPSET, chipset_task, NULL, LARGER_TASK_STACK_SIZE) \
 	TASK_NOTEST(KEYPROTO, keyboard_protocol_task, NULL, TASK_STACK_SIZE) \
 	TASK_ALWAYS(HOSTCMD, host_command_task, NULL, LARGER_TASK_STACK_SIZE) \