driver: lsm6dsm: Integrate LIS2MDL behind LSM6DSM

- Cros set_rate and normalize between LIS2MDL and LSM6DSM
- Remove unused sensor hub function.
- Remove parent field, use macro instead (magnetometer is just after the
gyroscope).

BUG=b:110143516,b:115587004
BRANCH=none
TEST=On meep, check the magnetometer is returning data with shell/python
script.
Check calibration quick in.
Check with AIDA64, compass and sensor app the magnetometer is seen.

Change-Id: I2efef99eda095e33b6a0555b1cbc4ac8fdbfab5d
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/1361992
Reviewed-by: Justin TerAvest <teravest@chromium.org>
Trybot-Ready: Justin TerAvest <teravest@chromium.org>
Tested-by: Justin TerAvest <teravest@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/1719525
Reviewed-by: Edward Hill <ecgh@chromium.org>
Tested-by: Edward Hill <ecgh@chromium.org>
Commit-Queue: Edward Hill <ecgh@chromium.org>

5 files changed, 218 insertions, 186 deletions

diff --git a/board/fleex/board.c b/board/fleex/board.c
index af6dda79bc..095724d7e9 100644
--- a/board/fleex/board.c
+++ b/board/fleex/board.c
@@ -138,8 +138,7 @@ const mat33_fp_t lid_standard_ref = {
 
 /* sensor private data */
 static struct stprivate_data g_lis2dh_data;
-static struct lsm6dsm_data lsm6dsm_g_data;
-static struct lsm6dsm_data lsm6dsm_a_data;
+static struct lsm6dsm_data lsm6dsm_data;
 
 static uint16_t sku_id;
 /* Drivers */
@@ -173,49 +172,51 @@ struct motion_sensor_t motion_sensors[] = {
 	},
 
 	[BASE_ACCEL] = {
-	 .name = "Base Accel",
-	 .active_mask = SENSOR_ACTIVE_S0_S3_S5,
-	 .chip = MOTIONSENSE_CHIP_LSM6DSM,
-	 .type = MOTIONSENSE_TYPE_ACCEL,
-	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &lsm6dsm_drv,
-	 .mutex = &g_base_mutex,
-	 .drv_data = &lsm6dsm_a_data,
-	 .port = I2C_PORT_SENSOR,
-	 .addr = LSM6DSM_ADDR0,
-	 .rot_standard_ref = &base_standard_ref,
-	 .default_range = 4,  /* g */
-	 .min_frequency = LSM6DSM_ODR_MIN_VAL,
-	 .max_frequency = LSM6DSM_ODR_MAX_VAL,
-	 .config = {
-		 /* EC use accel for angle detection */
-		 [SENSOR_CONFIG_EC_S0] = {
-			.odr = 13000 | ROUND_UP_FLAG,
-			.ec_rate = 100 * MSEC,
-		 },
-		 /* Sensor on for angle detection */
-		 [SENSOR_CONFIG_EC_S3] = {
-			.odr = 10000 | ROUND_UP_FLAG,
-			.ec_rate = 100 * MSEC,
-		 },
-	 },
+		.name = "Base Accel",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_LSM6DSM,
+		.type = MOTIONSENSE_TYPE_ACCEL,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &lsm6dsm_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = LSM6DSM_ST_DATA(lsm6dsm_data,
+				MOTIONSENSE_TYPE_ACCEL),
+		.port = I2C_PORT_SENSOR,
+		.addr = LSM6DSM_ADDR0,
+		.rot_standard_ref = &base_standard_ref,
+		.default_range = 4,  /* g */
+		.min_frequency = LSM6DSM_ODR_MIN_VAL,
+		.max_frequency = LSM6DSM_ODR_MAX_VAL,
+		.config = {
+			/* EC use accel for angle detection */
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 13000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
+			/* Sensor on for angle detection */
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
+		},
 	},
 
 	[BASE_GYRO] = {
-	 .name = "Base Gyro",
-	 .active_mask = SENSOR_ACTIVE_S0,
-	 .chip = MOTIONSENSE_CHIP_LSM6DSM,
-	 .type = MOTIONSENSE_TYPE_GYRO,
-	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &lsm6dsm_drv,
-	 .mutex = &g_base_mutex,
-	 .drv_data = &lsm6dsm_g_data,
-	 .port = I2C_PORT_SENSOR,
-	 .addr = LSM6DSM_ADDR0,
-	 .default_range = 1000 | ROUND_UP_FLAG, /* dps */
-	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = LSM6DSM_ODR_MIN_VAL,
-	 .max_frequency = LSM6DSM_ODR_MAX_VAL,
+		.name = "Base Gyro",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_LSM6DSM,
+		.type = MOTIONSENSE_TYPE_GYRO,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &lsm6dsm_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = LSM6DSM_ST_DATA(lsm6dsm_data,
+				MOTIONSENSE_TYPE_GYRO),
+		.port = I2C_PORT_SENSOR,
+		.addr = LSM6DSM_ADDR0,
+		.default_range = 1000 | ROUND_UP_FLAG, /* dps */
+		.rot_standard_ref = &base_standard_ref,
+		.min_frequency = LSM6DSM_ODR_MIN_VAL,
+		.max_frequency = LSM6DSM_ODR_MAX_VAL,
 	},
 };
 
diff --git a/board/meep/board.c b/board/meep/board.c
index b85a3fbe43..1d27b0ed8a 100644
--- a/board/meep/board.c
+++ b/board/meep/board.c
@@ -138,29 +138,33 @@ const mat33_fp_t base_standard_ref = {
 };
 
 /* sensor private data */
-static struct kionix_accel_data g_kx022_data;
-static struct lsm6dsm_data lsm6dsm_g_data;
-static struct lsm6dsm_data lsm6dsm_a_data;
+static struct kionix_accel_data kx022_data;
+static struct lsm6dsm_data lsm6dsm_data;
 
 /* Drivers */
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
-	 .name = "Lid Accel",
-	 .active_mask = SENSOR_ACTIVE_S0_S3,
-	 .chip = MOTIONSENSE_CHIP_KX022,
-	 .type = MOTIONSENSE_TYPE_ACCEL,
-	 .location = MOTIONSENSE_LOC_LID,
-	 .drv = &kionix_accel_drv,
-	 .mutex = &g_lid_mutex,
-	 .drv_data = &g_kx022_data,
-	 .port = I2C_PORT_SENSOR,
-	 .addr = KX022_ADDR1,
-	 .rot_standard_ref = NULL, /* Identity matrix. */
-	 .default_range = 4, /* g */
-	 .config = {
-		/* EC use accel for angle detection */
-		[SENSOR_CONFIG_EC_S0] = {
-			.odr = 10000 | ROUND_UP_FLAG,
+		.name = "Lid Accel",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_KX022,
+		.type = MOTIONSENSE_TYPE_ACCEL,
+		.location = MOTIONSENSE_LOC_LID,
+		.drv = &kionix_accel_drv,
+		.mutex = &g_lid_mutex,
+		.drv_data = &kx022_data,
+		.port = I2C_PORT_SENSOR,
+		.addr = KX022_ADDR1,
+		.rot_standard_ref = &lid_standrd_ref,
+		.default_range = 2, /* g */
+		.config = {
+			/* EC use accel for angle detection */
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+			},
+			/* Sensor on for lid angle detection */
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+			},
 		},
 		 /* Sensor on for lid angle detection */
 		[SENSOR_CONFIG_EC_S3] = {
@@ -170,50 +174,70 @@ struct motion_sensor_t motion_sensors[] = {
 	},
 
 	[BASE_ACCEL] = {
-	 .name = "Base Accel",
-	 .active_mask = SENSOR_ACTIVE_S0_S3_S5,
-	 .chip = MOTIONSENSE_CHIP_LSM6DSM,
-	 .type = MOTIONSENSE_TYPE_ACCEL,
-	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &lsm6dsm_drv,
-	 .mutex = &g_base_mutex,
-	 .drv_data = &lsm6dsm_a_data,
-	 .port = I2C_PORT_SENSOR,
-	 .addr = LSM6DSM_ADDR0,
-	 .rot_standard_ref = &base_standard_ref,
-	 .default_range = 4,  /* g */
-	 .min_frequency = LSM6DSM_ODR_MIN_VAL,
-	 .max_frequency = LSM6DSM_ODR_MAX_VAL,
-	 .config = {
-		 /* EC use accel for angle detection */
-		 [SENSOR_CONFIG_EC_S0] = {
-			.odr = 13000 | ROUND_UP_FLAG,
-			.ec_rate = 100 * MSEC,
-		 },
-		 /* Sensor on for angle detection */
-		 [SENSOR_CONFIG_EC_S3] = {
-			.odr = 10000 | ROUND_UP_FLAG,
-			.ec_rate = 100 * MSEC,
-		 },
-	 },
+		.name = "Base Accel",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_LSM6DSM,
+		.type = MOTIONSENSE_TYPE_ACCEL,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &lsm6dsm_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = LSM6DSM_ST_DATA(lsm6dsm_data,
+				MOTIONSENSE_TYPE_ACCEL),
+		.port = I2C_PORT_SENSOR,
+		.addr = LSM6DSM_ADDR0,
+		.rot_standard_ref = &base_standard_ref,
+		.default_range = 2,  /* g */
+		.min_frequency = LSM6DSM_ODR_MIN_VAL,
+		.max_frequency = LSM6DSM_ODR_MAX_VAL,
+		.config = {
+			/* EC use accel for angle detection */
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 13000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
+			/* Sensor on for angle detection */
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
+		},
 	},
 
 	[BASE_GYRO] = {
-	 .name = "Base Gyro",
-	 .active_mask = SENSOR_ACTIVE_S0,
-	 .chip = MOTIONSENSE_CHIP_LSM6DSM,
-	 .type = MOTIONSENSE_TYPE_GYRO,
-	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &lsm6dsm_drv,
-	 .mutex = &g_base_mutex,
-	 .drv_data = &lsm6dsm_g_data,
-	 .port = I2C_PORT_SENSOR,
-	 .addr = LSM6DSM_ADDR0,
-	 .default_range = 1000 | ROUND_UP_FLAG, /* dps */
-	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = LSM6DSM_ODR_MIN_VAL,
-	 .max_frequency = LSM6DSM_ODR_MAX_VAL,
+		.name = "Base Gyro",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_LSM6DSM,
+		.type = MOTIONSENSE_TYPE_GYRO,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &lsm6dsm_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = LSM6DSM_ST_DATA(lsm6dsm_data,
+				MOTIONSENSE_TYPE_GYRO),
+		.port = I2C_PORT_SENSOR,
+		.addr = LSM6DSM_ADDR0,
+		.default_range = 1000 | ROUND_UP_FLAG, /* dps */
+		.rot_standard_ref = &base_standard_ref,
+		.min_frequency = LSM6DSM_ODR_MIN_VAL,
+		.max_frequency = LSM6DSM_ODR_MAX_VAL,
 	},
+
+	[BASE_MAG] = {
+		.name = "Base Mag",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_LIS2MDL,
+		.type = MOTIONSENSE_TYPE_MAG,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &lis2mdl_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = LSM6DSM_ST_DATA(lsm6dsm_data, MOTIONSENSE_TYPE_MAG),
+		.port = I2C_PORT_SENSOR,
+		.addr = LSM6DSM_ADDR0,
+		.default_range = 1 << 11, /* 16LSB / uT, fixed */
+		.rot_standard_ref = &mag_standard_ref,
+		.min_frequency = LIS2MDL_ODR_MIN_VAL,
+		.max_frequency = LIS2MDL_ODR_MAX_VAL,
+	},
+
 };
 
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/meep/board.h b/board/meep/board.h
index 4bfbed998e..310caab438 100644
--- a/board/meep/board.h
+++ b/board/meep/board.h
@@ -34,12 +34,16 @@
 /* TODO(b/111842131): confirm lid accelerometer matches yorp */
 #define CONFIG_ACCEL_KX022		/* Lid accel */
 #define CONFIG_ACCELGYRO_LSM6DSM	/* Base accel */
+#define CONFIG_MAG_LSM6DSM_LIS2MDL	/* Magnetometer behind base accel */
+#define CONFIG_ACCELGYRO_SEC_ADDR LIS2MDL_ADDR0
+#define CONFIG_SENSORHUB_LSM6DSM
+#define CONFIG_MAG_CALIBRATE
+#define CONFIG_FPU
+
 /* Sensors without hardware FIFO are in forced mode */
 #define CONFIG_ACCEL_FORCE_MODE_MASK (1 << LID_ACCEL)
 
-/* USB PD */
-#undef CONFIG_USB_PD_VBUS_MEASURE_NOT_PRESENT
-#define CONFIG_USB_PD_VBUS_MEASURE_ADC_EACH_PORT
+#define CONFIG_DYNAMIC_MOTION_SENSOR_COUNT
 
 #define CONFIG_LID_ANGLE
 #define CONFIG_LID_ANGLE_UPDATE
diff --git a/board/phaser/board.c b/board/phaser/board.c
index c889f45301..5913b0439f 100644
--- a/board/phaser/board.c
+++ b/board/phaser/board.c
@@ -120,8 +120,7 @@ const mat33_fp_t standard_rot_ref = {
 
 /* sensor private data */
 static struct stprivate_data g_lis2dh_data;
-static struct lsm6dsm_data lsm6dsm_g_data;
-static struct lsm6dsm_data lsm6dsm_a_data;
+static struct lsm6dsm_data lsm6dsm_data;
 
 /* Drivers */
 struct motion_sensor_t motion_sensors[] = {
@@ -154,49 +153,52 @@ struct motion_sensor_t motion_sensors[] = {
 	},
 
 	[BASE_ACCEL] = {
-	 .name = "Base Accel",
-	 .active_mask = SENSOR_ACTIVE_S0_S3,
-	 .chip = MOTIONSENSE_CHIP_LSM6DSM,
-	 .type = MOTIONSENSE_TYPE_ACCEL,
-	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &lsm6dsm_drv,
-	 .mutex = &g_base_mutex,
-	 .drv_data = &lsm6dsm_a_data,
-	 .port = I2C_PORT_SENSOR,
-	 .addr = LSM6DSM_ADDR0,
-	 .rot_standard_ref = &standard_rot_ref,
-	 .default_range = 4,  /* g */
-	 .min_frequency = LSM6DSM_ODR_MIN_VAL,
-	 .max_frequency = LSM6DSM_ODR_MAX_VAL,
-	 .config = {
-		/* EC use accel for angle detection */
-		[SENSOR_CONFIG_EC_S0] = {
-			.odr = 13000 | ROUND_UP_FLAG,
-			.ec_rate = 100 * MSEC,
-		},
-		/* Sensor on for angle detection */
-		[SENSOR_CONFIG_EC_S3] = {
-			.odr = 10000 | ROUND_UP_FLAG,
-			.ec_rate = 100 * MSEC,
+		.name = "Base Accel",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_LSM6DSM,
+		.type = MOTIONSENSE_TYPE_ACCEL,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &lsm6dsm_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = LSM6DSM_ST_DATA(lsm6dsm_data,
+				MOTIONSENSE_TYPE_ACCEL),
+		.port = I2C_PORT_SENSOR,
+		.addr = LSM6DSM_ADDR0,
+		.rot_standard_ref = &standard_rot_ref,
+		.default_range = 4,  /* g */
+		.min_frequency = LSM6DSM_ODR_MIN_VAL,
+		.max_frequency = LSM6DSM_ODR_MAX_VAL,
+		.config = {
+			/* EC use accel for angle detection */
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 13000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
+			/* Sensor on for angle detection */
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
 		},
 	 },
 	},
 
 	[BASE_GYRO] = {
-	 .name = "Base Gyro",
-	 .active_mask = SENSOR_ACTIVE_S0,
-	 .chip = MOTIONSENSE_CHIP_LSM6DSM,
-	 .type = MOTIONSENSE_TYPE_GYRO,
-	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &lsm6dsm_drv,
-	 .mutex = &g_base_mutex,
-	 .drv_data = &lsm6dsm_g_data,
-	 .port = I2C_PORT_SENSOR,
-	 .addr = LSM6DSM_ADDR0,
-	 .default_range = 1000 | ROUND_UP_FLAG, /* dps */
-	 .rot_standard_ref = &standard_rot_ref,
-	 .min_frequency = LSM6DSM_ODR_MIN_VAL,
-	 .max_frequency = LSM6DSM_ODR_MAX_VAL,
+		.name = "Base Gyro",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_LSM6DSM,
+		.type = MOTIONSENSE_TYPE_GYRO,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &lsm6dsm_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = LSM6DSM_ST_DATA(lsm6dsm_data,
+				MOTIONSENSE_TYPE_GYRO),
+		.port = I2C_PORT_SENSOR,
+		.addr = LSM6DSM_ADDR0,
+		.default_range = 1000 | ROUND_UP_FLAG, /* dps */
+		.rot_standard_ref = &standard_rot_ref,
+		.min_frequency = LSM6DSM_ODR_MIN_VAL,
+		.max_frequency = LSM6DSM_ODR_MAX_VAL,
 	},
 };
 
diff --git a/board/yorp/board.c b/board/yorp/board.c
index 5a4b415ffa..15b33196e6 100644
--- a/board/yorp/board.c
+++ b/board/yorp/board.c
@@ -117,8 +117,7 @@ const mat33_fp_t base_standard_ref = {
 
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
-static struct lsm6dsm_data lsm6dsm_g_data;
-static struct lsm6dsm_data lsm6dsm_a_data;
+static struct lsm6dsm_data lsm6dsm_data;
 
 /* Drivers */
 struct motion_sensor_t motion_sensors[] = {
@@ -148,49 +147,51 @@ struct motion_sensor_t motion_sensors[] = {
 	},
 
 	[BASE_ACCEL] = {
-	 .name = "Base Accel",
-	 .active_mask = SENSOR_ACTIVE_S0_S3,
-	 .chip = MOTIONSENSE_CHIP_LSM6DSM,
-	 .type = MOTIONSENSE_TYPE_ACCEL,
-	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &lsm6dsm_drv,
-	 .mutex = &g_base_mutex,
-	 .drv_data = &lsm6dsm_a_data,
-	 .port = I2C_PORT_SENSOR,
-	 .addr = LSM6DSM_ADDR0,
-	 .rot_standard_ref = &base_standard_ref,
-	 .default_range = 4,  /* g */
-	 .min_frequency = LSM6DSM_ODR_MIN_VAL,
-	 .max_frequency = LSM6DSM_ODR_MAX_VAL,
-	 .config = {
-		 /* EC use accel for angle detection */
-		 [SENSOR_CONFIG_EC_S0] = {
-			.odr = 13000 | ROUND_UP_FLAG,
-			.ec_rate = 100 * MSEC,
-		 },
-		 /* Sensor on for angle detection */
-		 [SENSOR_CONFIG_EC_S3] = {
-			.odr = 10000 | ROUND_UP_FLAG,
-			.ec_rate = 100 * MSEC,
-		 },
-	 },
+		.name = "Base Accel",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_LSM6DSM,
+		.type = MOTIONSENSE_TYPE_ACCEL,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &lsm6dsm_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = LSM6DSM_ST_DATA(lsm6dsm_data,
+				MOTIONSENSE_TYPE_ACCEL),
+		.port = I2C_PORT_SENSOR,
+		.addr = LSM6DSM_ADDR0,
+		.rot_standard_ref = &base_standard_ref,
+		.default_range = 4,  /* g */
+		.min_frequency = LSM6DSM_ODR_MIN_VAL,
+		.max_frequency = LSM6DSM_ODR_MAX_VAL,
+		.config = {
+			/* EC use accel for angle detection */
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 13000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
+			/* Sensor on for angle detection */
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
+		},
 	},
 
 	[BASE_GYRO] = {
-	 .name = "Base Gyro",
-	 .active_mask = SENSOR_ACTIVE_S0,
-	 .chip = MOTIONSENSE_CHIP_LSM6DSM,
-	 .type = MOTIONSENSE_TYPE_GYRO,
-	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &lsm6dsm_drv,
-	 .mutex = &g_base_mutex,
-	 .drv_data = &lsm6dsm_g_data,
-	 .port = I2C_PORT_SENSOR,
-	 .addr = LSM6DSM_ADDR0,
-	 .default_range = 1000 | ROUND_UP_FLAG, /* dps */
-	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = LSM6DSM_ODR_MIN_VAL,
-	 .max_frequency = LSM6DSM_ODR_MAX_VAL,
+		.name = "Base Gyro",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_LSM6DSM,
+		.type = MOTIONSENSE_TYPE_GYRO,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &lsm6dsm_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = LSM6DSM_ST_DATA(lsm6dsm_data,
+				MOTIONSENSE_TYPE_GYRO),
+		.port = I2C_PORT_SENSOR,
+		.addr = LSM6DSM_ADDR0,
+		.default_range = 1000 | ROUND_UP_FLAG, /* dps */
+		.rot_standard_ref = &base_standard_ref,
+		.min_frequency = LSM6DSM_ODR_MIN_VAL,
+		.max_frequency = LSM6DSM_ODR_MAX_VAL,
 	},
 };