config: Refactor CONFIG_ACCEL_FIFO to enable use of IS_ENABLED

This change allows us to use the IS_ENABLED condition to replace
the various ifdef guards around the CONFIG_ACCEL_FIFO

BUG=b:137758297,chromium:981990
BRANCH=None
TEST=buildall and CTS tests on Arcada

Change-Id: I65d36bac19855e51c830a33e6f3812575e8d15d9
Signed-off-by: Yuval Peress <peress@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/1704164
Reviewed-by: Jack Rosenthal <jrosenth@chromium.org>
Reviewed-by: Gwendal Grignou <gwendal@chromium.org>

30 files changed, 331 insertions, 291 deletions

diff --git a/baseboard/grunt/baseboard.h b/baseboard/grunt/baseboard.h
index 27d87091b2..e2fd994649 100644
--- a/baseboard/grunt/baseboard.h
+++ b/baseboard/grunt/baseboard.h
@@ -186,11 +186,12 @@
 #define CONFIG_TEMP_SENSOR_SB_TSI
 
 #ifndef VARIANT_GRUNT_NO_SENSORS
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
 /* FIFO size is a power of 2. */
-#define CONFIG_ACCEL_FIFO 256
-
+#define CONFIG_ACCEL_FIFO_SIZE 256
 /* Depends on how fast the AP boots and typical ODRs. */
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 #endif /* VARIANT_GRUNT_NO_SENSORS */
 
 #define USB_PD_PORT_ANX74XX	0
diff --git a/baseboard/hatch/baseboard.h b/baseboard/hatch/baseboard.h
index dac40e9293..a7f352e736 100644
--- a/baseboard/hatch/baseboard.h
+++ b/baseboard/hatch/baseboard.h
@@ -72,10 +72,12 @@
 /* I2C_PORT_ACCEL needs to be defined for i2c transactions */
 #define I2C_PORT_ACCEL I2C_PORT_SENSOR
 
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
 /* FIFO size is in power of 2. */
-#define CONFIG_ACCEL_FIFO 256
+#define CONFIG_ACCEL_FIFO_SIZE 256
 /* Depends on how fast the AP boots and typical ODRs */
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 
 /* Sensor console commands */
 #define CONFIG_CMD_ACCELS
diff --git a/baseboard/kukui/baseboard.h b/baseboard/kukui/baseboard.h
index 317c51be51..b22b1cdf01 100644
--- a/baseboard/kukui/baseboard.h
+++ b/baseboard/kukui/baseboard.h
@@ -139,10 +139,11 @@
 #define CONFIG_TABLET_MODE_SWITCH
 #define GPIO_LID_OPEN GPIO_HALL_INT_L
 
-/* FIFO size is in power of 2. */
 #ifndef VARIANT_KUKUI_NO_SENSORS
-#define CONFIG_ACCEL_FIFO 256
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO
+/* FIFO size is in power of 2. */
+#define CONFIG_ACCEL_FIFO_SIZE 256
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 #endif /* VARIANT_KUKUI_NO_SENSORS */
 
 /* USB PD config */
diff --git a/baseboard/octopus/baseboard.h b/baseboard/octopus/baseboard.h
index 32210a0ed1..a8e613b0e2 100644
--- a/baseboard/octopus/baseboard.h
+++ b/baseboard/octopus/baseboard.h
@@ -275,10 +275,12 @@
  * and the lid sensor is polled real-time (in forced mode).
  */
 #define CONFIG_ACCEL_INTERRUPTS
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
 /* Power of 2 - Too large of a fifo causes too much timestamp jitter */
-#define CONFIG_ACCEL_FIFO 256
+#define CONFIG_ACCEL_FIFO_SIZE 256
 /* Depends on how fast the AP boots and typical ODRs */
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 #endif /* VARIANT_OCTOPUS_NO_SENSORS */
 
 /*
diff --git a/baseboard/zork/baseboard.h b/baseboard/zork/baseboard.h
index 362a8d2fc0..c7f706c2af 100644
--- a/baseboard/zork/baseboard.h
+++ b/baseboard/zork/baseboard.h
@@ -196,11 +196,12 @@
 /* Thermal */
 #define CONFIG_TEMP_SENSOR_SB_TSI
 
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
 /* FIFO size is a power of 2. */
-#define CONFIG_ACCEL_FIFO 256
-
+#define CONFIG_ACCEL_FIFO_SIZE 256
 /* Depends on how fast the AP boots and typical ODRs. */
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 
 #ifndef __ASSEMBLER__
 
diff --git a/board/arcada_ish/board.h b/board/arcada_ish/board.h
index 18bdf6258a..f036bfd301 100644
--- a/board/arcada_ish/board.h
+++ b/board/arcada_ish/board.h
@@ -34,8 +34,12 @@
 #define CONFIG_MAG_CALIBRATE
 
 #define CONFIG_ACCEL_INTERRUPTS
-#define CONFIG_ACCEL_FIFO 256
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
+/* FIFO size is a power of 2. */
+#define CONFIG_ACCEL_FIFO_SIZE 256
+/* Depends on how fast the AP boots and typical ODRs. */
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 /* Sensors without hardware FIFO are in forced mode */
 #define CONFIG_ACCEL_FORCE_MODE_MASK  (BIT(BASE_ACCEL) | BIT(LID_MAG))
 
diff --git a/board/atlas/board.h b/board/atlas/board.h
index 37d8c5afd1..2d35762b0f 100644
--- a/board/atlas/board.h
+++ b/board/atlas/board.h
@@ -114,8 +114,12 @@
 #define CONFIG_ALS_OPT3001
 #define ALS_COUNT 1
 #define OPT3001_I2C_ADDR_FLAGS OPT3001_I2C_ADDR1_FLAGS
-#define CONFIG_ACCEL_FIFO 1024
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
+/* FIFO size is a power of 2. */
+#define CONFIG_ACCEL_FIFO_SIZE 1024
+/* Depends on how fast the AP boots and typical ODRs. */
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 #define CONFIG_ACCEL_INTERRUPTS
 
 /* USB */
diff --git a/board/cheza/board.h b/board/cheza/board.h
index 39adbcf500..b7c4131529 100644
--- a/board/cheza/board.h
+++ b/board/cheza/board.h
@@ -131,8 +131,12 @@
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL)
-#define CONFIG_ACCEL_FIFO 512
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
+/* FIFO size is a power of 2. */
+#define CONFIG_ACCEL_FIFO_SIZE 256
+/* Depends on how fast the AP boots and typical ODRs. */
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 #define CONFIG_CMD_ACCELS
 #define CONFIG_CMD_ACCEL_INFO
 #define CONFIG_ALS
diff --git a/board/coral/board.h b/board/coral/board.h
index 8a84cbb062..29afbd44ce 100644
--- a/board/coral/board.h
+++ b/board/coral/board.h
@@ -207,11 +207,12 @@
 #define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
 #define CONFIG_DYNAMIC_MOTION_SENSOR_COUNT
 
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
 /* FIFO size is in power of 2. */
-#define CONFIG_ACCEL_FIFO 512
-
+#define CONFIG_ACCEL_FIFO_SIZE 512
 /* Depends on how fast the AP boots and typical ODRs */
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 
 
 #ifndef __ASSEMBLER__
diff --git a/board/eve/board.h b/board/eve/board.h
index 642db72eb3..ac4e80ce04 100644
--- a/board/eve/board.h
+++ b/board/eve/board.h
@@ -136,11 +136,12 @@
 #define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
 #define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
 
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
 /* FIFO size is in power of 2. */
-#define CONFIG_ACCEL_FIFO 512
-
+#define CONFIG_ACCEL_FIFO_SIZE 512
 /* Depends on how fast the AP boots and typical ODRs */
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 
 /* Enable double tap detection */
 #define CONFIG_GESTURE_DETECTION
diff --git a/board/flapjack/board.h b/board/flapjack/board.h
index a7420a55eb..353f3a62b3 100644
--- a/board/flapjack/board.h
+++ b/board/flapjack/board.h
@@ -114,10 +114,17 @@
 #define CONFIG_TABLET_MODE
 #define CONFIG_TABLET_MODE_SWITCH
 
+/*
+ * Only include the sensor fifo in the RW section (since the motion task is only
+ * included there).
+ */
 #ifdef SECTION_IS_RW
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
 /* FIFO size is in power of 2. */
-#define CONFIG_ACCEL_FIFO 256
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO_SIZE 256
+/* Depends on how fast the AP boots and typical ODRs. */
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 #endif /* SECTION_IS_RW */
 
 /* Wireless Power Charger Config */
diff --git a/board/nami/board.h b/board/nami/board.h
index 2a93975747..cfcc6b3d2e 100644
--- a/board/nami/board.h
+++ b/board/nami/board.h
@@ -148,11 +148,12 @@
 /* KB backlight driver */
 #define CONFIG_LED_DRIVER_LM3509
 
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
 /* FIFO size is in power of 2. */
-#define CONFIG_ACCEL_FIFO 512
-
+#define CONFIG_ACCEL_FIFO_SIZE 512
 /* Depends on how fast the AP boots and typical ODRs */
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 
 #define CONFIG_TABLET_MODE
 #define CONFIG_TABLET_MODE_SWITCH
diff --git a/board/nautilus/board.h b/board/nautilus/board.h
index 30b21ef9f1..59f2b395ac 100644
--- a/board/nautilus/board.h
+++ b/board/nautilus/board.h
@@ -123,11 +123,12 @@
 #define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
 #define CONFIG_LID_ANGLE_UPDATE
 
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
 /* FIFO size is in power of 2. */
-#define CONFIG_ACCEL_FIFO 512
-
+#define CONFIG_ACCEL_FIFO_SIZE 512
 /* Depends on how fast the AP boots and typical ODRs */
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 
 #undef  CONFIG_UART_TX_BUF_SIZE
 #define CONFIG_UART_TX_BUF_SIZE 2048
diff --git a/board/nocturne/board.h b/board/nocturne/board.h
index 3186090f20..f969a5f03d 100644
--- a/board/nocturne/board.h
+++ b/board/nocturne/board.h
@@ -94,9 +94,12 @@
 #define ALS_COUNT 1
 #define CONFIG_ALS_OPT3001
 #define OPT3001_I2C_ADDR_FLAGS OPT3001_I2C_ADDR1_FLAGS
-#define CONFIG_ACCEL_FIFO 512 /* Must be a power of 2 */
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
+/* Must be a power of 2 */
+#define CONFIG_ACCEL_FIFO_SIZE 512
 /* Depends on how fast the AP boots and typical ODRs */
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCELGYRO_BMI160
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
diff --git a/board/poppy/board.h b/board/poppy/board.h
index 36055bb1cc..104c77962a 100644
--- a/board/poppy/board.h
+++ b/board/poppy/board.h
@@ -133,11 +133,12 @@
 /* Lower maximal ODR to 100Hz */
 #define CONFIG_EC_MAX_SENSOR_FREQ_MILLIHZ 100000
 
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
 /* FIFO size is in power of 2. */
-#define CONFIG_ACCEL_FIFO 512
-
+#define CONFIG_ACCEL_FIFO_SIZE 512
 /* Depends on how fast the AP boots and typical ODRs */
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 
 #define CONFIG_TABLET_MODE
 #define CONFIG_TABLET_MODE_SWITCH
diff --git a/board/rainier/board.h b/board/rainier/board.h
index 3827f97ea6..fe633e12b3 100644
--- a/board/rainier/board.h
+++ b/board/rainier/board.h
@@ -77,9 +77,12 @@
 #define CONFIG_TABLET_MODE
 #define CONFIG_TABLET_MODE_SWITCH
 
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
 /* FIFO size is in power of 2. */
-#define CONFIG_ACCEL_FIFO 256
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO_SIZE 256
+/* Depends on how fast the AP boots and typical ODRs. */
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 
 /* Sensors without hardware FIFO are in forced mode. */
 #define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_BARO)
diff --git a/board/rammus/board.h b/board/rammus/board.h
index da73f7acd4..1a8944e1ef 100644
--- a/board/rammus/board.h
+++ b/board/rammus/board.h
@@ -122,11 +122,12 @@
 
 #undef CONFIG_SENSOR_TIGHT_TIMESTAMPS
 
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
 /* FIFO size is in power of 2. */
-#define CONFIG_ACCEL_FIFO 512
-
+#define CONFIG_ACCEL_FIFO_SIZE 512
 /* Depends on how fast the AP boots and typical ODRs */
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 
 #undef  CONFIG_UART_TX_BUF_SIZE
 #define CONFIG_UART_TX_BUF_SIZE 2048
diff --git a/board/reef/board.h b/board/reef/board.h
index d3493e347f..72f2818a23 100644
--- a/board/reef/board.h
+++ b/board/reef/board.h
@@ -206,11 +206,12 @@
 #define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
 #define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
 
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
 /* FIFO size is in power of 2. */
-#define CONFIG_ACCEL_FIFO 512
-
+#define CONFIG_ACCEL_FIFO_SIZE 512
 /* Depends on how fast the AP boots and typical ODRs */
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 
 
 #ifndef __ASSEMBLER__
diff --git a/board/reef_mchp/board.h b/board/reef_mchp/board.h
index 3befb5bf05..348375e8da 100644
--- a/board/reef_mchp/board.h
+++ b/board/reef_mchp/board.h
@@ -213,11 +213,12 @@
 #define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
 #define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
 
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
 /* FIFO size is in power of 2. */
-#define CONFIG_ACCEL_FIFO 1024
-
+#define CONFIG_ACCEL_FIFO_SIZE 1024
 /* Depends on how fast the AP boots and typical ODRs */
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 
 
 #ifndef __ASSEMBLER__
diff --git a/board/scarlet/board.h b/board/scarlet/board.h
index 5187ac4eb8..901514f29f 100644
--- a/board/scarlet/board.h
+++ b/board/scarlet/board.h
@@ -99,8 +99,11 @@
 #define CONFIG_TABLET_MODE
 #define CONFIG_TABLET_MODE_SWITCH
 
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
 /* FIFO size is in power of 2. */
-#define CONFIG_ACCEL_FIFO 256
+#define CONFIG_ACCEL_FIFO_SIZE 256
+/* Depends on how fast the AP boots and typical ODRs. */
 #define CONFIG_ACCEL_FIFO_THRES 10
 
 /* USB PD config */
diff --git a/common/motion_sense.c b/common/motion_sense.c
index 424da27011..650f2a7617 100644
--- a/common/motion_sense.c
+++ b/common/motion_sense.c
@@ -632,68 +632,68 @@ static int motion_sense_process(struct motion_sensor_t *sensor,
 		ret = sensor->drv->irq_handler(sensor, event);
 	}
 #endif
-#ifdef CONFIG_ACCEL_FIFO
-	if (motion_sensor_in_forced_mode(sensor)) {
-		if (motion_sensor_time_to_read(ts, sensor)) {
-			struct ec_response_motion_sensor_data vector;
-			int *v = sensor->raw_xyz;
-
-			ret = motion_sense_read(sensor);
-			if (ret == EC_SUCCESS) {
-				vector.flags = 0;
-				vector.sensor_num = sensor - motion_sensors;
-#ifdef CONFIG_ACCEL_SPOOF_MODE
-				if (sensor->flags &
-				    MOTIONSENSE_FLAG_IN_SPOOF_MODE)
-					v = sensor->spoof_xyz;
-#endif /* defined(CONFIG_ACCEL_SPOOF_MODE) */
-				vector.data[X] = v[X];
-				vector.data[Y] = v[Y];
-				vector.data[Z] = v[Z];
-				motion_sense_fifo_stage_data(
-					&vector, sensor, 3,
-					__hw_clock_source_read());
-				motion_sense_fifo_commit_data();
+	if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
+		if (motion_sensor_in_forced_mode(sensor)) {
+			if (motion_sensor_time_to_read(ts, sensor)) {
+				struct ec_response_motion_sensor_data vector;
+				int *v = sensor->raw_xyz;
+
+				ret = motion_sense_read(sensor);
+				if (ret == EC_SUCCESS) {
+					vector.flags = 0;
+					vector.sensor_num = sensor -
+						motion_sensors;
+					if (IS_ENABLED(CONFIG_ACCEL_SPOOF_MODE)
+					    && sensor->flags &
+					    MOTIONSENSE_FLAG_IN_SPOOF_MODE)
+						v = sensor->spoof_xyz;
+					vector.data[X] = v[X];
+					vector.data[Y] = v[Y];
+					vector.data[Z] = v[Z];
+					motion_sense_fifo_stage_data(
+						&vector, sensor, 3,
+						__hw_clock_source_read());
+					motion_sense_fifo_commit_data();
+				}
+				increment_sensor_collection(sensor, ts);
+			} else {
+				ret = EC_ERROR_BUSY;
 			}
-			increment_sensor_collection(sensor, ts);
-		} else {
-			ret = EC_ERROR_BUSY;
 		}
-	}
-	if (*event & TASK_EVENT_MOTION_FLUSH_PENDING) {
-		int flush_pending = atomic_read_clear(&sensor->flush_pending);
+		if (*event & TASK_EVENT_MOTION_FLUSH_PENDING) {
+			int flush_pending = atomic_read_clear(
+				&sensor->flush_pending);
 
-		for (; flush_pending > 0; flush_pending--) {
-			motion_sense_insert_async_event(sensor,
-				ASYNC_EVENT_FLUSH);
-		}
-	}
-#else
-	if (motion_sensor_in_forced_mode(sensor)) {
-		if (motion_sensor_time_to_read(ts, sensor)) {
-			/* Get latest data for local calculation */
-			ret = motion_sense_read(sensor);
-			increment_sensor_collection(sensor, ts);
-		} else {
-			ret = EC_ERROR_BUSY;
+			for (; flush_pending > 0; flush_pending--) {
+				motion_sense_insert_async_event(sensor,
+					ASYNC_EVENT_FLUSH);
+			}
 		}
-		if (ret == EC_SUCCESS) {
-			mutex_lock(&g_sensor_mutex);
-			memcpy(sensor->xyz, sensor->raw_xyz,
-			       sizeof(sensor->xyz));
-			mutex_unlock(&g_sensor_mutex);
+	} else {
+		if (motion_sensor_in_forced_mode(sensor)) {
+			if (motion_sensor_time_to_read(ts, sensor)) {
+				/* Get latest data for local calculation */
+				ret = motion_sense_read(sensor);
+				increment_sensor_collection(sensor, ts);
+			} else {
+				ret = EC_ERROR_BUSY;
+			}
+			if (ret == EC_SUCCESS) {
+				mutex_lock(&g_sensor_mutex);
+				memcpy(sensor->xyz, sensor->raw_xyz,
+				       sizeof(sensor->xyz));
+				mutex_unlock(&g_sensor_mutex);
+			}
 		}
 	}
-#endif
 
 	/* ODR change was requested. */
 	if (is_odr_pending) {
 		motion_sense_set_data_rate(sensor);
 		motion_sense_set_motion_intervals();
-#ifdef CONFIG_ACCEL_FIFO
-		motion_sense_insert_async_event(sensor,
-				ASYNC_EVENT_ODR);
-#endif
+		if (IS_ENABLED(CONFIG_ACCEL_FIFO))
+			motion_sense_insert_async_event(
+				sensor, ASYNC_EVENT_ODR);
 	}
 	return ret;
 }
@@ -831,9 +831,7 @@ void motion_sense_task(void *u)
 	const uint16_t lid_angle_sensors = (BIT(CONFIG_LID_ANGLE_SENSOR_BASE)|
 					    BIT(CONFIG_LID_ANGLE_SENSOR_LID));
 #endif
-#ifdef CONFIG_ACCEL_FIFO
 	timestamp_t ts_last_int;
-#endif
 #ifdef CONFIG_MOTION_FILL_LPC_SENSE_DATA
 	int sample_id = 0;
 	uint8_t *lpc_status;
@@ -842,9 +840,9 @@ void motion_sense_task(void *u)
 	set_present(lpc_status);
 #endif
 
-#ifdef CONFIG_ACCEL_FIFO
-	ts_last_int = get_time();
-#endif
+	if (IS_ENABLED(CONFIG_ACCEL_FIFO))
+		ts_last_int = get_time();
+
 	while (1) {
 		ts_begin_task = get_time();
 		ready_status = 0;
@@ -897,20 +895,19 @@ void motion_sense_task(void *u)
 		update_sense_data(lpc_status, &sample_id);
 #endif
 
-#ifdef CONFIG_ACCEL_FIFO
 		/*
 		 * Ask the host to flush the queue if
 		 * - a flush event has been queued.
 		 * - the queue is almost full,
 		 * - we haven't done it for a while.
 		 */
-		if (wake_up_needed ||
-		    event & (TASK_EVENT_MOTION_ODR_CHANGE |
-			     TASK_EVENT_MOTION_FLUSH_PENDING) ||
-		    queue_space(&motion_sense_fifo) < CONFIG_ACCEL_FIFO_THRES ||
-		    (ap_event_interval > 0 &&
-		     time_after(ts_begin_task.le.lo,
-				ts_last_int.le.lo + ap_event_interval))) {
+		if (IS_ENABLED(CONFIG_ACCEL_FIFO) &&
+		    (motion_sense_fifo_is_wake_up_needed() ||
+		     event & (TASK_EVENT_MOTION_ODR_CHANGE |
+			      TASK_EVENT_MOTION_FLUSH_PENDING) ||
+		     (ap_event_interval > 0 &&
+		      time_after(ts_begin_task.le.lo,
+				 ts_last_int.le.lo + ap_event_interval)))) {
 			if ((event & TASK_EVENT_MOTION_FLUSH_PENDING) == 0) {
 				motion_sense_fifo_stage_timestamp(
 					__hw_clock_source_read());
@@ -937,9 +934,8 @@ void motion_sense_task(void *u)
 				mkbp_send_event(EC_MKBP_EVENT_SENSOR_FIFO);
 				wake_up_needed = 0;
 			}
-#endif
+#endif /* CONFIG_MKBP_EVENT */
 		}
-#endif
 
 		ts_end_task = get_time();
 		wait_us = -1;
@@ -1248,8 +1244,9 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
 		args->response_size = sizeof(out->perform_calib);
 		break;
 
-#ifdef CONFIG_ACCEL_FIFO
 	case MOTIONSENSE_CMD_FIFO_FLUSH:
+		if (!IS_ENABLED(CONFIG_ACCEL_FIFO))
+			return EC_RES_INVALID_PARAM;
 		sensor = host_sensor_id_to_real_sensor(
 				in->sensor_odr.sensor_num);
 		if (sensor == NULL)
@@ -1261,6 +1258,15 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
 			       TASK_EVENT_MOTION_FLUSH_PENDING, 0);
 		/* pass-through */
 	case MOTIONSENSE_CMD_FIFO_INFO:
+		if (!IS_ENABLED(CONFIG_ACCEL_FIFO)) {
+			/*
+			 * Only support the INFO command, to tell there is no
+			 * FIFO.
+			 */
+			memset(&out->fifo_info, 0, sizeof(out->fifo_info));
+			args->response_size = sizeof(out->fifo_info);
+			break;
+		}
 		motion_sense_get_fifo_info(&out->fifo_info);
 		for (i = 0; i < motion_sensor_count; i++) {
 			out->fifo_info.lost[i] = motion_sensors[i].lost;
@@ -1272,6 +1278,8 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
 		break;
 
 	case MOTIONSENSE_CMD_FIFO_READ:
+		if (!IS_ENABLED(CONFIG_ACCEL_FIFO))
+			return EC_RES_INVALID_PARAM;
 		mutex_lock(&g_sensor_mutex);
 		reported = MIN((args->response_max - sizeof(out->fifo_read)) /
 			       motion_sense_fifo.unit_bytes,
@@ -1285,6 +1293,8 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
 			motion_sense_fifo.unit_bytes;
 		break;
 	case MOTIONSENSE_CMD_FIFO_INT_ENABLE:
+		if (!IS_ENABLED(CONFIG_ACCEL_FIFO))
+			return EC_RES_INVALID_PARAM;
 		switch (in->fifo_int_enable.enable) {
 		case 0:
 		case 1:
@@ -1298,13 +1308,6 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
 			return EC_RES_INVALID_PARAM;
 		}
 		break;
-#else
-	case MOTIONSENSE_CMD_FIFO_INFO:
-		/* Only support the INFO command, to tell there is no FIFO. */
-		memset(&out->fifo_info, 0, sizeof(out->fifo_info));
-		args->response_size = sizeof(out->fifo_info);
-		break;
-#endif
 #ifdef CONFIG_GESTURE_HOST_DETECTION
 	case MOTIONSENSE_CMD_LIST_ACTIVITIES: {
 		uint32_t enabled, disabled, mask, i;
diff --git a/common/motion_sense_fifo.c b/common/motion_sense_fifo.c
index 00c2f5a8cc..ec4c63b6de 100644
--- a/common/motion_sense_fifo.c
+++ b/common/motion_sense_fifo.c
@@ -26,7 +26,7 @@ int fifo_queue_count;
 int fifo_int_enabled;
 
 struct queue motion_sense_fifo = QUEUE_NULL(
-	CONFIG_ACCEL_FIFO, struct ec_response_motion_sensor_data);
+	CONFIG_ACCEL_FIFO_SIZE, struct ec_response_motion_sensor_data);
 int motion_sense_fifo_lost;
 
 /**
@@ -401,3 +401,8 @@ static int motion_sense_get_next_event(uint8_t *out)
 
 DECLARE_EVENT_SOURCE(EC_MKBP_EVENT_SENSOR_FIFO, motion_sense_get_next_event);
 
+inline int motion_sense_fifo_is_wake_up_needed(void)
+{
+	return queue_space(&motion_sense_fifo) < CONFIG_ACCEL_FIFO_THRES ||
+		wake_up_needed;
+}
diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c
index 6408bfcc79..aa4eaf13c7 100644
--- a/driver/accelgyro_bmi160.c
+++ b/driver/accelgyro_bmi160.c
@@ -27,9 +27,7 @@
 #define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args)
 #define CPRINTS(format, args...) cprints(CC_ACCEL, format, ## args)
 
-#ifdef CONFIG_ACCEL_FIFO
-static volatile uint32_t last_interrupt_timestamp;
-#endif
+STATIC_IF(CONFIG_ACCEL_FIFO) volatile uint32_t last_interrupt_timestamp;
 
 /*
  * Struct for pairing an engineering value with the register value for a
@@ -304,7 +302,6 @@ int bmi160_sec_raw_write8(const int port,
 }
 #endif
 
-#ifdef CONFIG_ACCEL_FIFO
 static int enable_fifo(const struct motion_sensor_t *s, int enable)
 {
 	struct bmi160_drv_data_t *data = BMI160_GET_DATA(s);
@@ -333,7 +330,6 @@ static int enable_fifo(const struct motion_sensor_t *s, int enable)
 	}
 	return ret;
 }
-#endif
 
 static int set_range(const struct motion_sensor_t *s,
 				int range,
@@ -386,10 +382,10 @@ static int set_data_rate(const struct motion_sensor_t *s,
 #endif
 
 	if (rate == 0) {
-#ifdef CONFIG_ACCEL_FIFO
 		/* FIFO stop collecting events */
-		enable_fifo(s, 0);
-#endif
+		if (IS_ENABLED(CONFIG_ACCEL_FIFO))
+			enable_fifo(s, 0);
+
 		/* go to suspend mode */
 		ret = raw_write8(s->port, s->i2c_spi_addr_flags,
 				 BMI160_CMD_REG,
@@ -473,13 +469,12 @@ static int set_data_rate(const struct motion_sensor_t *s,
 	}
 #endif
 
-#ifdef CONFIG_ACCEL_FIFO
 	/*
 	 * FIFO start collecting events.
 	 * They will be discarded if AP does not want them.
 	 */
-	enable_fifo(s, 1);
-#endif
+	if (IS_ENABLED(CONFIG_ACCEL_FIFO))
+		enable_fifo(s, 1);
 
 accel_cleanup:
 	mutex_unlock(s->mutex);
@@ -825,7 +820,6 @@ int list_activities(const struct motion_sensor_t *s,
 
 #ifdef CONFIG_ACCEL_INTERRUPTS
 
-#ifdef CONFIG_ACCEL_FIFO
 enum fifo_state {
 	FIFO_HEADER,
 	FIFO_DATA_SKIP,
@@ -873,10 +867,9 @@ static int bmi160_decode_header(struct motion_sensor_t *accel,
 				int *v = s->raw_xyz;
 				vector.flags = 0;
 				normalize(s, v, *bp);
-#ifdef CONFIG_ACCEL_SPOOF_MODE
-				if (s->flags & MOTIONSENSE_FLAG_IN_SPOOF_MODE)
+				if (IS_ENABLED(CONFIG_ACCEL_SPOOF_MODE) &&
+				    s->flags & MOTIONSENSE_FLAG_IN_SPOOF_MODE)
 					v = s->spoof_xyz;
-#endif  /* defined(CONFIG_ACCEL_SPOOF_MODE) */
 				vector.data[X] = v[X];
 				vector.data[Y] = v[Y];
 				vector.data[Z] = v[Z];
@@ -1037,7 +1030,6 @@ static int load_fifo(struct motion_sensor_t *s, uint32_t last_ts)
 	motion_sense_fifo_commit_data();
 	return EC_SUCCESS;
 }
-#endif  /* CONFIG_ACCEL_FIFO */
 
 /**
  * bmi160_interrupt - called when the sensor activates the interrupt line.
@@ -1047,9 +1039,9 @@ static int load_fifo(struct motion_sensor_t *s, uint32_t last_ts)
  */
 void bmi160_interrupt(enum gpio_signal signal)
 {
-#ifdef CONFIG_ACCEL_FIFO
-	last_interrupt_timestamp = __hw_clock_source_read();
-#endif
+	if (IS_ENABLED(CONFIG_ACCEL_FIFO))
+		last_interrupt_timestamp = __hw_clock_source_read();
+
 	task_set_event(TASK_ID_MOTIONSENSE,
 		       CONFIG_ACCELGYRO_BMI160_INT_EVENT, 0);
 }
@@ -1119,34 +1111,37 @@ static int config_interrupt(const struct motion_sensor_t *s)
 	ret = raw_write8(s->port, s->i2c_spi_addr_flags,
 			 BMI160_INT_MAP_REG(1), tmp);
 
-#ifdef CONFIG_ACCEL_FIFO
-	/* map fifo water mark to int 1 */
-	ret = raw_write8(s->port, s->i2c_spi_addr_flags,
-			 BMI160_INT_FIFO_MAP,
-			 BMI160_INT_MAP(1, FWM) |
-			 BMI160_INT_MAP(1, FFULL));
+	if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
+		/* map fifo water mark to int 1 */
+		ret = raw_write8(s->port, s->i2c_spi_addr_flags,
+				 BMI160_INT_FIFO_MAP,
+				 BMI160_INT_MAP(1, FWM) |
+				 BMI160_INT_MAP(1, FFULL));
 
-	/* configure fifo watermark to int whenever there's any data in there */
-	ret = raw_write8(s->port, s->i2c_spi_addr_flags,
-			 BMI160_FIFO_CONFIG_0, 1);
+		/*
+		 * Configure fifo watermark to int whenever there's any data in
+		 * there
+		 */
+		ret = raw_write8(s->port, s->i2c_spi_addr_flags,
+				 BMI160_FIFO_CONFIG_0, 1);
 #ifdef CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT
-	ret = raw_write8(s->port, s->i2c_spi_addr_flags,
-			 BMI160_FIFO_CONFIG_1,
-			 BMI160_FIFO_HEADER_EN);
+		ret = raw_write8(s->port, s->i2c_spi_addr_flags,
+				 BMI160_FIFO_CONFIG_1,
+				 BMI160_FIFO_HEADER_EN);
 #else
-	ret = raw_write8(s->port, s->i2c_spi_addr_flags,
-			 BMI160_FIFO_CONFIG_1,
-			 BMI160_FIFO_TAG_INT2_EN |
-			 BMI160_FIFO_HEADER_EN);
+		ret = raw_write8(s->port, s->i2c_spi_addr_flags,
+				 BMI160_FIFO_CONFIG_1,
+				 BMI160_FIFO_TAG_INT2_EN |
+				 BMI160_FIFO_HEADER_EN);
 #endif
 
-	/* Set fifo*/
-	ret = raw_read8(s->port, s->i2c_spi_addr_flags,
-			BMI160_INT_EN_1, &tmp);
-	tmp |= BMI160_INT_FWM_EN | BMI160_INT_FFUL_EN;
-	ret = raw_write8(s->port, s->i2c_spi_addr_flags,
-			 BMI160_INT_EN_1, tmp);
-#endif
+		/* Set fifo*/
+		ret = raw_read8(s->port, s->i2c_spi_addr_flags,
+				BMI160_INT_EN_1, &tmp);
+		tmp |= BMI160_INT_FWM_EN | BMI160_INT_FFUL_EN;
+		ret = raw_write8(s->port, s->i2c_spi_addr_flags,
+				 BMI160_INT_EN_1, tmp);
+	}
 	mutex_unlock(s->mutex);
 	return ret;
 }
@@ -1222,10 +1217,9 @@ static int irq_handler(struct motion_sensor_t *s, uint32_t *event)
 			*event |= TASK_EVENT_MOTION_ACTIVITY_INTERRUPT(
 					MOTIONSENSE_ACTIVITY_SIG_MOTION);
 #endif
-#ifdef CONFIG_ACCEL_FIFO
-		if (interrupt & (BMI160_FWM_INT | BMI160_FFULL_INT))
+		if (IS_ENABLED(CONFIG_ACCEL_FIFO) &&
+		    interrupt & (BMI160_FWM_INT | BMI160_FFULL_INT))
 			load_fifo(s, last_interrupt_timestamp);
-#endif
 #ifdef CONFIG_BMI160_ORIENTATION_SENSOR
 		irq_set_orientation(s, interrupt);
 #endif
diff --git a/driver/accelgyro_lsm6dsm.c b/driver/accelgyro_lsm6dsm.c
index 1a098f3b1e..4fc8591ee1 100644
--- a/driver/accelgyro_lsm6dsm.c
+++ b/driver/accelgyro_lsm6dsm.c
@@ -26,7 +26,6 @@
 
 #define IS_FSTS_EMPTY(s) ((s).len & LSM6DSM_FIFO_EMPTY)
 
-#ifdef CONFIG_ACCEL_FIFO
 static volatile uint32_t last_interrupt_timestamp;
 
 /**
@@ -83,8 +82,6 @@ static inline uint8_t get_sensor_type(enum dev_fifo fifo_type)
 	return map[fifo_type];
 }
 
-#endif
-
 /**
  * @return output base register for sensor
  */
@@ -112,23 +109,22 @@ static int config_interrupt(const struct motion_sensor_t *accel)
 	if (ret != EC_SUCCESS)
 		return ret;
 
-#ifdef CONFIG_ACCEL_FIFO
-	/* As soon as one sample is ready, trigger an interrupt. */
-	ret = st_raw_write8(accel->port, accel->i2c_spi_addr_flags,
-			    LSM6DSM_FIFO_CTRL1_ADDR,
-			    OUT_XYZ_SIZE / sizeof(uint16_t));
-	if (ret != EC_SUCCESS)
-		return ret;
-	int1_ctrl_val |= LSM6DSM_INT_FIFO_TH | LSM6DSM_INT_FIFO_OVR |
-		LSM6DSM_INT_FIFO_FULL;
-#endif /* CONFIG_ACCEL_FIFO */
+	if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
+		/* As soon as one sample is ready, trigger an interrupt. */
+		ret = st_raw_write8(accel->port, accel->i2c_spi_addr_flags,
+				    LSM6DSM_FIFO_CTRL1_ADDR,
+				    OUT_XYZ_SIZE / sizeof(uint16_t));
+		if (ret != EC_SUCCESS)
+			return ret;
+		int1_ctrl_val |= LSM6DSM_INT_FIFO_TH | LSM6DSM_INT_FIFO_OVR |
+			LSM6DSM_INT_FIFO_FULL;
+	}
 
 	return st_raw_write8(accel->port, accel->i2c_spi_addr_flags,
 			     LSM6DSM_INT1_CTRL, int1_ctrl_val);
 }
 
 
-#ifdef CONFIG_ACCEL_FIFO
 /**
  * fifo_disable - set fifo mode
  * @accel: Motion sensor pointer: must be MOTIONSENSE_TYPE_ACCEL.
@@ -437,14 +433,11 @@ static int is_fifo_empty(struct motion_sensor_t *s, struct fstatus *fsts)
 	return IS_FSTS_EMPTY(*fsts);
 }
 
-#endif /* CONFIG_ACCEL_FIFO */
-
 static void handle_interrupt_for_fifo(uint32_t ts)
 {
-#ifdef CONFIG_ACCEL_FIFO
-	if (time_after(ts, last_interrupt_timestamp))
+	if (IS_ENABLED(CONFIG_ACCEL_FIFO) &&
+	    time_after(ts, last_interrupt_timestamp))
 		last_interrupt_timestamp = ts;
-#endif
 	task_set_event(TASK_ID_MOTIONSENSE,
 		       CONFIG_ACCEL_LSM6DSM_INT_EVENT, 0);
 }
@@ -468,8 +461,7 @@ static int irq_handler(struct motion_sensor_t *s, uint32_t *event)
 	    (!(*event & CONFIG_ACCEL_LSM6DSM_INT_EVENT)))
 		return EC_ERROR_NOT_HANDLED;
 
-#ifdef CONFIG_ACCEL_FIFO
-	{
+	if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
 		struct fstatus fsts;
 		uint32_t last_fifo_read_ts;
 		uint32_t triggering_interrupt_timestamp =
@@ -498,7 +490,7 @@ static int irq_handler(struct motion_sensor_t *s, uint32_t *event)
 		    triggering_interrupt_timestamp == last_interrupt_timestamp)
 			handle_interrupt_for_fifo(last_fifo_read_ts);
 	}
-#endif
+
 	return ret;
 }
 #endif /* CONFIG_ACCEL_INTERRUPTS */
@@ -576,21 +568,22 @@ static int get_range(const struct motion_sensor_t *s)
 int lsm6dsm_set_data_rate(const struct motion_sensor_t *s, int rate, int rnd)
 {
 	struct stprivate_data *data = s->drv_data;
-#ifdef CONFIG_ACCEL_FIFO
-	const struct motion_sensor_t *accel = LSM6DSM_MAIN_SENSOR(s);
-	struct lsm6dsm_data *private = LSM6DSM_GET_DATA(accel);
-#endif
+	const struct motion_sensor_t *accel = IS_ENABLED(CONFIG_ACCEL_FIFO) ?
+		LSM6DSM_MAIN_SENSOR(s) : NULL;
+	struct lsm6dsm_data *private = IS_ENABLED(CONFIG_ACCEL_FIFO) ?
+		LSM6DSM_GET_DATA(accel) : NULL;
 	int ret = EC_SUCCESS, normalized_rate = 0;
 	uint8_t ctrl_reg, reg_val = 0;
 
-#ifdef CONFIG_ACCEL_FIFO
-	/* FIFO must be disabled before setting any ODR values */
-	ret = fifo_disable(accel);
-	if (ret != EC_SUCCESS) {
-		CPRINTS("Failed to disable FIFO. Error: %d", ret);
-		return ret;
+	if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
+		/* FIFO must be disabled before setting any ODR values */
+		ret = fifo_disable(accel);
+		if (ret != EC_SUCCESS) {
+			CPRINTS("Failed to disable FIFO. Error: %d", ret);
+			return ret;
+		}
 	}
-#endif
+
 	if (rate > 0) {
 		reg_val = LSM6DSM_ODR_TO_REG(rate);
 		normalized_rate = LSM6DSM_REG_TO_ODR(reg_val);
@@ -636,16 +629,17 @@ int lsm6dsm_set_data_rate(const struct motion_sensor_t *s, int rate, int rnd)
 	}
 	if (ret == EC_SUCCESS) {
 		data->base.odr = normalized_rate;
-#ifdef CONFIG_ACCEL_FIFO
-		private->samples_to_discard[s->type] =
-			LSM6DSM_DISCARD_SAMPLES;
-		private->load_fifo_sensor_state[get_fifo_type(s)].sample_rate =
-				normalized_rate == 0 ? 0 : SECOND * 1000 /
-						normalized_rate;
-		ret = fifo_enable(accel);
-		if (ret != EC_SUCCESS)
-			CPRINTS("Failed to enable FIFO. Error: %d", ret);
-#endif
+		if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
+			private->samples_to_discard[s->type] =
+				LSM6DSM_DISCARD_SAMPLES;
+			private->load_fifo_sensor_state[get_fifo_type(s)]
+				.sample_rate = normalized_rate == 0
+					? 0 : SECOND * 1000 / normalized_rate;
+			ret = fifo_enable(accel);
+			if (ret != EC_SUCCESS)
+				CPRINTS("Failed to enable FIFO. Error: %d",
+					ret);
+		}
 	}
 
 	mutex_unlock(s->mutex);
@@ -803,11 +797,11 @@ static int init(const struct motion_sensor_t *s)
 		if (ret != EC_SUCCESS)
 			goto err_unlock;
 
-#ifdef CONFIG_ACCEL_FIFO
-		ret = fifo_disable(s);
-		if (ret != EC_SUCCESS)
-			goto err_unlock;
-#endif /* CONFIG_ACCEL_FIFO */
+		if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
+			ret = fifo_disable(s);
+			if (ret != EC_SUCCESS)
+				goto err_unlock;
+		}
 
 #ifdef CONFIG_ACCEL_INTERRUPTS
 		ret = config_interrupt(s);
diff --git a/driver/accelgyro_lsm6dso.c b/driver/accelgyro_lsm6dso.c
index c9ad09f740..617186872b 100644
--- a/driver/accelgyro_lsm6dso.c
+++ b/driver/accelgyro_lsm6dso.c
@@ -20,9 +20,7 @@
 
 #define CPRINTS(format, args...) cprints(CC_ACCEL, format, ## args)
 
-#ifdef CONFIG_ACCEL_FIFO
-static volatile uint32_t last_interrupt_timestamp;
-#endif /* CONFIG_ACCEL_FIFO */
+STATIC_IF(CONFIG_ACCEL_FIFO) volatile uint32_t last_interrupt_timestamp;
 
 /*
  * When ODR change, the sensor filters need settling time;
@@ -51,12 +49,13 @@ static inline int get_xyz_reg(enum motionsensor_type type)
 static int config_interrupt(const struct motion_sensor_t *s)
 {
 	int ret = EC_SUCCESS;
-
-#ifdef CONFIG_ACCEL_FIFO
 	int int1_ctrl_val;
 
-	ret = st_raw_read8(s->port, s->i2c_spi_addr_flags,
-			   LSM6DSO_INT1_CTRL, &int1_ctrl_val);
+	if (!IS_ENABLED(CONFIG_ACCEL_FIFO))
+		return ret;
+
+	ret = st_raw_read8(s->port, s->i2c_spi_addr_flags, LSM6DSO_INT1_CTRL,
+			   &int1_ctrl_val);
 	if (ret != EC_SUCCESS)
 		return ret;
 
@@ -64,8 +63,8 @@ static int config_interrupt(const struct motion_sensor_t *s)
 	 * Configure FIFO threshold to 1 sample: interrupt on watermark
 	 * will be generated every time a new data sample will be stored
 	 * in FIFO. The interrupr on watermark is cleared only when the
-	 * number or samples still present in FIFO exceeds the configured
-	 * threshold.
+	 * number or samples still present in FIFO exceeds the
+	 * configured threshold.
 	 */
 	ret = st_raw_write8(s->port, s->i2c_spi_addr_flags,
 			    LSM6DSO_FIFO_CTRL1_ADDR, 1);
@@ -75,14 +74,12 @@ static int config_interrupt(const struct motion_sensor_t *s)
 	int1_ctrl_val |= LSM6DSO_INT_FIFO_TH | LSM6DSO_INT_FIFO_OVR |
 		LSM6DSO_INT_FIFO_FULL;
 
-	ret = st_raw_write8(s->port, s->i2c_spi_addr_flags,
-			    LSM6DSO_INT1_CTRL, int1_ctrl_val);
-#endif /* CONFIG_ACCEL_FIFO */
+	ret = st_raw_write8(s->port, s->i2c_spi_addr_flags, LSM6DSO_INT1_CTRL,
+			    int1_ctrl_val);
 
 	return ret;
 }
 
-#ifdef CONFIG_ACCEL_FIFO
 /**
  * fifo_disable - set fifo mode to LSM6DSO_FIFO_MODE_BYPASS_VAL
  * @s: Motion sensor pointer: must be MOTIONSENSE_TYPE_ACCEL.
@@ -217,16 +214,14 @@ static int accelgyro_config_fifo(const struct motion_sensor_t *s)
 
 	return fifo_enable(s);
 }
-#endif /* CONFIG_ACCEL_FIFO */
 
 /**
  * lsm6dso_interrupt - interrupt from int1 pin of sensor
  */
 void lsm6dso_interrupt(enum gpio_signal signal)
 {
-#ifdef CONFIG_ACCEL_FIFO
-	last_interrupt_timestamp = __hw_clock_source_read();
-#endif /* CONFIG_ACCEL_FIFO */
+	if (IS_ENABLED(CONFIG_ACCEL_FIFO))
+		last_interrupt_timestamp = __hw_clock_source_read();
 
 	task_set_event(TASK_ID_MOTIONSENSE,
 		       CONFIG_ACCEL_LSM6DSO_INT_EVENT, 0);
@@ -245,21 +240,20 @@ static int irq_handler(struct motion_sensor_t *s, uint32_t *event)
 	    (!(*event & CONFIG_ACCEL_LSM6DSO_INT_EVENT)))
 		return EC_ERROR_NOT_HANDLED;
 
-#ifdef CONFIG_ACCEL_FIFO
-	/* Read how many data patterns on FIFO to read. */
-	ret = st_raw_read_n_noinc(s->port, s->i2c_spi_addr_flags,
-				  LSM6DSO_FIFO_STS1_ADDR,
-				  (uint8_t *)&fsts, sizeof(fsts));
-	if (ret != EC_SUCCESS)
-		return ret;
+	if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
+		/* Read how many data patterns on FIFO to read. */
+		ret = st_raw_read_n_noinc(s->port, s->i2c_spi_addr_flags,
+					  LSM6DSO_FIFO_STS1_ADDR,
+					  (uint8_t *)&fsts, sizeof(fsts));
+		if (ret != EC_SUCCESS)
+			return ret;
 
-	if (fsts.len & (LSM6DSO_FIFO_DATA_OVR | LSM6DSO_FIFO_FULL)) {
-		CPRINTS("%s FIFO Overrun: %04x", s->name, fsts.len);
-	}
+		if (fsts.len & (LSM6DSO_FIFO_DATA_OVR | LSM6DSO_FIFO_FULL))
+			CPRINTS("%s FIFO Overrun: %04x", s->name, fsts.len);
 
-	if (fsts.len & LSM6DSO_FIFO_DIFF_MASK)
-		ret = load_fifo(s, &fsts, last_interrupt_timestamp);
-#endif /* CONFIG_ACCEL_FIFO */
+		if (fsts.len & LSM6DSO_FIFO_DIFF_MASK)
+			ret = load_fifo(s, &fsts, last_interrupt_timestamp);
+	}
 
 	return ret;
 }
@@ -355,9 +349,8 @@ static int set_data_rate(const struct motion_sensor_t *s, int rate, int rnd)
 	ret = st_write_data_with_mask(s, ctrl_reg, LSM6DSO_ODR_MASK, reg_val);
 	if (ret == EC_SUCCESS) {
 		data->base.odr = normalized_rate;
-#ifdef CONFIG_ACCEL_FIFO
-		accelgyro_config_fifo(s);
-#endif /* CONFIG_ACCEL_FIFO */
+		if (IS_ENABLED(CONFIG_ACCEL_FIFO))
+			accelgyro_config_fifo(s);
 	}
 
 	mutex_unlock(s->mutex);
@@ -465,11 +458,11 @@ static int init(const struct motion_sensor_t *s)
 		if (ret != EC_SUCCESS)
 			goto err_unlock;
 
-#ifdef CONFIG_ACCEL_FIFO
-		ret = fifo_disable(s);
-		if (ret != EC_SUCCESS)
-			goto err_unlock;
-#endif /* CONFIG_ACCEL_FIFO */
+		if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
+			ret = fifo_disable(s);
+			if (ret != EC_SUCCESS)
+				goto err_unlock;
+		}
 
 #ifdef CONFIG_ACCEL_INTERRUPTS
 		ret = config_interrupt(s);
diff --git a/driver/als_si114x.c b/driver/als_si114x.c
index 4db3fcc9d7..35405bbea7 100644
--- a/driver/als_si114x.c
+++ b/driver/als_si114x.c
@@ -93,9 +93,6 @@ static int si114x_read_results(struct motion_sensor_t *s, int nb)
 	int i, ret, val;
 	struct si114x_drv_data_t *data = SI114X_GET_DATA(s);
 	struct si114x_typed_data_t *type_data = SI114X_GET_TYPED_DATA(s);
-#ifdef CONFIG_ACCEL_FIFO
-	struct ec_response_motion_sensor_data vector;
-#endif
 
 	/* Read ALX result */
 	for (i = 0; i < nb; i++) {
@@ -147,23 +144,24 @@ static int si114x_read_results(struct motion_sensor_t *s, int nb)
 	if (i == nb)
 		return EC_ERROR_UNCHANGED;
 
-#ifdef CONFIG_ACCEL_FIFO
-	vector.flags = 0;
-	for (i = 0; i < nb; i++)
-		vector.data[i] = s->raw_xyz[i];
-	for (i = nb; i < 3; i++)
-		vector.data[i] = 0;
-	vector.sensor_num = s - motion_sensors;
-	motion_sense_fifo_stage_data(&vector, s, nb,
-				   __hw_clock_source_read());
-	motion_sense_fifo_commit_data();
-	/*
-	 * TODO: get time at a more accurate spot.
-	 * Like in si114x_interrupt
-	 */
-#else
-	/* We need to copy raw_xyz into xyz with mutex */
-#endif
+	if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
+		struct ec_response_motion_sensor_data vector;
+
+		vector.flags = 0;
+		for (i = 0; i < nb; i++)
+			vector.data[i] = s->raw_xyz[i];
+		for (i = nb; i < 3; i++)
+			vector.data[i] = 0;
+		vector.sensor_num = s - motion_sensors;
+		motion_sense_fifo_stage_data(&vector, s, nb,
+					     __hw_clock_source_read());
+		motion_sense_fifo_commit_data();
+		/*
+		 * TODO: get time at a more accurate spot.
+		 * Like in si114x_interrupt
+		 */
+	}
+	/* Otherwise, we need to copy raw_xyz into xyz with mutex */
 	return EC_SUCCESS;
 }
 
diff --git a/driver/als_tcs3400.c b/driver/als_tcs3400.c
index 774efd863c..7e867a606d 100644
--- a/driver/als_tcs3400.c
+++ b/driver/als_tcs3400.c
@@ -18,9 +18,7 @@
 
 #define CPRINTS(fmt, args...) cprints(CC_ACCEL, "%s "fmt, __func__, ## args)
 
-#ifdef CONFIG_ACCEL_FIFO
-static volatile uint32_t last_interrupt_timestamp;
-#endif
+STATIC_IF(CONFIG_ACCEL_FIFO) volatile uint32_t last_interrupt_timestamp;
 
 #ifdef CONFIG_TCS_USE_LUX_TABLE
 /*
@@ -423,10 +421,10 @@ static int tcs3400_post_events(struct motion_sensor_t *s, uint32_t last_ts)
 		}
 #endif /* CONFIG_ACCEL_SPOOF_MODE */
 
-#ifdef CONFIG_ACCEL_FIFO
-		vector.sensor_num = s - motion_sensors;
-		motion_sense_fifo_stage_data(&vector, s, 3, last_ts);
-#endif
+		if (IS_ENABLED(CONFIG_ACCEL_FIFO)) {
+			vector.sensor_num = s - motion_sensors;
+			motion_sense_fifo_stage_data(&vector, s, 3, last_ts);
+		}
 	}
 
 	/*
@@ -476,9 +474,9 @@ static int tcs3400_post_events(struct motion_sensor_t *s, uint32_t last_ts)
 
 void tcs3400_interrupt(enum gpio_signal signal)
 {
-#ifdef CONFIG_ACCEL_FIFO
-	last_interrupt_timestamp = __hw_clock_source_read();
-#endif
+	if (IS_ENABLED(CONFIG_ACCEL_FIFO))
+		last_interrupt_timestamp = __hw_clock_source_read();
+
 	task_set_event(TASK_ID_MOTIONSENSE,
 		       CONFIG_ALS_TCS3400_INT_EVENT, 0);
 }
diff --git a/include/config.h b/include/config.h
index a31ba2ba81..ff91073ea5 100644
--- a/include/config.h
+++ b/include/config.h
@@ -44,12 +44,12 @@
  * BOARD_*, CHIP_*, and CHIP_FAMILY_*.
  */
 
-/*
- * Add support for sensor FIFO:
- * define the size of the global fifo, must be a power of 2.
- */
+/* Add support for sensor FIFO */
 #undef CONFIG_ACCEL_FIFO
 
+/* Define the size of the global fifo, must be a power of 2. */
+#undef CONFIG_ACCEL_FIFO_SIZE
+
 /* The amount of free entries that trigger an interrupt to the AP. */
 #undef CONFIG_ACCEL_FIFO_THRES
 
@@ -4880,5 +4880,10 @@
 
 #endif
 
+#ifdef CONFIG_ACCEL_FIFO
+#if !defined(CONFIG_ACCEL_FIFO_SIZE) || !defined(CONFIG_ACCEL_FIFO_THRES)
+#error "Using CONFIG_ACCEL_FIFO, must define _SIZE and _THRES"
+#endif
+#endif /* CONFIG_ACCEL_FIFO */
 
 #endif  /* __CROS_EC_CONFIG_H */
diff --git a/include/motion_sense.h b/include/motion_sense.h
index b0e5244e3b..8e0ade7492 100644
--- a/include/motion_sense.h
+++ b/include/motion_sense.h
@@ -76,7 +76,7 @@ enum sensor_config {
 #define BASE_RANGE(_range) ((_range) & ~ROUND_UP_FLAG)
 
 #ifdef CONFIG_ACCEL_FIFO
-#define MAX_FIFO_EVENT_COUNT CONFIG_ACCEL_FIFO
+#define MAX_FIFO_EVENT_COUNT CONFIG_ACCEL_FIFO_SIZE
 #else
 #define MAX_FIFO_EVENT_COUNT 0
 #endif
diff --git a/include/motion_sense_fifo.h b/include/motion_sense_fifo.h
index f0d5f853dd..6b306b5f29 100644
--- a/include/motion_sense_fifo.h
+++ b/include/motion_sense_fifo.h
@@ -67,4 +67,11 @@ void motion_sense_fifo_stage_timestamp(uint32_t timestamp);
 void motion_sense_get_fifo_info(
 	struct ec_response_motion_sense_fifo_info *fifo_info);
 
+/**
+ * Checks if either the AP should be woken up due to the fifo.
+ *
+ * @return 1 if the AP should be woken up, 0 otherwise.
+ */
+int motion_sense_fifo_is_wake_up_needed(void);
+
 #endif /* __CROS_EC_MOTION_SENSE_FIFO_H */