diff --git a/board/oak/board.c b/board/oak/board.c
index 33a7bec316..1b08001dd6 100644
--- a/board/oak/board.c
+++ b/board/oak/board.c
@@ -16,6 +16,8 @@
 #include "chipset.h"
 #include "common.h"
 #include "console.h"
+#include "driver/accel_kionix.h"
+#include "driver/accel_kx022.h"
 #include "driver/als_opt3001.h"
 #include "driver/temp_sensor/tmp432.h"
 #include "extpower.h"
@@ -25,6 +27,9 @@
 #include "i2c.h"
 #include "keyboard_raw.h"
 #include "lid_switch.h"
+#include "math_util.h"
+#include "motion_lid.h"
+#include "motion_sense.h"
 #include "pi3usb9281.h"
 #include "power.h"
 #include "power_button.h"
@@ -550,3 +555,51 @@ static void board_chipset_suspend(void)
 #endif
 }
 DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, board_chipset_suspend, HOOK_PRIO_DEFAULT);
+
+#ifdef HAS_TASK_MOTIONSENSE
+/* Motion sensors */
+/* Mutexes */
+static struct mutex g_lid_mutex;
+
+/* KX022 private data */
+struct kionix_accel_data g_kx022_data = {
+	.variant = KX022,
+};
+
+struct motion_sensor_t motion_sensors[] = {
+	{.name = "Lid Accel",
+	 .active_mask = SENSOR_ACTIVE_S0,
+	 .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,
+	 .addr = KX022_ADDR1,
+	 .rot_standard_ref = NULL, /* Identity matrix. */
+	 .default_range = 2, /* g, enough for laptop. */
+	 .config = {
+		/* AP: by default use EC settings */
+		[SENSOR_CONFIG_AP] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+		/* unused */
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 0,
+			.ec_rate = 0,
+		},
+		[SENSOR_CONFIG_EC_S5] = {
+			.odr = 0,
+			.ec_rate = 0,
+		},
+	 },
+	},
+};
+const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
+#endif /* defined(HAS_TASK_MOTIONSENSE) */
diff --git a/board/oak/board.h b/board/oak/board.h
index 6336ba16ad..ffa6b53207 100644
--- a/board/oak/board.h
+++ b/board/oak/board.h
@@ -11,6 +11,7 @@
 /* board revision */
 #include "board_revs.h"
 
+#define CONFIG_ACCEL_KX022
 #define CONFIG_ADC
 #undef  CONFIG_ADC_WATCHDOG
 
@@ -132,15 +133,16 @@
 #define KB_OUT_PORT_LIST GPIO_A, GPIO_B, GPIO_C, GPIO_D
 
 /* 2 I2C master ports, connect to battery, charger, pd and USB switches */
-#define I2C_PORT_MASTER 0
+#define I2C_PORT_MASTER  0
+#define I2C_PORT_ACCEL   0
+#define I2C_PORT_ALS     0
 #define I2C_PORT_BATTERY 0
 #define I2C_PORT_CHARGER 0
 #define I2C_PORT_PERICOM 0
 #define I2C_PORT_THERMAL 0
-#define I2C_PORT_PD_MCU 1
+#define I2C_PORT_PD_MCU  1
 #define I2C_PORT_USB_MUX 1
-#define I2C_PORT_TCPC 1
-#define I2C_PORT_ALS   I2C_PORT_MASTER
+#define I2C_PORT_TCPC    1
 
 /* Ambient Light Sensor address */
 #define OPT3001_I2C_ADDR OPT3001_I2C_ADDR1
diff --git a/board/oak/ec.tasklist b/board/oak/ec.tasklist
index 45cb276099..150ac9b3d4 100644
--- a/board/oak/ec.tasklist
+++ b/board/oak/ec.tasklist
@@ -27,6 +27,7 @@
 	TASK_ALWAYS(HOOKS, hook_task, NULL, LARGER_TASK_STACK_SIZE) \
 	TASK_VBUS(VBUS, vbus_task, NULL, TASK_STACK_SIZE) \
 	TASK_ALWAYS(ALS, als_task, NULL, TASK_STACK_SIZE) \
+	TASK_NOTEST(MOTIONSENSE, motion_sense_task, NULL, TASK_STACK_SIZE) \
 	TASK_ALWAYS(USB_CHG_P0, usb_charger_task, NULL, TASK_STACK_SIZE) \
 	TASK_ALWAYS(USB_CHG_P1, usb_charger_task, NULL, TASK_STACK_SIZE) \
 	TASK_ALWAYS(CHARGER, charger_task, NULL, LARGER_TASK_STACK_SIZE) \
diff --git a/common/math_util.c b/common/math_util.c
index 79b0f47f5e..247bda6dd9 100644
--- a/common/math_util.c
+++ b/common/math_util.c
@@ -6,7 +6,6 @@
 /* Common math functions. */
 
 #include "common.h"
-#include "math.h"
 #include "math_util.h"
 #include "util.h"