diff --git a/board/yorp/board.c b/board/yorp/board.c
index 1a282c8b4c..7e4111116e 100644
--- a/board/yorp/board.c
+++ b/board/yorp/board.c
@@ -294,6 +294,14 @@ struct motion_sensor_t motion_sensors[] = {
 
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+/* Initialize board. */
+static void board_init(void)
+{
+	/* Enable Base Accel interrupt */
+	gpio_enable_interrupt(GPIO_BASE_SIXAXIS_INT_L);
+}
+DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
+
 #ifndef TEST_BUILD
 /* This callback disables keyboard when convertibles are fully open */
 void lid_angle_peripheral_enable(int enable)
diff --git a/board/yorp/board.h b/board/yorp/board.h
index aef8b4a111..4ef2cd8aa0 100644
--- a/board/yorp/board.h
+++ b/board/yorp/board.h
@@ -30,8 +30,7 @@
 #define CONFIG_ACCEL_KX022		/* Lid accel */
 #define CONFIG_ACCELGYRO_LSM6DSM	/* Base accel */
 /* Sensors without hardware FIFO are in forced mode */
-#define CONFIG_ACCEL_FORCE_MODE_MASK ((1 << LID_ACCEL) | \
-			(1 << BASE_ACCEL) | (1 << BASE_GYRO))
+#define CONFIG_ACCEL_FORCE_MODE_MASK (1 << LID_ACCEL)
 
 #define CONFIG_LID_ANGLE
 #define CONFIG_LID_ANGLE_UPDATE
@@ -45,7 +44,16 @@
 #define CONFIG_TEMP_SENSOR
 #define CONFIG_THERMISTOR_NCP15WB
 
+#define CONFIG_ACCEL_INTERRUPTS
+/* FIFO size is in power of 2. */
+#define CONFIG_ACCEL_FIFO 1024
 
+/* Depends on how fast the AP boots and typical ODRs */
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_MKBP_EVENT
+#define CONFIG_MKBP_USE_HOST_EVENT
+
+#define CONFIG_ACCEL_LSM6DSM_INT_EVENT TASK_EVENT_CUSTOM(4)
 #ifndef __ASSEMBLER__
 
 #include "gpio_signal.h"
diff --git a/board/yorp/gpio.inc b/board/yorp/gpio.inc
index cc4a387bd9..9f3e3dd35f 100644
--- a/board/yorp/gpio.inc
+++ b/board/yorp/gpio.inc
@@ -39,8 +39,7 @@ GPIO_INT(ALL_SYS_PGOOD,	 PIN(F, 4), GPIO_INT_BOTH, power_signal_interrupt)	/* PM
 /* Other interrupts */
 GPIO_INT(WP_L,		 PIN(A, 1), GPIO_INT_BOTH, switch_interrupt)		/* EC_WP_ODL */
 
-/* TODO(b/74932344): Make it as an interrupt after driver supports this */
-GPIO(BASE_SIXAXIS_INT_L,	PIN(5, 6), GPIO_INPUT | GPIO_SEL_1P8V)
+GPIO_INT(BASE_SIXAXIS_INT_L,	PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, lsm6dsm_interrupt)
 GPIO(LID_ACCEL_INT_L,		PIN(5, 0), GPIO_INPUT | GPIO_SEL_1P8V)
 
 /* Define PCH_SLP_S0_L after all interrupts if CONFIG_POWER_S0IX not defined. */