Updated license and formatting. Fixed a few bugs.

LICENSE

@@ -1,39 +1,30 @@
-Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
+Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+
+BSD-3-Clause
 
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are met:
 
-Redistributions of source code must retain the above copyright
-notice, this list of conditions and the following disclaimer.
-
-Redistributions in binary form must reproduce the above copyright
-notice, this list of conditions and the following disclaimer in the
-documentation and/or other materials provided with the distribution.
+1. Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
 
-Neither the name of the copyright holder nor the names of the
-contributors may be used to endorse or promote products derived from
-this software without specific prior written permission.
+2. Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
 
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
-CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
-IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
-OR CONTRIBUTORS BE LIABLE FOR ANY
-DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
-OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
-PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
-HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
-WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
 
-The information provided is believed to be accurate and reliable.
-The copyright holder assumes no responsibility
-for the consequences of use
-of such information nor for any infringement of patents or
-other rights of third parties which may result from its use.
-No license is granted by implication or otherwise under any patent or
-patent rights of the copyright holder.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -1,793 +1,793 @@
-# BMI160 sensor API
-## Introduction
-This package contains the Bosch Sensortec's BMI160 sensor driver (sensor API)
-
-The sensor driver package includes bmi160.h, bmi160.c and bmi160_defs.h files
-
-## Version
-File          | Version | Date
---------------|---------|---------------
-bmi160.c      |   3.7.7 |   13 Mar 2019
-bmi160.h      |   3.7.7 |   13 Mar 2019
-bmi160_defs.h |   3.7.7 |   13 Mar 2019
-
-## Integration details
-* Integrate bmi160.h, bmi160_defs.h and bmi160.c file in to your project.
-* Include the bmi160.h file in your code like below.
-``` c
-#include "bmi160.h"
-```
-
-## File information
-* bmi160_defs.h : This header file has the constants, macros and datatype declarations.
-* bmi160.h : This header file contains the declarations of the sensor driver APIs.
-* bmi160.c : This source file contains the definitions of the sensor driver APIs.
-
-## Supported sensor interface
-* SPI 4-wire
-* I2C
-
-## Usage guide
-### Initializing the sensor
-To initialize the sensor, you will first need to create a device structure. You 
-can do this by creating an instance of the structure bmi160_dev. Then go on to 
-fill in the various parameters as shown below.
-
-#### Example for SPI 4-Wire
-``` c
-struct bmi160_dev sensor;
-
-/* You may assign a chip select identifier to be handled later */
-sensor.id = 0;
-sensor.interface = BMI160_SPI_INTF;
-sensor.read = user_spi_read;
-sensor.write = user_spi_write;
-sensor.delay_ms = user_delay_ms;
-
-
-int8_t rslt = BMI160_OK;
-rslt = bmi160_init(&sensor);
-/* After the above function call, accel_cfg and gyro_cfg parameters in the device 
-structure are set with default values, found in the datasheet of the sensor */
-```
-
-#### Example for I2C
-``` c
-struct bmi160_dev sensor;
-
-sensor.id = BMI160_I2C_ADDR;
-sensor.interface = BMI160_I2C_INTF;
-sensor.read = user_i2c_read;
-sensor.write = user_i2c_write;
-sensor.delay_ms = user_delay_ms;
-
-int8_t rslt = BMI160_OK;
-rslt = bmi160_init(&sensor);
-/* After the above function call, accel and gyro parameters in the device structure 
-are set with default values, found in the datasheet of the sensor */
-```
-
-### Configuring accel and gyro sensor
-#### Example for configuring accel and gyro sensors in normal mode
-``` c
-
-int8_t rslt = BMI160_OK;
-
-/* Select the Output data rate, range of accelerometer sensor */
-sensor.accel_cfg.odr = BMI160_ACCEL_ODR_1600HZ;
-sensor.accel_cfg.range = BMI160_ACCEL_RANGE_2G;
-sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
-
-/* Select the power mode of accelerometer sensor */
-sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
-
-/* Select the Output data rate, range of Gyroscope sensor */
-sensor.gyro_cfg.odr = BMI160_GYRO_ODR_3200HZ;
-sensor.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
-sensor.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
-
-/* Select the power mode of Gyroscope sensor */
-sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; 
-
-/* Set the sensor configuration */
-rslt = bmi160_set_sens_conf(&sensor);
-```
-
-### Reading sensor data
-#### Example for reading sensor data
-``` c
-
-int8_t rslt = BMI160_OK;
-struct bmi160_sensor_data accel;
-struct bmi160_sensor_data gyro;
-
-/* To read only Accel data */
-rslt = bmi160_get_sensor_data(BMI160_ACCEL_SEL, &accel, NULL, &sensor);
-
-/* To read only Gyro data */
-rslt = bmi160_get_sensor_data(BMI160_GYRO_SEL, NULL, &gyro, &sensor);
-
-/* To read both Accel and Gyro data */
-bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL), &accel, &gyro, &sensor);
-
-/* To read Accel data along with time */
-rslt = bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_TIME_SEL) , &accel, NULL, &sensor);
-
-/* To read Gyro data along with time */
-rslt = bmi160_get_sensor_data((BMI160_GYRO_SEL | BMI160_TIME_SEL), NULL, &gyro, &sensor);
-
-/* To read both Accel and Gyro data along with time*/
-bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL | BMI160_TIME_SEL), &accel, &gyro, &sensor);
-```
-
-### Setting the power mode of sensors
-#### Example for setting power mode of accel and gyro
-``` c
-
-int8_t rslt = BMI160_OK;
-
-/* Select the power mode */
-sensor.accel_cfg.power = BMI160_ACCEL_SUSPEND_MODE; 
-sensor.gyro_cfg.power = BMI160_GYRO_FASTSTARTUP_MODE; 
-
-/*  Set the Power mode  */
-rslt = bmi160_set_power_mode(&sensor);
-
-/* Select the power mode */
-sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
-sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; 
-
-/*  Set the Power mode  */
-rslt = bmi160_set_power_mode(&sensor);
-
-```
-
-### Reading sensor data register
-#### Example for reading Chip Address
-``` c
-
-int8_t rslt = BMI160_OK;
-uint8_t reg_addr = BMI160_CHIP_ID_ADDR;
-uint8_t data;
-uint16_t len = 1;
-rslt = bmi160_get_regs(reg_addr, &data, len, &sensor);
-```
-
-
-### Writing to sensor data register
-#### Example for writing data to any motion threshold register
-``` c
-
-int8_t rslt = BMI160_OK;
-uint8_t reg_addr = BMI160_INT_MOTION_1_ADDR;
-uint8_t data = 20;
-uint16_t len = 1;
-rslt = bmi160_set_regs(reg_addr, &data, len, &sensor);
-```
-
-### Resetting the device using soft-reset
-#### Example for writing soft-reset command to command register
-``` c
-
-int8_t rslt = BMI160_OK;
-rslt = bmi160_soft_reset(&sensor);
-```
-
-
-### Configuring interrupts for sensors
-To configure the sensor interrupts, you will first need to create an interrupt 
-structure. You can do this by creating an instance of the structure bmi160_int_settg.
-Then go on to fill in the various parameters as shown below
-
-
-### Configuring Any-motion Interrupt
-#### Example for configuring Any-motion Interrupt
-Note:- User can check the currently active interrupt(any-motion or sig-motion) by checking the **any_sig_sel** of bmi160_dev structure.
-``` c
-
-struct bmi160_int_settg int_config;
-
-/* Select the Interrupt channel/pin */
-int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
-
-/* Select the Interrupt type */
-int_config.int_type = BMI160_ACC_ANY_MOTION_INT;// Choosing Any motion interrupt
-/* Select the interrupt channel/pin settings */
-int_config.int_pin_settg.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
-int_config.int_pin_settg.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
-int_config.int_pin_settg.output_type = BMI160_DISABLE;// Choosing active low output
-int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output
-int_config.int_pin_settg.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input
-int_config.int_pin_settg.latch_dur = BMI160_LATCH_DUR_NONE;// non-latched output
-
-/* Select the Any-motion interrupt parameters */
-int_config.int_type_cfg.acc_any_motion_int.anymotion_en = BMI160_ENABLE;// 1- Enable the any-motion, 0- disable any-motion 
-int_config.int_type_cfg.acc_any_motion_int.anymotion_x = BMI160_ENABLE;// Enabling x-axis for any motion interrupt
-int_config.int_type_cfg.acc_any_motion_int.anymotion_y = BMI160_ENABLE;// Enabling y-axis for any motion interrupt
-int_config.int_type_cfg.acc_any_motion_int.anymotion_z = BMI160_ENABLE;// Enabling z-axis for any motion interrupt
-int_config.int_type_cfg.acc_any_motion_int.anymotion_dur = 0;// any-motion duration
-int_config.int_type_cfg.acc_any_motion_int.anymotion_thr = 20;// (2-g range) -> (slope_thr) * 3.91 mg, (4-g range) -> (slope_thr) * 7.81 mg, (8-g range) ->(slope_thr) * 15.63 mg, (16-g range) -> (slope_thr) * 31.25 mg 
-
-/* Set the Any-motion interrupt */
-bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev  */
-
-```
-### Configuring Flat Interrupt
-#### Example for configuring Flat Interrupt
-``` c
-
-struct bmi160_int_settg int_config;
-
-/* Select the Interrupt channel/pin */
-int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
-
-/* Select the Interrupt type */
-int_config.int_type = BMI160_ACC_FLAT_INT;// Choosing flat interrupt
-/* Select the interrupt channel/pin settings */
-int_config.int_pin_settg.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
-int_config.int_pin_settg.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
-int_config.int_pin_settg.output_type = BMI160_DISABLE;// Choosing active low output
-int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output
-int_config.int_pin_settg.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input
-int_config.int_pin_settg.latch_dur = BMI160_LATCH_DUR_NONE;// non-latched output
-
-/* Select the Flat interrupt parameters */
-int_config.int_type_cfg.acc_flat_int.flat_en = BMI160_ENABLE;// 1-enable, 0-disable the flat interrupt
-int_config.int_type_cfg.acc_flat_int.flat_theta = 8;// threshold for detection of flat position in range from 0° to 44.8°.
-int_config.int_type_cfg.acc_flat_int.flat_hy = 1;// Flat hysteresis
-int_config.int_type_cfg.acc_flat_int.flat_hold_time = 1;// Flat hold time (0 -> 0 ms, 1 -> 640 ms, 2 -> 1280 ms, 3 -> 2560 ms)
-
-/* Set the Flat interrupt */
-bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */
-
-```
-
-
-### Configuring Step Detector Interrupt
-#### Example for configuring Step Detector Interrupt
-``` c
-
-struct bmi160_int_settg int_config;
-
-/* Select the Interrupt channel/pin */
-int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
-
-/* Select the Interrupt type */
-int_config.int_type = BMI160_STEP_DETECT_INT;// Choosing Step Detector interrupt
-/* Select the interrupt channel/pin settings */
-int_config.int_pin_settg.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
-int_config.int_pin_settg.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
-int_config.int_pin_settg.output_type = BMI160_ENABLE;// Choosing active High output
-int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output
-int_config.int_pin_settg.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input
-int_config.int_pin_settg.latch_dur =BMI160_LATCH_DUR_NONE;// non-latched output
-
-/* Select the Step Detector interrupt parameters, Kindly use the recommended settings for step detector */
-int_config.int_type_cfg.acc_step_detect_int.step_detector_mode = BMI160_STEP_DETECT_NORMAL;
-int_config.int_type_cfg.acc_step_detect_int.step_detector_en = BMI160_ENABLE;// 1-enable, 0-disable the step detector
-
-/* Set the Step Detector interrupt */
-bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */
-
-```
-
-### Configuring Step counter
-To configure the step counter, user need to configure the step detector interrupt as described in above section.
-After configuring step detector, see the below code snippet for user space & ISR
-
-### User space
-``` c
-int8_t rslt = BMI160_OK;
-uint8_t step_enable = 1;//enable the step counter
-
-rslt = bmi160_set_step_counter(step_enable,  &sensor);
-```
-
-### ISR
-``` c
-int8_t rslt = BMI160_OK;
-uint16_t step_count = 0;//stores the step counter value
-
-rslt = bmi160_read_step_counter(&step_count,  &sensor);
-```
-
-### Unmapping Interrupt
-#### Example for unmapping Step Detector Interrupt
-``` c
-struct bmi160_int_settg int_config;
-
-/* Deselect the Interrupt channel/pin */
-int_config.int_channel = BMI160_INT_CHANNEL_NONE;
-/* Select the Interrupt type */
-int_config.int_type = BMI160_STEP_DETECT_INT;// Choosing Step Detector interrupt
-/* Set the Step Detector interrupt */
-bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */
-```
-
-### Reading interrupt status
-#### Example for reading interrupt status for step detector
-``` c
-union bmi160_int_status interrupt;
-enum bmi160_int_status_sel int_status_sel;
-
-/* Interrupt status selection to read all interrupts */
-int_status_sel = BMI160_INT_STATUS_ALL;
-rslt = bmi160_get_int_status(int_status_sel, &interrupt, &sensor);
-if (interrupt.bit.step)
-	printf("Step detector interrupt occured\n");
-```
-
-### Configuring the auxiliary sensor BMM150
-It is assumed that secondary interface of bmi160 has external pull-up resistor in order to access the auxiliary sensor bmm150.
-
-### Accessing auxiliary BMM150 with BMM150 APIs via BMI160 secondary interface.
-
-## Integration details 
-* Integrate the souce codes of BMM150 and BMI160 in project.
-* Include the bmi160.h and bmm150.h file in your code like below.
-* It is mandatory to initialize the bmi160 device structure for primary interface and auxiliary sensor settings.
-* Create two wrapper functions , user_aux_read and user_aux_write in order to match the signature as mentioned below.
-* Invoke the "bmi160_aux_init" API to initialise the secondary interface in BMI160.
-* Invoke the "bmm150_init" API to initialise the BMM150 sensor.
-* Now we can use the BMM150 sensor APIs to access the BMM150 via BMI160.
-
-``` c
-/* main.c file */
-#include "bmi160.h"
-#include "bmm150.h"
-```
-### Initialization of auxiliary sensor BMM150
-```
-
-/* main.c file */
-struct bmm150_dev bmm150;
-
-/* function declaration */
-int8_t user_aux_read(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len);
-int8_t user_aux_write(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len);
-
-/* Configure device structure for auxiliary sensor parameter */
-sensor.aux_cfg.aux_sensor_enable = 1; // auxiliary sensor enable
-sensor.aux_cfg.aux_i2c_addr = BMI160_AUX_BMM150_I2C_ADDR; // auxiliary sensor address
-sensor.aux_cfg.manual_enable = 1; // setup mode enable
-sensor.aux_cfg.aux_rd_burst_len = 2;// burst read of 2 byte
-
-/* Configure the BMM150 device structure by 
-mapping user_aux_read and user_aux_write */
-bmm150.read = user_aux_read;
-bmm150.write = user_aux_write;
-bmm150.id = BMM150_DEFAULT_I2C_ADDRESS; 
-/* Ensure that sensor.aux_cfg.aux_i2c_addr = bmm150.id
-   for proper sensor operation */
-bmm150.delay_ms = delay_ms;
-bmm150.interface = BMM150_I2C_INTF;
-
-/* Initialize the auxiliary sensor interface */
-rslt = bmi160_aux_init(&sensor);
-
-/* Auxiliary sensor is enabled and can be accessed from this point */
-
-/* Configure the desired settings in auxiliary BMM150 sensor 
- * using the bmm150 APIs */
-
-/* Initialising the bmm150 sensor */
-rslt = bmm150_init(&bmm150);
-
-/* Set the power mode and preset mode to enable Mag data sampling */
-bmm150.settings.pwr_mode = BMM150_NORMAL_MODE;
-rslt = bmm150_set_op_mode(&bmm150);
-
-bmm150.settings.preset_mode= BMM150_PRESETMODE_LOWPOWER;
-rslt = bmm150_set_presetmode(&bmm150);
-
-```
-### Wrapper functions
-```
-
-/*wrapper function to match the signature of bmm150.read */
-int8_t user_aux_read(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len)
-{
-	int8_t rslt;
-	
-	/* Discarding the parameter id as it is redundant*/
-        rslt = bmi160_aux_read(reg_addr, aux_data, len, &bmi160);
-
-	return rslt;
-}
-
-/*wrapper function to match the signature of bmm150.write */
-int8_t user_aux_write(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len)
-{
-	int8_t rslt;
-	
-	/* Discarding the parameter id as it is redundant */
-	rslt = bmi160_aux_write(reg_addr, aux_data, len, &bmi160);
-
-	return rslt;
-}
-
-```
-
-### Initialization of auxiliary BMM150 in auto mode
-Any sensor whose data bytes are less than or equal to 8 bytes can be synchronized with the BMI160 
-and read out of Accelerometer + Gyroscope + Auxiliary sensor data of that instance is possible
-which helps in creating less latency fusion data
-
-```
-/* Initialize the Auxiliary BMM150 following the above code 
- * until setting the power mode (Set the power mode as forced mode)
- * and preset mode */
-
-	/* In BMM150 Mag data starts from register address 0x42 */
-	uint8_t aux_addr = 0x42;
-	/* Buffer to store the Mag data from 0x42 to 0x48 */	
-	uint8_t mag_data[8] = {0};
-	
-	uint8_t index;
-		
-	/* Configure the Auxiliary sensor either in auto/manual modes and set the 
-	polling frequency for the Auxiliary interface */	
-	sensor.aux_cfg.aux_odr = 8; /* Represents polling rate in 100 Hz*/
-	rslt = bmi160_config_aux_mode(&sensor)
-	
-	/* Set the auxiliary sensor to auto mode */
-	rslt = bmi160_set_aux_auto_mode(&aux_addr, &sensor);
-
-	/* Reading data from BMI160 data registers */
-	rslt = bmi160_read_aux_data_auto_mode(mag_data, &sensor);
-
-	printf("\n RAW DATA ");
-	for(index = 0 ; index < 8 ; index++)
-	{
-		printf("\n MAG DATA[%d] : %d ", index, mag_data[index]);
-	}
-	
-	/* Compensating the raw mag data available from the BMM150 API */
-	rslt = bmm150_aux_mag_data(mag_data, &bmm150);
-	
-	printf("\n COMPENSATED DATA ");
-	printf("\n MAG DATA X : %d Y : %d Z : %d", bmm150.data.x, bmm150.data.y, bmm150.data.z);
-	
-
-```
-
-### Auxiliary FIFO data parsing
-The Auxiliary sensor data can be stored in FIFO , Here we demonstrate an example for 
-using the Bosch Magnetometer sensor BMM150 and storing its data in FIFO
-
-```
-/* Initialize the Aux BMM150 following the above 
- * code and by creating the Wrapper functions */
-
-	int8_t rslt = 0;
-	uint8_t aux_instance = 0;
-	uint16_t fifo_cnt = 0;
-	uint8_t auto_mode_addr;
-	uint8_t i;
-
-	/* Setup and configure the FIFO buffer */
-	/* Declare memory to store the raw FIFO buffer information */
-	uint8_t fifo_buff[1000] = {0};
-
-	/* Modify the FIFO buffer instance and link to the device instance */
-	struct bmi160_fifo_frame fifo_frame;
-	fifo_frame.data = fifo_buff;
-	fifo_frame.length = 1000;
-	dev->fifo = &fifo_frame;
-
-	/* Declare instances of the sensor data structure to store the parsed FIFO data */
-	struct bmi160_aux_data aux_data[112]; //1000 / 9 bytes per frame ~ 111 data frames
-
-	rslt = bmi160_init(dev);
-	printf("\n BMI160 chip ID is : %d ",dev->chip_id);
-
-	rslt = bmi160_aux_init(dev);
-
-	rslt = bmm150_init(&bmm150);
-	printf("\n BMM150 CHIP ID : %d",bmm150.chip_id);
-
-	bmm150.settings.preset_mode = BMM150_PRESETMODE_LOWPOWER;
-	rslt = bmm150_set_presetmode(&bmm150);
-
-	bmm150.settings.pwr_mode = BMM150_FORCED_MODE;
-	rslt = bmm150_set_op_mode(&bmm150);
-
-	/* Enter the data register of BMM150 to "auto_mode_addr" here it is 0x42 */
-	auto_mode_addr = 0x42;
-	printf("\n ENTERING AUX. AUTO MODE ");
-	dev->aux_cfg.aux_odr = BMI160_AUX_ODR_25HZ;
-	rslt = bmi160_set_aux_auto_mode(&auto_mode_addr, dev);
-
-
-	/* Disable other FIFO settings */
-	rslt = bmi160_set_fifo_config(BMI160_FIFO_CONFIG_1_MASK , BMI160_DISABLE, dev);
-
-	/* Enable the required FIFO settings */
-	rslt = bmi160_set_fifo_config(BMI160_FIFO_AUX | BMI160_FIFO_HEADER, BMI160_ENABLE, dev);
-
-	/* Delay for the FIFO to get filled */
-	dev->delay_ms(400);
-
-
-	printf("\n FIFO DATA REQUESTED (in bytes): %d",dev->fifo->length);
-	rslt = bmi160_get_fifo_data(dev);
-	printf("\n FIFO DATA AVAILABLE (in bytes): %d",dev->fifo->length);
-
-	/* Print the raw FIFO data obtained */
-	for(fifo_cnt = 0; fifo_cnt < dev->fifo->length ; fifo_cnt++) {
-		printf("\n FIFO DATA [%d] IS : %x  ",fifo_cnt ,dev->fifo->data[fifo_cnt]);
-	}
-
-	printf("\n\n----------------------------------------------------\n");
-
-	/* Set the number of required sensor data instances */
-	aux_instance = 150;
-
-	/* Extract the aux data , 1frame = 8 data bytes */
-	printf("\n AUX DATA REQUESTED TO BE EXTRACTED (in frames): %d",aux_instance);
-	rslt = bmi160_extract_aux(aux_data, &aux_instance, dev);
-	printf("\n AUX DATA ACTUALLY EXTRACTED (in frames): %d",aux_instance);
-
-	/* Printing the raw aux data */
-	for (i = 0; i < aux_instance; i++) {
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[0]);
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[1]);
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[2]);
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[3]);
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[4]);
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[5]);
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[6]);
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[7]);
-	}
-
-	printf("\n\n----------------------------------------------------\n");
-
-	/* Compensate the raw mag data using BMM150 API */
-	for (i = 0; i < aux_instance; i++) {
-		printf("\n----------------------------------------------------");
-		printf("\n Aux data[%d] : %x , %x , %x , %x , %x , %x , %x , %x",i
-					,aux_data[i].data[0],aux_data[i].data[1]
-					,aux_data[i].data[2],aux_data[i].data[3]
-					,aux_data[i].data[4],aux_data[i].data[5]
-					,aux_data[i].data[6],aux_data[i].data[7]);
-
-		/* Compensated mag data using BMM150 API */
-		rslt = bmm150_aux_mag_data(&aux_data[i].data[0], &bmm150);
-
-		/* Printing the  Compensated mag data */
-		if (rslt == BMM150_OK) {
-			printf("\n MAG DATA COMPENSATION USING BMM150 APIs");
-			printf("\n COMPENSATED DATA ");
-			printf("\n MAG DATA X : %d	Y : %d      Z : %d"
-				, bmm150.data.x, bmm150.data.y, bmm150.data.z);
-
-		} else {
-			printf("\n MAG DATA COMPENSATION IN BMM150 API is FAILED ");
-		}
-		printf("\n----------------------------------------------------\n");
-	}
-
-```
-
-## Self-test  
-#### Example for performing accel self test
-```
-/* Call the "bmi160_init" API as a prerequisite before performing self test
- * since invoking self-test will reset the sensor */
-
-	rslt = bmi160_perform_self_test(BMI160_ACCEL_ONLY, sen);
-	/* Utilize the enum BMI160_GYRO_ONLY instead of BMI160_ACCEL_ONLY
-	   to perform self test for gyro */
-	if (rslt == BMI160_OK) {
-		printf("\n ACCEL SELF TEST RESULT SUCCESS);
-	} else {
-		printf("\n ACCEL SELF TEST RESULT FAIL);
-	}
-```
-
-
-## FIFO 
-#### Example for reading FIFO and extracting Gyro data in Header mode
-```
-/* An example to read the Gyro data in header mode along with sensor time (if available)
- * Configure the gyro sensor as prerequisite and follow the below example to read and
- * obtain the gyro data from FIFO */
-int8_t fifo_gyro_header_time_data(struct bmi160_dev *dev)
-{
-	int8_t rslt = 0;
-
-	/* Declare memory to store the raw FIFO buffer information */
-	uint8_t fifo_buff[300];
-	
-	/* Modify the FIFO buffer instance and link to the device instance */
-	struct bmi160_fifo_frame fifo_frame;
-	fifo_frame.data = fifo_buff;
-	fifo_frame.length = 300;
-	dev->fifo = &fifo_frame;
-	uint16_t index = 0;
-	
-	/* Declare instances of the sensor data structure to store the parsed FIFO data */
-	struct bmi160_sensor_data gyro_data[42]; // 300 bytes / ~7bytes per frame ~ 42 data frames
-	uint8_t gyro_frames_req = 42; 
-	uint8_t gyro_index;
-	
-	/* Configure the sensor's FIFO settings */
-	rslt = bmi160_set_fifo_config(BMI160_FIFO_GYRO | BMI160_FIFO_HEADER | BMI160_FIFO_TIME,
-					BMI160_ENABLE, dev);
-					
-	if (rslt == BMI160_OK) {
-		/* At ODR of 100 Hz ,1 frame gets updated in 1/100 = 0.01s
-		i.e. for 42 frames we need 42 * 0.01 = 0.42s = 420ms delay */
-		dev->delay_ms(420); 
-	
-		/* Read data from the sensor's FIFO and store it the FIFO buffer,"fifo_buff" */
-		printf("\n USER REQUESTED FIFO LENGTH : %d\n",dev->fifo->length);
-		rslt = bmi160_get_fifo_data(dev);
-
-		if (rslt == BMI160_OK) {
-			printf("\n AVAILABLE FIFO LENGTH : %d\n",dev->fifo->length);
-			/* Print the raw FIFO data */
-			for (index = 0; index < dev->fifo->length; index++) {
-				printf("\n FIFO DATA INDEX[%d] = %d", index,
-					dev->fifo->data[index]);
-			}
-			/* Parse the FIFO data to extract gyro data from the FIFO buffer */
-			printf("\n REQUESTED GYRO DATA FRAMES : %d\n ",gyro_frames_req);
-			rslt = bmi160_extract_gyro(gyro_data, &gyro_frames_req, dev);
-
-			if (rslt == BMI160_OK) {
-				printf("\n AVAILABLE GYRO DATA FRAMES : %d\n ",gyro_frames_req);
-				
-				/* Print the parsed gyro data from the FIFO buffer */
-				for (gyro_index = 0; gyro_index < gyro_frames_req; gyro_index++) {
-					printf("\nFIFO GYRO FRAME[%d]",gyro_index);
-					printf("\nGYRO X-DATA : %d \t Y-DATA : %d \t Z-DATA : %d"
-						,gyro_data[gyro_index].x ,gyro_data[gyro_index].y
-						,gyro_data[gyro_index].z);
-				}
-				/* Print the special FIFO frame data like sensortime */
-				printf("\n SENSOR TIME DATA : %d \n",dev->fifo->sensor_time);
-				printf("SKIPPED FRAME COUNT : %d",dev->fifo->skipped_frame_count);
-			} else {
-				printf("\n Gyro data extraction failed");
-			}
-		} else {
-			printf("\n Reading FIFO data failed");
-		}
-	} else {
-		printf("\n Setting FIFO configuration failed");
-	}
-
-	return rslt;
-}
-```
-
-## FOC and offset compensation
-> FOC shouldnot be used in Low-power mode
-#### Example for configuring FOC for accel and gyro
-```
-/* An example for configuring FOC for accel and gyro data */
-int8_t start_foc(struct bmi160_dev *dev)
-{
-	int8_t rslt = 0;
-	/* FOC configuration structure */
-	struct bmi160_foc_conf foc_conf;
-	/* Structure to store the offsets */
-	struct bmi160_offsets offsets;
-	
-	/* Enable FOC for accel with target values of z = 1g ; x,y as 0g */
-	foc_conf.acc_off_en = BMI160_ENABLE;
-	foc_conf.foc_acc_x  = BMI160_FOC_ACCEL_0G;
-	foc_conf.foc_acc_y  = BMI160_FOC_ACCEL_0G;
-	foc_conf.foc_acc_z  = BMI160_FOC_ACCEL_POSITIVE_G;
-	
-	/* Enable FOC for gyro */
-	foc_conf.foc_gyr_en = BMI160_ENABLE;
-	foc_conf.gyro_off_en = BMI160_ENABLE;
-
-	rslt = bmi160_start_foc(&foc_conf, &offsets, sen);
-	
-	if (rslt == BMI160_OK) {
-		printf("\n FOC DONE SUCCESSFULLY ");
-		printf("\n OFFSET VALUES AFTER FOC : ");
-		printf("\n OFFSET VALUES ACCEL X : %d ",offsets.off_acc_x);
-		printf("\n OFFSET VALUES ACCEL Y : %d ",offsets.off_acc_y);
-		printf("\n OFFSET VALUES ACCEL Z : %d ",offsets.off_acc_z);
-		printf("\n OFFSET VALUES GYRO  X : %d ",offsets.off_gyro_x);
-		printf("\n OFFSET VALUES GYRO  Y : %d ",offsets.off_gyro_y);
-		printf("\n OFFSET VALUES GYRO  Z : %d ",offsets.off_gyro_z);	
-	}
-	
-	/* After start of FOC offsets will be updated automatically and 
-	 * the data will be very much close to the target values of measurement */
-
-	return rslt;
-}
-```
-
-#### Example for updating the offsets manually
-> The offsets set by this method will be reset on soft-reset/POR 
-```
-/* An example for updating manual offsets to sensor */
-int8_t write_offsets(struct bmi160_dev *dev)
-{
-	int8_t rslt = 0;
-	/* FOC configuration structure */
-	struct bmi160_foc_conf foc_conf;
-	/* Structure to store the offsets */
-	struct bmi160_offsets offsets;
-	
-	/* Enable offset update for accel */
-	foc_conf.acc_off_en = BMI160_ENABLE;
-
-	/* Enable offset update for gyro */
-	foc_conf.gyro_off_en = BMI160_ENABLE;
-	
-	/* offset values set by user */
-	offsets.off_acc_x = 0x10;
-	offsets.off_acc_y = 0x10;
-	offsets.off_acc_z = 0x10;
-	offsets.off_gyro_x = 0x10;
-	offsets.off_gyro_y = 0x10;
-	offsets.off_gyro_z = 0x10;
-
-	rslt = bmi160_set_offsets(&foc_conf, &offsets, sen);
-	
-	/* After offset setting the data read from the 
-	 * sensor will have the corresponding offset */
-	
-	return rslt;
-}
-```
-
-#### Example for updating the offsets into NVM
-> The offsets set by this method will be present in NVM and will be 
-> restored on POR/soft-reset
-```
-/* An example for updating manual offsets to sensor */
-int8_t write_offsets_nvm(struct bmi160_dev *dev)
-{
-	int8_t rslt = 0;
-	/* FOC configuration structure */
-	struct bmi160_foc_conf foc_conf;
-	/* Structure to store the offsets */
-	struct bmi160_offsets offsets;
-	
-	/* Enable offset update for accel */
-	foc_conf.acc_off_en = BMI160_ENABLE;
-
-	/* Enable offset update for gyro */
-	foc_conf.gyro_off_en = BMI160_ENABLE;
-	
-	/* offset values set by user as per their reference 
-	 * Resolution of accel = 3.9mg/LSB 
-	 * Resolution of gyro  = (0.061degrees/second)/LSB */
-	offsets.off_acc_x = 10;
-	offsets.off_acc_y = -15;
-	offsets.off_acc_z = 20;
-	offsets.off_gyro_x = 30;
-	offsets.off_gyro_y = -35;
-	offsets.off_gyro_z = -40;
-
-	rslt = bmi160_set_offsets(&foc_conf, &offsets, sen);
-	 
-	if (rslt == BMI160_OK) {
-		/* Update the NVM */
-		rslt = bmi160_update_nvm(dev);
-	}
-	
-	/* After this procedure the offsets are written to 
-	 * NVM and restored on POR/soft-reset 
-	 * The set values can be removed to ideal case by 
-	 * invoking the following APIs
-	 *     - bmi160_start_foc()	 
-	 *     - bmi160_update_nvm()
-	 */
-
-	return rslt;
-}
-```
-
-
-
-## Copyright (C) 2019 Bosch Sensortec GmbH
+# BMI160 sensor API
+## Introduction
+This package contains the Bosch Sensortec's BMI160 sensor driver (sensor API)
+
+The sensor driver package includes bmi160.h, bmi160.c and bmi160_defs.h files
+
+## Version
+File          | Version | Date
+--------------|---------|---------------
+bmi160.c      |   3.7.5 |   11 Jan 2018
+bmi160.h      |   3.7.5 |   11 Jan 2018
+bmi160_defs.h |   3.7.5 |   11 Jan 2018
+
+## Integration details
+* Integrate bmi160.h, bmi160_defs.h and bmi160.c file in to your project.
+* Include the bmi160.h file in your code like below.
+``` c
+#include "bmi160.h"
+```
+
+## File information
+* bmi160_defs.h : This header file has the constants, macros and datatype declarations.
+* bmi160.h : This header file contains the declarations of the sensor driver APIs.
+* bmi160.c : This source file contains the definitions of the sensor driver APIs.
+
+## Supported sensor interface
+* SPI 4-wire
+* I2C
+
+## Usage guide
+### Initializing the sensor
+To initialize the sensor, you will first need to create a device structure. You 
+can do this by creating an instance of the structure bmi160_dev. Then go on to 
+fill in the various parameters as shown below.
+
+#### Example for SPI 4-Wire
+``` c
+struct bmi160_dev sensor;
+
+/* You may assign a chip select identifier to be handled later */
+sensor.id = 0;
+sensor.interface = BMI160_SPI_INTF;
+sensor.read = user_spi_read;
+sensor.write = user_spi_write;
+sensor.delay_ms = user_delay_ms;
+
+
+int8_t rslt = BMI160_OK;
+rslt = bmi160_init(&sensor);
+/* After the above function call, accel_cfg and gyro_cfg parameters in the device 
+structure are set with default values, found in the datasheet of the sensor */
+```
+
+#### Example for I2C
+``` c
+struct bmi160_dev sensor;
+
+sensor.id = BMI160_I2C_ADDR;
+sensor.interface = BMI160_I2C_INTF;
+sensor.read = user_i2c_read;
+sensor.write = user_i2c_write;
+sensor.delay_ms = user_delay_ms;
+
+int8_t rslt = BMI160_OK;
+rslt = bmi160_init(&sensor);
+/* After the above function call, accel and gyro parameters in the device structure 
+are set with default values, found in the datasheet of the sensor */
+```
+
+### Configuring accel and gyro sensor
+#### Example for configuring accel and gyro sensors in normal mode
+``` c
+
+int8_t rslt = BMI160_OK;
+
+/* Select the Output data rate, range of accelerometer sensor */
+sensor.accel_cfg.odr = BMI160_ACCEL_ODR_1600HZ;
+sensor.accel_cfg.range = BMI160_ACCEL_RANGE_2G;
+sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
+
+/* Select the power mode of accelerometer sensor */
+sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
+
+/* Select the Output data rate, range of Gyroscope sensor */
+sensor.gyro_cfg.odr = BMI160_GYRO_ODR_3200HZ;
+sensor.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
+sensor.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
+
+/* Select the power mode of Gyroscope sensor */
+sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; 
+
+/* Set the sensor configuration */
+rslt = bmi160_set_sens_conf(&sensor);
+```
+
+### Reading sensor data
+#### Example for reading sensor data
+``` c
+
+int8_t rslt = BMI160_OK;
+struct bmi160_sensor_data accel;
+struct bmi160_sensor_data gyro;
+
+/* To read only Accel data */
+rslt = bmi160_get_sensor_data(BMI160_ACCEL_SEL, &accel, NULL, &sensor);
+
+/* To read only Gyro data */
+rslt = bmi160_get_sensor_data(BMI160_GYRO_SEL, NULL, &gyro, &sensor);
+
+/* To read both Accel and Gyro data */
+bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL), &accel, &gyro, &sensor);
+
+/* To read Accel data along with time */
+rslt = bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_TIME_SEL) , &accel, NULL, &sensor);
+
+/* To read Gyro data along with time */
+rslt = bmi160_get_sensor_data((BMI160_GYRO_SEL | BMI160_TIME_SEL), NULL, &gyro, &sensor);
+
+/* To read both Accel and Gyro data along with time*/
+bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL | BMI160_TIME_SEL), &accel, &gyro, &sensor);
+```
+
+### Setting the power mode of sensors
+#### Example for setting power mode of accel and gyro
+``` c
+
+int8_t rslt = BMI160_OK;
+
+/* Select the power mode */
+sensor.accel_cfg.power = BMI160_ACCEL_SUSPEND_MODE; 
+sensor.gyro_cfg.power = BMI160_GYRO_FASTSTARTUP_MODE; 
+
+/*  Set the Power mode  */
+rslt = bmi160_set_power_mode(&sensor);
+
+/* Select the power mode */
+sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
+sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; 
+
+/*  Set the Power mode  */
+rslt = bmi160_set_power_mode(&sensor);
+
+```
+
+### Reading sensor data register
+#### Example for reading Chip Address
+``` c
+
+int8_t rslt = BMI160_OK;
+uint8_t reg_addr = BMI160_CHIP_ID_ADDR;
+uint8_t data;
+uint16_t len = 1;
+rslt = bmi160_get_regs(reg_addr, &data, len, &sensor);
+```
+
+
+### Writing to sensor data register
+#### Example for writing data to any motion threshold register
+``` c
+
+int8_t rslt = BMI160_OK;
+uint8_t reg_addr = BMI160_INT_MOTION_1_ADDR;
+uint8_t data = 20;
+uint16_t len = 1;
+rslt = bmi160_set_regs(reg_addr, &data, len, &sensor);
+```
+
+### Resetting the device using soft-reset
+#### Example for writing soft-reset command to command register
+``` c
+
+int8_t rslt = BMI160_OK;
+rslt = bmi160_soft_reset(&sensor);
+```
+
+
+### Configuring interrupts for sensors
+To configure the sensor interrupts, you will first need to create an interrupt 
+structure. You can do this by creating an instance of the structure bmi160_int_settg.
+Then go on to fill in the various parameters as shown below
+
+
+### Configuring Any-motion Interrupt
+#### Example for configuring Any-motion Interrupt
+Note:- User can check the currently active interrupt(any-motion or sig-motion) by checking the **any_sig_sel** of bmi160_dev structure.
+``` c
+
+struct bmi160_int_settg int_config;
+
+/* Select the Interrupt channel/pin */
+int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
+
+/* Select the Interrupt type */
+int_config.int_type = BMI160_ACC_ANY_MOTION_INT;// Choosing Any motion interrupt
+/* Select the interrupt channel/pin settings */
+int_config.int_pin_settg.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
+int_config.int_pin_settg.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
+int_config.int_pin_settg.output_type = BMI160_DISABLE;// Choosing active low output
+int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output
+int_config.int_pin_settg.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input
+int_config.int_pin_settg.latch_dur = BMI160_LATCH_DUR_NONE;// non-latched output
+
+/* Select the Any-motion interrupt parameters */
+int_config.int_type_cfg.acc_any_motion_int.anymotion_en = BMI160_ENABLE;// 1- Enable the any-motion, 0- disable any-motion 
+int_config.int_type_cfg.acc_any_motion_int.anymotion_x = BMI160_ENABLE;// Enabling x-axis for any motion interrupt
+int_config.int_type_cfg.acc_any_motion_int.anymotion_y = BMI160_ENABLE;// Enabling y-axis for any motion interrupt
+int_config.int_type_cfg.acc_any_motion_int.anymotion_z = BMI160_ENABLE;// Enabling z-axis for any motion interrupt
+int_config.int_type_cfg.acc_any_motion_int.anymotion_dur = 0;// any-motion duration
+int_config.int_type_cfg.acc_any_motion_int.anymotion_thr = 20;// (2-g range) -> (slope_thr) * 3.91 mg, (4-g range) -> (slope_thr) * 7.81 mg, (8-g range) ->(slope_thr) * 15.63 mg, (16-g range) -> (slope_thr) * 31.25 mg 
+
+/* Set the Any-motion interrupt */
+bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev  */
+
+```
+### Configuring Flat Interrupt
+#### Example for configuring Flat Interrupt
+``` c
+
+struct bmi160_int_settg int_config;
+
+/* Select the Interrupt channel/pin */
+int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
+
+/* Select the Interrupt type */
+int_config.int_type = BMI160_ACC_FLAT_INT;// Choosing flat interrupt
+/* Select the interrupt channel/pin settings */
+int_config.int_pin_settg.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
+int_config.int_pin_settg.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
+int_config.int_pin_settg.output_type = BMI160_DISABLE;// Choosing active low output
+int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output
+int_config.int_pin_settg.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input
+int_config.int_pin_settg.latch_dur = BMI160_LATCH_DUR_NONE;// non-latched output
+
+/* Select the Flat interrupt parameters */
+int_config.int_type_cfg.acc_flat_int.flat_en = BMI160_ENABLE;// 1-enable, 0-disable the flat interrupt
+int_config.int_type_cfg.acc_flat_int.flat_theta = 8;// threshold for detection of flat position in range from 0° to 44.8°.
+int_config.int_type_cfg.acc_flat_int.flat_hy = 1;// Flat hysteresis
+int_config.int_type_cfg.acc_flat_int.flat_hold_time = 1;// Flat hold time (0 -> 0 ms, 1 -> 640 ms, 2 -> 1280 ms, 3 -> 2560 ms)
+
+/* Set the Flat interrupt */
+bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */
+
+```
+
+
+### Configuring Step Detector Interrupt
+#### Example for configuring Step Detector Interrupt
+``` c
+
+struct bmi160_int_settg int_config;
+
+/* Select the Interrupt channel/pin */
+int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
+
+/* Select the Interrupt type */
+int_config.int_type = BMI160_STEP_DETECT_INT;// Choosing Step Detector interrupt
+/* Select the interrupt channel/pin settings */
+int_config.int_pin_settg.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
+int_config.int_pin_settg.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
+int_config.int_pin_settg.output_type = BMI160_ENABLE;// Choosing active High output
+int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output
+int_config.int_pin_settg.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input
+int_config.int_pin_settg.latch_dur =BMI160_LATCH_DUR_NONE;// non-latched output
+
+/* Select the Step Detector interrupt parameters, Kindly use the recommended settings for step detector */
+int_config.int_type_cfg.acc_step_detect_int.step_detector_mode = BMI160_STEP_DETECT_NORMAL;
+int_config.int_type_cfg.acc_step_detect_int.step_detector_en = BMI160_ENABLE;// 1-enable, 0-disable the step detector
+
+/* Set the Step Detector interrupt */
+bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */
+
+```
+
+### Configuring Step counter
+To configure the step counter, user need to configure the step detector interrupt as described in above section.
+After configuring step detector, see the below code snippet for user space & ISR
+
+### User space
+``` c
+int8_t rslt = BMI160_OK;
+uint8_t step_enable = 1;//enable the step counter
+
+rslt = bmi160_set_step_counter(step_enable,  &sensor);
+```
+
+### ISR
+``` c
+int8_t rslt = BMI160_OK;
+uint16_t step_count = 0;//stores the step counter value
+
+rslt = bmi160_read_step_counter(&step_count,  &sensor);
+```
+
+### Unmapping Interrupt
+#### Example for unmapping Step Detector Interrupt
+``` c
+struct bmi160_int_settg int_config;
+
+/* Deselect the Interrupt channel/pin */
+int_config.int_channel = BMI160_INT_CHANNEL_NONE;
+/* Select the Interrupt type */
+int_config.int_type = BMI160_STEP_DETECT_INT;// Choosing Step Detector interrupt
+/* Set the Step Detector interrupt */
+bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */
+```
+
+### Reading interrupt status
+#### Example for reading interrupt status for step detector
+``` c
+union bmi160_int_status interrupt;
+enum bmi160_int_status_sel int_status_sel;
+
+/* Interrupt status selection to read all interrupts */
+int_status_sel = BMI160_INT_STATUS_ALL;
+rslt = bmi160_get_int_status(int_status_sel, &interrupt, &sensor);
+if (interrupt.bit.step)
+	printf("Step detector interrupt occured\n");
+```
+
+### Configuring the auxiliary sensor BMM150
+It is assumed that secondary interface of bmi160 has external pull-up resistor in order to access the auxiliary sensor bmm150.
+
+### Accessing auxiliary BMM150 with BMM150 APIs via BMI160 secondary interface.
+
+## Integration details 
+* Integrate the souce codes of BMM150 and BMI160 in project.
+* Include the bmi160.h and bmm150.h file in your code like below.
+* It is mandatory to initialize the bmi160 device structure for primary interface and auxiliary sensor settings.
+* Create two wrapper functions , user_aux_read and user_aux_write in order to match the signature as mentioned below.
+* Invoke the "bmi160_aux_init" API to initialise the secondary interface in BMI160.
+* Invoke the "bmm150_init" API to initialise the BMM150 sensor.
+* Now we can use the BMM150 sensor APIs to access the BMM150 via BMI160.
+
+``` c
+/* main.c file */
+#include "bmi160.h"
+#include "bmm150.h"
+```
+### Initialization of auxiliary sensor BMM150
+```
+
+/* main.c file */
+struct bmm150_dev bmm150;
+
+/* function declaration */
+int8_t user_aux_read(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len);
+int8_t user_aux_write(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len);
+
+/* Configure device structure for auxiliary sensor parameter */
+sensor.aux_cfg.aux_sensor_enable = 1; // auxiliary sensor enable
+sensor.aux_cfg.aux_i2c_addr = BMI160_AUX_BMM150_I2C_ADDR; // auxiliary sensor address
+sensor.aux_cfg.manual_enable = 1; // setup mode enable
+sensor.aux_cfg.aux_rd_burst_len = 2;// burst read of 2 byte
+
+/* Configure the BMM150 device structure by 
+mapping user_aux_read and user_aux_write */
+bmm150.read = user_aux_read;
+bmm150.write = user_aux_write;
+bmm150.id = BMM150_DEFAULT_I2C_ADDRESS; 
+/* Ensure that sensor.aux_cfg.aux_i2c_addr = bmm150.id
+   for proper sensor operation */
+bmm150.delay_ms = delay_ms;
+bmm150.interface = BMM150_I2C_INTF;
+
+/* Initialize the auxiliary sensor interface */
+rslt = bmi160_aux_init(&sensor);
+
+/* Auxiliary sensor is enabled and can be accessed from this point */
+
+/* Configure the desired settings in auxiliary BMM150 sensor 
+ * using the bmm150 APIs */
+
+/* Initialising the bmm150 sensor */
+rslt = bmm150_init(&bmm150);
+
+/* Set the power mode and preset mode to enable Mag data sampling */
+bmm150.settings.pwr_mode = BMM150_NORMAL_MODE;
+rslt = bmm150_set_op_mode(&bmm150);
+
+bmm150.settings.preset_mode= BMM150_PRESETMODE_LOWPOWER;
+rslt = bmm150_set_presetmode(&bmm150);
+
+```
+### Wrapper functions
+```
+
+/*wrapper function to match the signature of bmm150.read */
+int8_t user_aux_read(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len)
+{
+	int8_t rslt;
+	
+	/* Discarding the parameter id as it is redundant*/
+        rslt = bmi160_aux_read(reg_addr, aux_data, len, &bmi160);
+
+	return rslt;
+}
+
+/*wrapper function to match the signature of bmm150.write */
+int8_t user_aux_write(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len)
+{
+	int8_t rslt;
+	
+	/* Discarding the parameter id as it is redundant */
+	rslt = bmi160_aux_write(reg_addr, aux_data, len, &bmi160);
+
+	return rslt;
+}
+
+```
+
+### Initialization of auxiliary BMM150 in auto mode
+Any sensor whose data bytes are less than or equal to 8 bytes can be synchronized with the BMI160 
+and read out of Accelerometer + Gyroscope + Auxiliary sensor data of that instance is possible
+which helps in creating less latency fusion data
+
+```
+/* Initialize the Auxiliary BMM150 following the above code 
+ * until setting the power mode (Set the power mode as forced mode)
+ * and preset mode */
+
+	/* In BMM150 Mag data starts from register address 0x42 */
+	uint8_t aux_addr = 0x42;
+	/* Buffer to store the Mag data from 0x42 to 0x48 */	
+	uint8_t mag_data[8] = {0};
+	
+	uint8_t index;
+		
+	/* Configure the Auxiliary sensor either in auto/manual modes and set the 
+	polling frequency for the Auxiliary interface */	
+	sensor.aux_cfg.aux_odr = 8; /* Represents polling rate in 100 Hz*/
+	rslt = bmi160_config_aux_mode(&sensor)
+	
+	/* Set the auxiliary sensor to auto mode */
+	rslt = bmi160_set_aux_auto_mode(&aux_addr, &sensor);
+
+	/* Reading data from BMI160 data registers */
+	rslt = bmi160_read_aux_data_auto_mode(mag_data, &sensor);
+
+	printf("\n RAW DATA ");
+	for(index = 0 ; index < 8 ; index++)
+	{
+		printf("\n MAG DATA[%d] : %d ", index, mag_data[index]);
+	}
+	
+	/* Compensating the raw mag data available from the BMM150 API */
+	rslt = bmm150_aux_mag_data(mag_data, &bmm150);
+	
+	printf("\n COMPENSATED DATA ");
+	printf("\n MAG DATA X : %d Y : %d Z : %d", bmm150.data.x, bmm150.data.y, bmm150.data.z);
+	
+
+```
+
+### Auxiliary FIFO data parsing
+The Auxiliary sensor data can be stored in FIFO , Here we demonstrate an example for 
+using the Bosch Magnetometer sensor BMM150 and storing its data in FIFO
+
+```
+/* Initialize the Aux BMM150 following the above 
+ * code and by creating the Wrapper functions */
+
+	int8_t rslt = 0;
+	uint8_t aux_instance = 0;
+	uint16_t fifo_cnt = 0;
+	uint8_t auto_mode_addr;
+	uint8_t i;
+
+	/* Setup and configure the FIFO buffer */
+	/* Declare memory to store the raw FIFO buffer information */
+	uint8_t fifo_buff[1000] = {0};
+
+	/* Modify the FIFO buffer instance and link to the device instance */
+	struct bmi160_fifo_frame fifo_frame;
+	fifo_frame.data = fifo_buff;
+	fifo_frame.length = 1000;
+	dev->fifo = &fifo_frame;
+
+	/* Declare instances of the sensor data structure to store the parsed FIFO data */
+	struct bmi160_aux_data aux_data[112]; //1000 / 9 bytes per frame ~ 111 data frames
+
+	rslt = bmi160_init(dev);
+	printf("\n BMI160 chip ID is : %d ",dev->chip_id);
+
+	rslt = bmi160_aux_init(dev);
+
+	rslt = bmm150_init(&bmm150);
+	printf("\n BMM150 CHIP ID : %d",bmm150.chip_id);
+
+	bmm150.settings.preset_mode = BMM150_PRESETMODE_LOWPOWER;
+	rslt = bmm150_set_presetmode(&bmm150);
+
+	bmm150.settings.pwr_mode = BMM150_FORCED_MODE;
+	rslt = bmm150_set_op_mode(&bmm150);
+
+	/* Enter the data register of BMM150 to "auto_mode_addr" here it is 0x42 */
+	auto_mode_addr = 0x42;
+	printf("\n ENTERING AUX. AUTO MODE ");
+	dev->aux_cfg.aux_odr = BMI160_AUX_ODR_25HZ;
+	rslt = bmi160_set_aux_auto_mode(&auto_mode_addr, dev);
+
+
+	/* Disable other FIFO settings */
+	rslt = bmi160_set_fifo_config(BMI160_FIFO_CONFIG_1_MASK , BMI160_DISABLE, dev);
+
+	/* Enable the required FIFO settings */
+	rslt = bmi160_set_fifo_config(BMI160_FIFO_AUX | BMI160_FIFO_HEADER, BMI160_ENABLE, dev);
+
+	/* Delay for the FIFO to get filled */
+	dev->delay_ms(400);
+
+
+	printf("\n FIFO DATA REQUESTED (in bytes): %d",dev->fifo->length);
+	rslt = bmi160_get_fifo_data(dev);
+	printf("\n FIFO DATA AVAILABLE (in bytes): %d",dev->fifo->length);
+
+	/* Print the raw FIFO data obtained */
+	for(fifo_cnt = 0; fifo_cnt < dev->fifo->length ; fifo_cnt++) {
+		printf("\n FIFO DATA [%d] IS : %x  ",fifo_cnt ,dev->fifo->data[fifo_cnt]);
+	}
+
+	printf("\n\n----------------------------------------------------\n");
+
+	/* Set the number of required sensor data instances */
+	aux_instance = 150;
+
+	/* Extract the aux data , 1frame = 8 data bytes */
+	printf("\n AUX DATA REQUESTED TO BE EXTRACTED (in frames): %d",aux_instance);
+	rslt = bmi160_extract_aux(aux_data, &aux_instance, dev);
+	printf("\n AUX DATA ACTUALLY EXTRACTED (in frames): %d",aux_instance);
+
+	/* Printing the raw aux data */
+	for (i = 0; i < aux_instance; i++) {
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[0]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[1]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[2]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[3]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[4]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[5]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[6]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[7]);
+	}
+
+	printf("\n\n----------------------------------------------------\n");
+
+	/* Compensate the raw mag data using BMM150 API */
+	for (i = 0; i < aux_instance; i++) {
+		printf("\n----------------------------------------------------");
+		printf("\n Aux data[%d] : %x , %x , %x , %x , %x , %x , %x , %x",i
+					,aux_data[i].data[0],aux_data[i].data[1]
+					,aux_data[i].data[2],aux_data[i].data[3]
+					,aux_data[i].data[4],aux_data[i].data[5]
+					,aux_data[i].data[6],aux_data[i].data[7]);
+
+		/* Compensated mag data using BMM150 API */
+		rslt = bmm150_aux_mag_data(&aux_data[i].data[0], &bmm150);
+
+		/* Printing the  Compensated mag data */
+		if (rslt == BMM150_OK) {
+			printf("\n MAG DATA COMPENSATION USING BMM150 APIs");
+			printf("\n COMPENSATED DATA ");
+			printf("\n MAG DATA X : %d	Y : %d      Z : %d"
+				, bmm150.data.x, bmm150.data.y, bmm150.data.z);
+
+		} else {
+			printf("\n MAG DATA COMPENSATION IN BMM150 API is FAILED ");
+		}
+		printf("\n----------------------------------------------------\n");
+	}
+
+```
+
+## Self-test  
+#### Example for performing accel self test
+```
+/* Call the "bmi160_init" API as a prerequisite before performing self test
+ * since invoking self-test will reset the sensor */
+
+	rslt = bmi160_perform_self_test(BMI160_ACCEL_ONLY, sen);
+	/* Utilize the enum BMI160_GYRO_ONLY instead of BMI160_ACCEL_ONLY
+	   to perform self test for gyro */
+	if (rslt == BMI160_OK) {
+		printf("\n ACCEL SELF TEST RESULT SUCCESS);
+	} else {
+		printf("\n ACCEL SELF TEST RESULT FAIL);
+	}
+```
+
+
+## FIFO 
+#### Example for reading FIFO and extracting Gyro data in Header mode
+```
+/* An example to read the Gyro data in header mode along with sensor time (if available)
+ * Configure the gyro sensor as prerequisite and follow the below example to read and
+ * obtain the gyro data from FIFO */
+int8_t fifo_gyro_header_time_data(struct bmi160_dev *dev)
+{
+	int8_t rslt = 0;
+
+	/* Declare memory to store the raw FIFO buffer information */
+	uint8_t fifo_buff[300];
+	
+	/* Modify the FIFO buffer instance and link to the device instance */
+	struct bmi160_fifo_frame fifo_frame;
+	fifo_frame.data = fifo_buff;
+	fifo_frame.length = 300;
+	dev->fifo = &fifo_frame;
+	uint16_t index = 0;
+	
+	/* Declare instances of the sensor data structure to store the parsed FIFO data */
+	struct bmi160_sensor_data gyro_data[42]; // 300 bytes / ~7bytes per frame ~ 42 data frames
+	uint8_t gyro_frames_req = 42; 
+	uint8_t gyro_index;
+	
+	/* Configure the sensor's FIFO settings */
+	rslt = bmi160_set_fifo_config(BMI160_FIFO_GYRO | BMI160_FIFO_HEADER | BMI160_FIFO_TIME,
+					BMI160_ENABLE, dev);
+					
+	if (rslt == BMI160_OK) {
+		/* At ODR of 100 Hz ,1 frame gets updated in 1/100 = 0.01s
+		i.e. for 42 frames we need 42 * 0.01 = 0.42s = 420ms delay */
+		dev->delay_ms(420); 
+	
+		/* Read data from the sensor's FIFO and store it the FIFO buffer,"fifo_buff" */
+		printf("\n USER REQUESTED FIFO LENGTH : %d\n",dev->fifo->length);
+		rslt = bmi160_get_fifo_data(dev);
+
+		if (rslt == BMI160_OK) {
+			printf("\n AVAILABLE FIFO LENGTH : %d\n",dev->fifo->length);
+			/* Print the raw FIFO data */
+			for (index = 0; index < dev->fifo->length; index++) {
+				printf("\n FIFO DATA INDEX[%d] = %d", index,
+					dev->fifo->data[index]);
+			}
+			/* Parse the FIFO data to extract gyro data from the FIFO buffer */
+			printf("\n REQUESTED GYRO DATA FRAMES : %d\n ",gyro_frames_req);
+			rslt = bmi160_extract_gyro(gyro_data, &gyro_frames_req, dev);
+
+			if (rslt == BMI160_OK) {
+				printf("\n AVAILABLE GYRO DATA FRAMES : %d\n ",gyro_frames_req);
+				
+				/* Print the parsed gyro data from the FIFO buffer */
+				for (gyro_index = 0; gyro_index < gyro_frames_req; gyro_index++) {
+					printf("\nFIFO GYRO FRAME[%d]",gyro_index);
+					printf("\nGYRO X-DATA : %d \t Y-DATA : %d \t Z-DATA : %d"
+						,gyro_data[gyro_index].x ,gyro_data[gyro_index].y
+						,gyro_data[gyro_index].z);
+				}
+				/* Print the special FIFO frame data like sensortime */
+				printf("\n SENSOR TIME DATA : %d \n",dev->fifo->sensor_time);
+				printf("SKIPPED FRAME COUNT : %d",dev->fifo->skipped_frame_count);
+			} else {
+				printf("\n Gyro data extraction failed");
+			}
+		} else {
+			printf("\n Reading FIFO data failed");
+		}
+	} else {
+		printf("\n Setting FIFO configuration failed");
+	}
+
+	return rslt;
+}
+```
+
+## FOC and offset compensation
+> FOC shouldnot be used in Low-power mode
+#### Example for configuring FOC for accel and gyro
+```
+/* An example for configuring FOC for accel and gyro data */
+int8_t start_foc(struct bmi160_dev *dev)
+{
+	int8_t rslt = 0;
+	/* FOC configuration structure */
+	struct bmi160_foc_conf foc_conf;
+	/* Structure to store the offsets */
+	struct bmi160_offsets offsets;
+	
+	/* Enable FOC for accel with target values of z = 1g ; x,y as 0g */
+	foc_conf.acc_off_en = BMI160_ENABLE;
+	foc_conf.foc_acc_x  = BMI160_FOC_ACCEL_0G;
+	foc_conf.foc_acc_y  = BMI160_FOC_ACCEL_0G;
+	foc_conf.foc_acc_z  = BMI160_FOC_ACCEL_POSITIVE_G;
+	
+	/* Enable FOC for gyro */
+	foc_conf.foc_gyr_en = BMI160_ENABLE;
+	foc_conf.gyro_off_en = BMI160_ENABLE;
+
+	rslt = bmi160_start_foc(&foc_conf, &offsets, sen);
+	
+	if (rslt == BMI160_OK) {
+		printf("\n FOC DONE SUCCESSFULLY ");
+		printf("\n OFFSET VALUES AFTER FOC : ");
+		printf("\n OFFSET VALUES ACCEL X : %d ",offsets.off_acc_x);
+		printf("\n OFFSET VALUES ACCEL Y : %d ",offsets.off_acc_y);
+		printf("\n OFFSET VALUES ACCEL Z : %d ",offsets.off_acc_z);
+		printf("\n OFFSET VALUES GYRO  X : %d ",offsets.off_gyro_x);
+		printf("\n OFFSET VALUES GYRO  Y : %d ",offsets.off_gyro_y);
+		printf("\n OFFSET VALUES GYRO  Z : %d ",offsets.off_gyro_z);	
+	}
+	
+	/* After start of FOC offsets will be updated automatically and 
+	 * the data will be very much close to the target values of measurement */
+
+	return rslt;
+}
+```
+
+#### Example for updating the offsets manually
+> The offsets set by this method will be reset on soft-reset/POR 
+```
+/* An example for updating manual offsets to sensor */
+int8_t write_offsets(struct bmi160_dev *dev)
+{
+	int8_t rslt = 0;
+	/* FOC configuration structure */
+	struct bmi160_foc_conf foc_conf;
+	/* Structure to store the offsets */
+	struct bmi160_offsets offsets;
+	
+	/* Enable offset update for accel */
+	foc_conf.acc_off_en = BMI160_ENABLE;
+
+	/* Enable offset update for gyro */
+	foc_conf.gyro_off_en = BMI160_ENABLE;
+	
+	/* offset values set by user */
+	offsets.off_acc_x = 0x10;
+	offsets.off_acc_y = 0x10;
+	offsets.off_acc_z = 0x10;
+	offsets.off_gyro_x = 0x10;
+	offsets.off_gyro_y = 0x10;
+	offsets.off_gyro_z = 0x10;
+
+	rslt = bmi160_set_offsets(&foc_conf, &offsets, sen);
+	
+	/* After offset setting the data read from the 
+	 * sensor will have the corresponding offset */
+	
+	return rslt;
+}
+```
+
+#### Example for updating the offsets into NVM
+> The offsets set by this method will be present in NVM and will be 
+> restored on POR/soft-reset
+```
+/* An example for updating manual offsets to sensor */
+int8_t write_offsets_nvm(struct bmi160_dev *dev)
+{
+	int8_t rslt = 0;
+	/* FOC configuration structure */
+	struct bmi160_foc_conf foc_conf;
+	/* Structure to store the offsets */
+	struct bmi160_offsets offsets;
+	
+	/* Enable offset update for accel */
+	foc_conf.acc_off_en = BMI160_ENABLE;
+
+	/* Enable offset update for gyro */
+	foc_conf.gyro_off_en = BMI160_ENABLE;
+	
+	/* offset values set by user as per their reference 
+	 * Resolution of accel = 3.9mg/LSB 
+	 * Resolution of gyro  = (0.061degrees/second)/LSB */
+	offsets.off_acc_x = 10;
+	offsets.off_acc_y = -15;
+	offsets.off_acc_z = 20;
+	offsets.off_gyro_x = 30;
+	offsets.off_gyro_y = -35;
+	offsets.off_gyro_z = -40;
+
+	rslt = bmi160_set_offsets(&foc_conf, &offsets, sen);
+	 
+	if (rslt == BMI160_OK) {
+		/* Update the NVM */
+		rslt = bmi160_update_nvm(dev);
+	}
+	
+	/* After this procedure the offsets are written to 
+	 * NVM and restored on POR/soft-reset 
+	 * The set values can be removed to ideal case by 
+	 * invoking the following APIs
+	 *     - bmi160_start_foc()	 
+	 *     - bmi160_update_nvm()
+	 */
+
+	return rslt;
+}
+```
+
+
+
+## Copyright (C) 2016 - 2017 Bosch Sensortec GmbH

bmi160.c

@@ -1,6336 +1,6360 @@
-/**
- * Copyright (C) 2018 - 2019 Bosch Sensortec GmbH
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- *
- * Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- *
- * Neither the name of the copyright holder nor the names of the
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
- * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
- * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
- * OR CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
- * OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
- * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
- * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
- *
- * The information provided is believed to be accurate and reliable.
- * The copyright holder assumes no responsibility
- * for the consequences of use
- * of such information nor for any infringement of patents or
- * other rights of third parties which may result from its use.
- * No license is granted by implication or otherwise under any patent or
- * patent rights of the copyright holder.
- *
- * @file    bmi160.c
- * @date   13 Mar 2019
- * @version 3.7.7
- * @brief
- *
- */
-
-/*!
- * @defgroup bmi160
- * @brief
- * @{*/
-
-#include "bmi160.h"
-
-/* Below look up table follows the enum bmi160_int_types.
- * Hence any change should match to the enum bmi160_int_types
- */
-const uint8_t int_mask_lookup_table[13] = {
-    BMI160_INT1_SLOPE_MASK, BMI160_INT1_SLOPE_MASK, BMI160_INT2_LOW_STEP_DETECT_MASK, BMI160_INT1_DOUBLE_TAP_MASK,
-    BMI160_INT1_SINGLE_TAP_MASK, BMI160_INT1_ORIENT_MASK, BMI160_INT1_FLAT_MASK, BMI160_INT1_HIGH_G_MASK,
-    BMI160_INT1_LOW_G_MASK, BMI160_INT1_NO_MOTION_MASK, BMI160_INT2_DATA_READY_MASK, BMI160_INT2_FIFO_FULL_MASK,
-    BMI160_INT2_FIFO_WM_MASK
-};
-
-/*********************************************************************/
-/* Static function declarations */
-
-/*!
- * @brief This API configures the pins to fire the
- * interrupt signal when it occurs
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_intr_pin_config(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API sets the any-motion interrupt of the sensor.
- * This interrupt occurs when accel values exceeds preset threshold
- * for a certain period of time.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_any_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
-
-/*!
- * @brief This API sets tap interrupts.Interrupt is fired when
- * tap movements happen.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_tap_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API sets the data ready interrupt for both accel and gyro.
- * This interrupt occurs when new accel and gyro data come.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_gyro_data_ready_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API sets the significant motion interrupt of the sensor.This
- * interrupt occurs when there is change in user location.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_sig_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
-
-/*!
- * @brief This API sets the no motion/slow motion interrupt of the sensor.
- * Slow motion is similar to any motion interrupt.No motion interrupt
- * occurs when slope bet. two accel values falls below preset threshold
- * for preset duration.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_no_motion_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API sets the step detection interrupt.This interrupt
- * occurs when the single step causes accel values to go above
- * preset threshold.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_step_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API sets the orientation interrupt of the sensor.This
- * interrupt occurs when there is orientation change in the sensor
- * with respect to gravitational field vector g.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_orientation_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API sets the flat interrupt of the sensor.This interrupt
- * occurs in case of flat orientation
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_flat_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API sets the low-g interrupt of the sensor.This interrupt
- * occurs during free-fall.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_low_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API sets the high-g interrupt of the sensor.The interrupt
- * occurs if the absolute value of acceleration data of any enabled axis
- * exceeds the programmed threshold and the sign of the value does not
- * change for a preset duration.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_high_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API sets the default configuration parameters of accel & gyro.
- * Also maintain the previous state of configurations.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static void default_param_settg(struct bmi160_dev *dev);
-
-/*!
- * @brief This API is used to validate the device structure pointer for
- * null conditions.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t null_ptr_check(const struct bmi160_dev *dev);
-
-/*!
- * @brief This API set the accel configuration.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_conf(struct bmi160_dev *dev);
-
-/*!
- * @brief This API check the accel configuration.
- *
- * @param[in] data        : Pointer to store the updated accel config.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t check_accel_config(uint8_t *data, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API process the accel odr.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_accel_odr(uint8_t *data, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API process the accel bandwidth.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_accel_bw(uint8_t *data, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API process the accel range.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_accel_range(uint8_t *data, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API checks the invalid settings for ODR & Bw for Accel and Gyro.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t check_invalid_settg(const struct bmi160_dev *dev);
-
-/*!
- * @brief This API set the gyro configuration.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_gyro_conf(struct bmi160_dev *dev);
-
-/*!
- * @brief This API check the gyro configuration.
- *
- * @param[in] data        : Pointer to store the updated gyro config.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t check_gyro_config(uint8_t *data, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API process the gyro odr.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_gyro_odr(uint8_t *data, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API process the gyro bandwidth.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_gyro_bw(uint8_t *data, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API process the gyro range.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_gyro_range(uint8_t *data, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API sets the accel power mode.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_pwr(struct bmi160_dev *dev);
-
-/*!
- * @brief This API process the undersampling setting of Accel.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_under_sampling(uint8_t *data, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API sets the gyro power mode.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_gyro_pwr(struct bmi160_dev *dev);
-
-/*!
- * @brief This API reads accel data along with sensor time if time is requested
- * by user. Kindly refer the user guide(README.md) for more info.
- *
- * @param[in] len    : len to read no of bytes
- * @param[out] accel    : Structure pointer to store accel data
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t get_accel_data(uint8_t len, struct bmi160_sensor_data *accel, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API reads accel data along with sensor time if time is requested
- * by user. Kindly refer the user guide(README.md) for more info.
- *
- * @param[in] len    : len to read no of bytes
- * @param[out] gyro    : Structure pointer to store accel data
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t get_gyro_data(uint8_t len, struct bmi160_sensor_data *gyro, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API reads accel and gyro data along with sensor time
- * if time is requested by user.
- * Kindly refer the user guide(README.md) for more info.
- *
- * @param[in] len    : len to read no of bytes
- * @param[out] accel    : Structure pointer to store accel data
- * @param[out] gyro    : Structure pointer to store accel data
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t get_accel_gyro_data(uint8_t len,
-                                  struct bmi160_sensor_data *accel,
-                                  struct bmi160_sensor_data *gyro,
-                                  const struct bmi160_dev *dev);
-
-/*!
- * @brief This API enables the any-motion interrupt for accel.
- *
- * @param[in] any_motion_int_cfg   : Structure instance of
- *                   bmi160_acc_any_mot_int_cfg.
- * @param[in] dev          : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_accel_any_motion_int(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
-                                          struct bmi160_dev *dev);
-
-/*!
- * @brief This API disable the sig-motion interrupt.
- *
- * @param[in] dev   : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t disable_sig_motion_int(const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for any-motion interrupt.
- *
- * @param[in] any_motion_int_cfg  : Structure instance of
- *                  bmi160_acc_any_mot_int_cfg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_any_motion_src(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
-                                    const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the duration and threshold of
- * any-motion interrupt.
- *
- * @param[in] any_motion_int_cfg  : Structure instance of
- *                  bmi160_acc_any_mot_int_cfg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_any_dur_threshold(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
-                                       const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure necessary setting of any-motion interrupt.
- *
- * @param[in] int_config       : Structure instance of bmi160_int_settg.
- * @param[in] any_motion_int_cfg   : Structure instance of
- *                   bmi160_acc_any_mot_int_cfg.
- * @param[in] dev          : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_any_motion_int_settg(const struct bmi160_int_settg *int_config,
-                                          const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
-                                          const struct bmi160_dev *dev);
-
-/*!
- * @brief This API enable the data ready interrupt.
- *
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_data_ready_int(const struct bmi160_dev *dev);
-
-/*!
- * @brief This API enables the no motion/slow motion interrupt.
- *
- * @param[in] no_mot_int_cfg    : Structure instance of
- *                bmi160_acc_no_motion_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_no_motion_int(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
-                                   const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * no motion/slow motion interrupt.
- *
- * @param[in] int_config    : structure instance of bmi160_int_settg.
- * @param[in] no_mot_int_cfg    : Structure instance of
- *                bmi160_acc_no_motion_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_no_motion_int_settg(const struct bmi160_int_settg *int_config,
-                                         const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
-                                         const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the source of interrupt for no motion.
- *
- * @param[in] no_mot_int_cfg    : Structure instance of
- *                bmi160_acc_no_motion_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_no_motion_data_src(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
-                                        const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the duration and threshold of
- * no motion/slow motion interrupt along with selection of no/slow motion.
- *
- * @param[in] no_mot_int_cfg    : Structure instance of
- *                bmi160_acc_no_motion_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_no_motion_dur_thr(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
-                                       const struct bmi160_dev *dev);
-
-/*!
- * @brief This API enables the sig-motion motion interrupt.
- *
- * @param[in] sig_mot_int_cfg   : Structure instance of
- *                bmi160_acc_sig_mot_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_sig_motion_int(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg, struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * significant motion interrupt.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] sig_mot_int_cfg   : Structure instance of
- *                bmi160_acc_sig_mot_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_sig_motion_int_settg(const struct bmi160_int_settg *int_config,
-                                          const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
-                                          const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for sig motion interrupt.
- *
- * @param[in] sig_mot_int_cfg   : Structure instance of
- *                bmi160_acc_sig_mot_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_sig_motion_data_src(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
-                                         const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the threshold, skip and proof time of
- * sig motion interrupt.
- *
- * @param[in] sig_mot_int_cfg   : Structure instance of
- *                bmi160_acc_sig_mot_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_sig_dur_threshold(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
-                                       const struct bmi160_dev *dev);
-
-/*!
- * @brief This API enables the step detector interrupt.
- *
- * @param[in] step_detect_int_cfg   : Structure instance of
- *                    bmi160_acc_step_detect_int_cfg.
- * @param[in] dev           : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_step_detect_int(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg,
-                                     const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the step detector parameter.
- *
- * @param[in] step_detect_int_cfg   : Structure instance of
- *                    bmi160_acc_step_detect_int_cfg.
- * @param[in] dev           : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_step_detect(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg,
-                                 const struct bmi160_dev *dev);
-
-/*!
- * @brief This API enables the single/double tap interrupt.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_tap_int(const struct bmi160_int_settg *int_config,
-                             const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
-                             const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * tap interrupt.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_tap_int_settg(const struct bmi160_int_settg *int_config,
-                                   const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
-                                   const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for tap interrupt.
- *
- * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_tap_data_src(const struct bmi160_acc_tap_int_cfg *tap_int_cfg, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the  parameters of tap interrupt.
- * Threshold, quite, shock, and duration.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_tap_param(const struct bmi160_int_settg *int_config,
-                               const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
-                               const struct bmi160_dev *dev);
-
-/*!
- * @brief This API enable the external mode configuration.
- *
- * @param[in] dev   : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_sec_if(const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the ODR of the auxiliary sensor.
- *
- * @param[in] dev   : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_aux_odr(const struct bmi160_dev *dev);
-
-/*!
- * @brief This API maps the actual burst read length set by user.
- *
- * @param[in] len   : Pointer to store the read length.
- * @param[in] dev   : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t map_read_len(uint16_t *len, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the settings of auxiliary sensor.
- *
- * @param[in] dev   : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_aux_settg(const struct bmi160_dev *dev);
-
-/*!
- * @brief This API extract the read data from auxiliary sensor.
- *
- * @param[in] map_len     : burst read value.
- * @param[in] reg_addr    : Address of register to read.
- * @param[in] aux_data    : Pointer to store the read data.
- * @param[in] len     : length to read the data.
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
- */
-static int8_t extract_aux_read(uint16_t map_len,
-                               uint8_t reg_addr,
-                               uint8_t *aux_data,
-                               uint16_t len,
-                               const struct bmi160_dev *dev);
-
-/*!
- * @brief This API enables the orient interrupt.
- *
- * @param[in] orient_int_cfg : Structure instance of bmi160_acc_orient_int_cfg.
- * @param[in] dev        : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_orient_int(const struct bmi160_acc_orient_int_cfg *orient_int_cfg, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the necessary setting of orientation interrupt.
- *
- * @param[in] orient_int_cfg : Structure instance of bmi160_acc_orient_int_cfg.
- * @param[in] dev        : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_orient_int_settg(const struct bmi160_acc_orient_int_cfg *orient_int_cfg,
-                                      const struct bmi160_dev *dev);
-
-/*!
- * @brief This API enables the flat interrupt.
- *
- * @param[in] flat_int  : Structure instance of bmi160_acc_flat_detect_int_cfg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_flat_int(const struct bmi160_acc_flat_detect_int_cfg *flat_int, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the necessary setting of flat interrupt.
- *
- * @param[in] flat_int  : Structure instance of bmi160_acc_flat_detect_int_cfg.
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_flat_int_settg(const struct bmi160_acc_flat_detect_int_cfg *flat_int,
-                                    const struct bmi160_dev *dev);
-
-/*!
- * @brief This API enables the Low-g interrupt.
- *
- * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_low_g_int(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter) for low-g interrupt.
- *
- * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_low_g_data_src(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the necessary setting of low-g interrupt.
- *
- * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_low_g_int_settg(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API enables the high-g interrupt.
- *
- * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
- * @param[in] dev        : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_high_g_int(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for high-g interrupt.
- *
- * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
- * @param[in] dev        : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_high_g_data_src(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg,
-                                     const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the necessary setting of high-g interrupt.
- *
- * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
- * @param[in] dev        : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_high_g_int_settg(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg,
-                                      const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the behavioural setting of interrupt pin.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_int_out_ctrl(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configure the mode(input enable, latch or non-latch) of interrupt pin.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_int_latch(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API performs the self test for accelerometer of BMI160
- *
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t perform_accel_self_test(struct bmi160_dev *dev);
-
-/*!
- * @brief This API enables to perform the accel self test by setting proper
- * configurations to facilitate accel self test
- *
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_accel_self_test(struct bmi160_dev *dev);
-
-/*!
- * @brief This API performs accel self test with positive excitation
- *
- * @param[in] accel_pos : Structure pointer to store accel data
- *                        for positive excitation
- * @param[in] dev   : structure instance of bmi160_dev
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t accel_self_test_positive_excitation(struct bmi160_sensor_data *accel_pos, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API performs accel self test with negative excitation
- *
- * @param[in] accel_neg : Structure pointer to store accel data
- *                        for negative excitation
- * @param[in] dev   : structure instance of bmi160_dev
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t accel_self_test_negative_excitation(struct bmi160_sensor_data *accel_neg, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API validates the accel self test results
- *
- * @param[in] accel_pos : Structure pointer to store accel data
- *                        for positive excitation
- * @param[in] accel_neg : Structure pointer to store accel data
- *                        for negative excitation
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error / +ve value -> Self test fail
- */
-static int8_t validate_accel_self_test(const struct bmi160_sensor_data *accel_pos,
-                                       const struct bmi160_sensor_data *accel_neg);
-
-/*!
- * @brief This API performs the self test for gyroscope of BMI160
- *
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t perform_gyro_self_test(const struct bmi160_dev *dev);
-
-/*!
- * @brief This API enables the self test bit to trigger self test for gyro
- *
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_gyro_self_test(const struct bmi160_dev *dev);
-
-/*!
- * @brief This API validates the self test results of gyro
- *
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t validate_gyro_self_test(const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API sets FIFO full interrupt of the sensor.This interrupt
- *  occurs when the FIFO is full and the next full data sample would cause
- *  a FIFO overflow, which may delete the old samples.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t set_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- * @brief This enable the FIFO full interrupt engine.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API sets FIFO watermark interrupt of the sensor.The FIFO
- *  watermark interrupt is fired, when the FIFO fill level is above a fifo
- *  watermark.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t set_fifo_watermark_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- * @brief This enable the FIFO watermark interrupt engine.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_fifo_wtm_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API is used to reset the FIFO related configurations
- *  in the fifo_frame structure.
- *
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static void reset_fifo_data_structure(const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API is used to read number of bytes filled
- *  currently in FIFO buffer.
- *
- *  @param[in] bytes_to_read  : Number of bytes available in FIFO at the
- *                              instant which is obtained from FIFO counter.
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success / -ve value -> Error.
- *  @retval Any non zero value -> Fail
- *
- */
-static int8_t get_fifo_byte_counter(uint16_t *bytes_to_read, struct bmi160_dev const *dev);
-
-/*!
- *  @brief This API is used to compute the number of bytes of accel FIFO data
- *  which is to be parsed in header-less mode
- *
- *  @param[out] data_index        : The start index for parsing data
- *  @param[out] data_read_length  : Number of bytes to be parsed
- *  @param[in]  acc_frame_count   : Number of accelerometer frames to be read
- *  @param[in]  dev               : Structure instance of bmi160_dev.
- *
- */
-static void get_accel_len_to_parse(uint16_t *data_index,
-                                   uint16_t *data_read_length,
-                                   const uint8_t *acc_frame_count,
-                                   const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed.
- *
- *  @param[in,out] acc      : structure instance of sensor data
- *  @param[in,out] idx      : Index value of number of bytes parsed
- *  @param[in,out] acc_idx  : Index value of accelerometer data
- *                                (x,y,z axes) frames parsed
- *  @param[in] frame_info       : It consists of either fifo_data_enable
- *                                parameter in header-less mode or
- *                                frame header data in header mode
- *  @param[in] dev      : structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_accel_frame(struct bmi160_sensor_data *acc,
-                               uint16_t *idx,
-                               uint8_t *acc_idx,
-                               uint8_t frame_info,
-                               const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
- *
- * @param[in,out] accel_data        : structure instance of sensor data
- * @param[in,out] data_start_index  : Index value of number of bytes parsed
- * @param[in] dev           : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_accel_data(struct bmi160_sensor_data *accel_data,
-                              uint16_t data_start_index,
-                              const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data in header mode.
- *
- *  @param[in,out] accel_data    : Structure instance of sensor data
- *  @param[in,out] accel_length  : Number of accelerometer frames
- *  @param[in] dev               : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void extract_accel_header_mode(struct bmi160_sensor_data *accel_data,
-                                      uint8_t *accel_length,
-                                      const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API computes the number of bytes of gyro FIFO data
- *  which is to be parsed in header-less mode
- *
- *  @param[out] data_index       : The start index for parsing data
- *  @param[out] data_read_length : No of bytes to be parsed from FIFO buffer
- *  @param[in] gyro_frame_count  : Number of Gyro data frames to be read
- *  @param[in] dev               : Structure instance of bmi160_dev.
- */
-static void get_gyro_len_to_parse(uint16_t *data_index,
-                                  uint16_t *data_read_length,
-                                  const uint8_t *gyro_frame_count,
-                                  const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API is used to parse the gyroscope's data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed.
- *
- *  @param[in,out] gyro     : structure instance of sensor data
- *  @param[in,out] idx      : Index value of number of bytes parsed
- *  @param[in,out] gyro_idx : Index value of gyro data
- *                                (x,y,z axes) frames parsed
- *  @param[in] frame_info       : It consists of either fifo_data_enable
- *                                parameter in header-less mode or
- *                                frame header data in header mode
- *  @param[in] dev      : structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_gyro_frame(struct bmi160_sensor_data *gyro,
-                              uint16_t *idx,
-                              uint8_t *gyro_idx,
-                              uint8_t frame_info,
-                              const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API is used to parse the gyro data from the
- *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
- *
- *  @param[in,out] gyro_data         : structure instance of sensor data
- *  @param[in,out] data_start_index  : Index value of number of bytes parsed
- *  @param[in] dev           : structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_gyro_data(struct bmi160_sensor_data *gyro_data,
-                             uint16_t data_start_index,
-                             const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API is used to parse the gyro data from the
- *  FIFO data in header mode.
- *
- *  @param[in,out] gyro_data     : Structure instance of sensor data
- *  @param[in,out] gyro_length   : Number of gyro frames
- *  @param[in] dev               : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void extract_gyro_header_mode(struct bmi160_sensor_data *gyro_data,
-                                     uint8_t *gyro_length,
-                                     const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API computes the number of bytes of aux FIFO data
- *  which is to be parsed in header-less mode
- *
- *  @param[out] data_index       : The start index for parsing data
- *  @param[out] data_read_length : No of bytes to be parsed from FIFO buffer
- *  @param[in] aux_frame_count   : Number of Aux data frames to be read
- *  @param[in] dev               : Structure instance of bmi160_dev.
- */
-static void get_aux_len_to_parse(uint16_t *data_index,
-                                 uint16_t *data_read_length,
-                                 const uint8_t *aux_frame_count,
-                                 const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API is used to parse the aux's data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed
- *
- *  @param[in,out] aux_data : structure instance of sensor data
- *  @param[in,out] idx      : Index value of number of bytes parsed
- *  @param[in,out] aux_index    : Index value of gyro data
- *                                (x,y,z axes) frames parsed
- *  @param[in] frame_info       : It consists of either fifo_data_enable
- *                                parameter in header-less mode or
- *                                frame header data in header mode
- *  @param[in] dev      : structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_aux_frame(struct bmi160_aux_data *aux_data,
-                             uint16_t *idx,
-                             uint8_t *aux_index,
-                             uint8_t frame_info,
-                             const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API is used to parse the aux data from the
- *  FIFO data and store it in the instance of the structure bmi160_aux_data.
- *
- * @param[in,out] aux_data      : structure instance of sensor data
- * @param[in,out] data_start_index  : Index value of number of bytes parsed
- * @param[in] dev           : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_aux_data(struct bmi160_aux_data *aux_data, uint16_t data_start_index, const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API is used to parse the aux data from the
- *  FIFO data in header mode.
- *
- *  @param[in,out] aux_data     : Structure instance of sensor data
- *  @param[in,out] aux_length   : Number of aux frames
- *  @param[in] dev              : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void extract_aux_header_mode(struct bmi160_aux_data *aux_data, uint8_t *aux_length,
-                                    const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API checks the presence of non-valid frames in the read fifo data.
- *
- *  @param[in,out] data_index    : The index of the current data to
- *                                be parsed from fifo data
- *  @param[in] dev               : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void check_frame_validity(uint16_t *data_index, const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API is used to move the data index ahead of the
- *  current_frame_length parameter when unnecessary FIFO data appears while
- *  extracting the user specified data.
- *
- *  @param[in,out] data_index       : Index of the FIFO data which
- *                                  is to be moved ahead of the
- *                                  current_frame_length
- *  @param[in] current_frame_length : Number of bytes in a particular frame
- *  @param[in] dev                  : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API is used to parse and store the sensor time from the
- *  FIFO data in the structure instance dev.
- *
- *  @param[in,out] data_index : Index of the FIFO data which
- *                              has the sensor time.
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_sensortime_frame(uint16_t *data_index, const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API is used to parse and store the skipped_frame_count from
- *  the FIFO data in the structure instance dev.
- *
- *  @param[in,out] data_index   : Index of the FIFO data which
- *                                    has the skipped frame count.
- *  @param[in] dev              : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_skipped_frame(uint16_t *data_index, const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API is used to get the FOC status from the sensor
- *
- *  @param[in,out] foc_status   : Result of FOC status.
- *  @param[in] dev              : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static int8_t get_foc_status(uint8_t *foc_status, struct bmi160_dev const *dev);
-
-/*!
- *  @brief This API is used to configure the offset enable bits in the sensor
- *
- *  @param[in,out] foc_conf   : Structure instance of bmi160_foc_conf which
- *                                   has the FOC and offset configurations
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static int8_t configure_offset_enable(const struct bmi160_foc_conf *foc_conf, struct bmi160_dev const *dev);
-
-/*!
- *  @brief This API is used to trigger the FOC in the sensor
- *
- *  @param[in,out] offset     : Structure instance of bmi160_offsets which
- *                              reads and stores the offset values after FOC
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static int8_t trigger_foc(struct bmi160_offsets *offset, struct bmi160_dev const *dev);
-
-/*!
- *  @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full
- *  and FIFO watermark interrupt
- *
- *  @param[in] int_config     : Structure instance of bmi160_int_settg which
- *                              stores the interrupt type and interrupt channel
- *              configurations to map/unmap the interrupt pins
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static int8_t map_hardware_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g,
- *  Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins.
- *
- *  @param[in] int_config     : Structure instance of bmi160_int_settg which
- *                              stores the interrupt type and interrupt channel
- *              configurations to map/unmap the interrupt pins
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static int8_t map_feature_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
-/*********************** User function definitions ****************************/
-
-/*!
- * @brief This API reads the data from the given register address
- * of sensor.
- */
-int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev)
-{
-    int8_t rslt = BMI160_OK;
-
-    /* Null-pointer check */
-    if ((dev == NULL) || (dev->read == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* Configuring reg_addr for SPI Interface */
-        if (dev->interface == BMI160_SPI_INTF)
-        {
-            reg_addr = (reg_addr | BMI160_SPI_RD_MASK);
-        }
-        rslt = dev->read(dev->id, reg_addr, data, len);
-
-        if (rslt != BMI160_OK)
-        {
-            rslt = BMI160_E_COM_FAIL;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API writes the given data to the register address
- * of sensor.
- */
-int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev)
-{
-    int8_t rslt = BMI160_OK;
-    uint8_t count = 0;
-
-    /* Null-pointer check */
-    if ((dev == NULL) || (dev->write == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* Configuring reg_addr for SPI Interface */
-        if (dev->interface == BMI160_SPI_INTF)
-        {
-            reg_addr = (reg_addr & BMI160_SPI_WR_MASK);
-        }
-        if ((dev->prev_accel_cfg.power == BMI160_ACCEL_NORMAL_MODE) ||
-            (dev->prev_gyro_cfg.power == BMI160_GYRO_NORMAL_MODE))
-        {
-            rslt = dev->write(dev->id, reg_addr, data, len);
-
-            /* Kindly refer bmi160 data sheet section 3.2.4 */
-            dev->delay_ms(1);
-
-        }
-        else
-        {
-            /*Burst write is not allowed in
-             * suspend & low power mode */
-            for (; count < len; count++)
-            {
-                rslt = dev->write(dev->id, reg_addr, &data[count], 1);
-                reg_addr++;
-
-                /* Kindly refer bmi160 data sheet section 3.2.4 */
-                dev->delay_ms(1);
-
-            }
-        }
-        if (rslt != BMI160_OK)
-        {
-            rslt = BMI160_E_COM_FAIL;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is the entry point for sensor.It performs
- *  the selection of I2C/SPI read mechanism according to the
- *  selected interface and reads the chip-id of bmi160 sensor.
- */
-int8_t bmi160_init(struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data;
-    uint8_t try = 3;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-
-    /* Dummy read of 0x7F register to enable SPI Interface
-     * if SPI is used */
-    if ((rslt == BMI160_OK) && (dev->interface == BMI160_SPI_INTF))
-    {
-        rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
-    }
-    if (rslt == BMI160_OK)
-    {
-        /* Assign chip id as zero */
-        dev->chip_id = 0;
-        while ((try--) && (dev->chip_id != BMI160_CHIP_ID))
-        {
-            /* Read chip_id */
-            rslt = bmi160_get_regs(BMI160_CHIP_ID_ADDR, &dev->chip_id, 1, dev);
-        }
-        if ((rslt == BMI160_OK) && (dev->chip_id == BMI160_CHIP_ID))
-        {
-            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
-
-            /* Soft reset */
-            rslt = bmi160_soft_reset(dev);
-        }
-        else
-        {
-            rslt = BMI160_E_DEV_NOT_FOUND;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API resets and restarts the device.
- * All register values are overwritten with default parameters.
- */
-int8_t bmi160_soft_reset(struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = BMI160_SOFT_RESET_CMD;
-
-    /* Null-pointer check */
-    if ((dev == NULL) || (dev->delay_ms == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* Reset the device */
-        rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &data, 1, dev);
-        dev->delay_ms(BMI160_SOFT_RESET_DELAY_MS);
-        if ((rslt == BMI160_OK) && (dev->interface == BMI160_SPI_INTF))
-        {
-            /* Dummy read of 0x7F register to enable SPI Interface
-             * if SPI is used */
-            rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
-        }
-        if (rslt == BMI160_OK)
-        {
-            /* Update the default parameters */
-            default_param_settg(dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configures the power mode, range and bandwidth
- * of sensor.
- */
-int8_t bmi160_set_sens_conf(struct bmi160_dev *dev)
-{
-    int8_t rslt = BMI160_OK;
-
-    /* Null-pointer check */
-    if ((dev == NULL) || (dev->delay_ms == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        rslt = set_accel_conf(dev);
-        if (rslt == BMI160_OK)
-        {
-            rslt = set_gyro_conf(dev);
-            if (rslt == BMI160_OK)
-            {
-                /* write power mode for accel and gyro */
-                rslt = bmi160_set_power_mode(dev);
-                if (rslt == BMI160_OK)
-                {
-                    rslt = check_invalid_settg(dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the power mode of the sensor.
- */
-int8_t bmi160_set_power_mode(struct bmi160_dev *dev)
-{
-    int8_t rslt = 0;
-
-    /* Null-pointer check */
-    if ((dev == NULL) || (dev->delay_ms == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        rslt = set_accel_pwr(dev);
-        if (rslt == BMI160_OK)
-        {
-            rslt = set_gyro_pwr(dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the power mode of the sensor.
- */
-int8_t bmi160_get_power_mode(struct bmi160_pmu_status *pmu_status, const struct bmi160_dev *dev)
-{
-    int8_t rslt = 0;
-    uint8_t power_mode = 0;
-
-    /* Null-pointer check */
-    if ((dev == NULL) || (dev->delay_ms == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        rslt = bmi160_get_regs(BMI160_PMU_STATUS_ADDR, &power_mode, 1, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Power mode of the accel,gyro,aux sensor is obtained */
-            pmu_status->aux_pmu_status = BMI160_GET_BITS_POS_0(power_mode, BMI160_MAG_POWER_MODE);
-            pmu_status->gyro_pmu_status = BMI160_GET_BITS(power_mode, BMI160_GYRO_POWER_MODE);
-            pmu_status->accel_pmu_status = BMI160_GET_BITS(power_mode, BMI160_ACCEL_POWER_MODE);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads sensor data, stores it in
- * the bmi160_sensor_data structure pointer passed by the user.
- */
-int8_t bmi160_get_sensor_data(uint8_t select_sensor,
-                              struct bmi160_sensor_data *accel,
-                              struct bmi160_sensor_data *gyro,
-                              const struct bmi160_dev *dev)
-{
-    int8_t rslt = BMI160_OK;
-    uint8_t time_sel;
-    uint8_t sen_sel;
-    uint8_t len = 0;
-
-    /*Extract the sensor  and time select information*/
-    sen_sel = select_sensor & BMI160_SEN_SEL_MASK;
-    time_sel = ((sen_sel & BMI160_TIME_SEL) >> 2);
-    sen_sel = sen_sel & (BMI160_ACCEL_SEL | BMI160_GYRO_SEL);
-    if (time_sel == 1)
-    {
-        len = 3;
-    }
-
-    /* Null-pointer check */
-    if (dev != NULL)
-    {
-        switch (sen_sel)
-        {
-            case BMI160_ACCEL_ONLY:
-
-                /* Null-pointer check */
-                if (accel == NULL)
-                {
-                    rslt = BMI160_E_NULL_PTR;
-                }
-                else
-                {
-                    rslt = get_accel_data(len, accel, dev);
-                }
-                break;
-            case BMI160_GYRO_ONLY:
-
-                /* Null-pointer check */
-                if (gyro == NULL)
-                {
-                    rslt = BMI160_E_NULL_PTR;
-                }
-                else
-                {
-                    rslt = get_gyro_data(len, gyro, dev);
-                }
-                break;
-            case BMI160_BOTH_ACCEL_AND_GYRO:
-
-                /* Null-pointer check */
-                if ((gyro == NULL) || (accel == NULL))
-                {
-                    rslt = BMI160_E_NULL_PTR;
-                }
-                else
-                {
-                    rslt = get_accel_gyro_data(len, accel, gyro, dev);
-                }
-                break;
-            default:
-                rslt = BMI160_E_INVALID_INPUT;
-                break;
-        }
-    }
-    else
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configures the necessary interrupt based on
- *  the user settings in the bmi160_int_settg structure instance.
- */
-int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev)
-{
-    int8_t rslt = BMI160_OK;
-
-    switch (int_config->int_type)
-    {
-        case BMI160_ACC_ANY_MOTION_INT:
-
-            /*Any-motion  interrupt*/
-            rslt = set_accel_any_motion_int(int_config, dev);
-            break;
-        case BMI160_ACC_SIG_MOTION_INT:
-
-            /* Significant motion interrupt */
-            rslt = set_accel_sig_motion_int(int_config, dev);
-            break;
-        case BMI160_ACC_SLOW_NO_MOTION_INT:
-
-            /* Slow or no motion interrupt */
-            rslt = set_accel_no_motion_int(int_config, dev);
-            break;
-        case BMI160_ACC_DOUBLE_TAP_INT:
-        case BMI160_ACC_SINGLE_TAP_INT:
-
-            /* Double tap and single tap Interrupt */
-            rslt = set_accel_tap_int(int_config, dev);
-            break;
-        case BMI160_STEP_DETECT_INT:
-
-            /* Step detector interrupt */
-            rslt = set_accel_step_detect_int(int_config, dev);
-            break;
-        case BMI160_ACC_ORIENT_INT:
-
-            /* Orientation interrupt */
-            rslt = set_accel_orientation_int(int_config, dev);
-            break;
-        case BMI160_ACC_FLAT_INT:
-
-            /* Flat detection interrupt */
-            rslt = set_accel_flat_detect_int(int_config, dev);
-            break;
-        case BMI160_ACC_LOW_G_INT:
-
-            /* Low-g interrupt */
-            rslt = set_accel_low_g_int(int_config, dev);
-            break;
-        case BMI160_ACC_HIGH_G_INT:
-
-            /* High-g interrupt */
-            rslt = set_accel_high_g_int(int_config, dev);
-            break;
-        case BMI160_ACC_GYRO_DATA_RDY_INT:
-
-            /* Data ready interrupt */
-            rslt = set_accel_gyro_data_ready_int(int_config, dev);
-            break;
-        case BMI160_ACC_GYRO_FIFO_FULL_INT:
-
-            /* Fifo full interrupt */
-            rslt = set_fifo_full_int(int_config, dev);
-            break;
-        case BMI160_ACC_GYRO_FIFO_WATERMARK_INT:
-
-            /* Fifo water-mark interrupt */
-            rslt = set_fifo_watermark_int(int_config, dev);
-            break;
-        case BMI160_FIFO_TAG_INT_PIN:
-
-            /* Fifo tagging feature support */
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            break;
-        default:
-            break;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables or disable the step counter feature.
- * 1 - enable step counter (0 - disable)
- */
-int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt != BMI160_OK)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        rslt = bmi160_get_regs(BMI160_INT_STEP_CONFIG_1_ADDR, &data, 1, dev);
-        if (rslt == BMI160_OK)
-        {
-            if (step_cnt_enable == BMI160_ENABLE)
-            {
-                data |= (uint8_t)(step_cnt_enable << 3);
-            }
-            else
-            {
-                data &= ~BMI160_STEP_COUNT_EN_BIT_MASK;
-            }
-            rslt = bmi160_set_regs(BMI160_INT_STEP_CONFIG_1_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the step counter value.
- */
-int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data[2] = { 0, 0 };
-    uint16_t msb = 0;
-    uint8_t lsb = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt != BMI160_OK)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        rslt = bmi160_get_regs(BMI160_INT_STEP_CNT_0_ADDR, data, 2, dev);
-        if (rslt == BMI160_OK)
-        {
-            lsb = data[0];
-            msb = data[1] << 8;
-            *step_val = msb | lsb;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the mention no of byte of data from the given
- * register address of auxiliary sensor.
- */
-int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev)
-{
-    int8_t rslt = BMI160_OK;
-    uint16_t map_len = 0;
-
-    /* Null-pointer check */
-    if ((dev == NULL) || (dev->read == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        if (dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE)
-        {
-            rslt = map_read_len(&map_len, dev);
-            if (rslt == BMI160_OK)
-            {
-                rslt = extract_aux_read(map_len, reg_addr, aux_data, len, dev);
-            }
-        }
-        else
-        {
-            rslt = BMI160_E_INVALID_INPUT;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API writes the mention no of byte of data to the given
- * register address of auxiliary sensor.
- */
-int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev)
-{
-    int8_t rslt = BMI160_OK;
-    uint8_t count = 0;
-
-    /* Null-pointer check */
-    if ((dev == NULL) || (dev->write == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        for (; count < len; count++)
-        {
-            /* set data to write */
-            rslt = bmi160_set_regs(BMI160_AUX_IF_4_ADDR, aux_data, 1, dev);
-            dev->delay_ms(BMI160_AUX_COM_DELAY);
-            if (rslt == BMI160_OK)
-            {
-                /* set address to write */
-                rslt = bmi160_set_regs(BMI160_AUX_IF_3_ADDR, &reg_addr, 1, dev);
-                dev->delay_ms(BMI160_AUX_COM_DELAY);
-                if (rslt == BMI160_OK && (count < len - 1))
-                {
-                    aux_data++;
-                    reg_addr++;
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API initialize the auxiliary sensor
- * in order to access it.
- */
-int8_t bmi160_aux_init(const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt != BMI160_OK)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        if (dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE)
-        {
-            /* Configures the auxiliary sensor interface settings */
-            rslt = config_aux_settg(dev);
-        }
-        else
-        {
-            rslt = BMI160_E_INVALID_INPUT;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API is used to setup the auxiliary sensor of bmi160 in auto mode
- * Thus enabling the auto update of 8 bytes of data from auxiliary sensor
- * to BMI160 register address 0x04 to 0x0B
- */
-int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt != BMI160_OK)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        if (dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE)
-        {
-            /* Write the aux. address to read in 0x4D of BMI160*/
-            rslt = bmi160_set_regs(BMI160_AUX_IF_2_ADDR, data_addr, 1, dev);
-            dev->delay_ms(BMI160_AUX_COM_DELAY);
-            if (rslt == BMI160_OK)
-            {
-                /* Configure the polling ODR for
-                 * auxiliary sensor */
-                rslt = config_aux_odr(dev);
-                if (rslt == BMI160_OK)
-                {
-                    /* Disable the aux. manual mode, i.e aux.
-                     * sensor is in auto-mode (data-mode) */
-                    dev->aux_cfg.manual_enable = BMI160_DISABLE;
-                    rslt = bmi160_config_aux_mode(dev);
-
-                    /*  Auxiliary sensor data is obtained
-                     * in auto mode from this point */
-                }
-            }
-        }
-        else
-        {
-            rslt = BMI160_E_INVALID_INPUT;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configures the 0x4C register and settings like
- * Auxiliary sensor manual enable/ disable and aux burst read length.
- */
-int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t aux_if[2] = { (uint8_t)(dev->aux_cfg.aux_i2c_addr * 2), 0 };
-
-    rslt = bmi160_get_regs(BMI160_AUX_IF_1_ADDR, &aux_if[1], 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        /* update the Auxiliary interface to manual/auto mode */
-        aux_if[1] = BMI160_SET_BITS(aux_if[1], BMI160_MANUAL_MODE_EN, dev->aux_cfg.manual_enable);
-
-        /* update the burst read length defined by user */
-        aux_if[1] = BMI160_SET_BITS_POS_0(aux_if[1], BMI160_AUX_READ_BURST, dev->aux_cfg.aux_rd_burst_len);
-
-        /* Set the secondary interface address and manual mode
-         * along with burst read length */
-        rslt = bmi160_set_regs(BMI160_AUX_IF_0_ADDR, &aux_if[0], 2, dev);
-        dev->delay_ms(BMI160_AUX_COM_DELAY);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API is used to read the raw uncompensated auxiliary sensor
- * data of 8 bytes from BMI160 register address 0x04 to 0x0B
- */
-int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt != BMI160_OK)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        if ((dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) && (dev->aux_cfg.manual_enable == BMI160_DISABLE))
-        {
-            /* Read the aux. sensor's raw data */
-            rslt = bmi160_get_regs(BMI160_AUX_DATA_ADDR, aux_data, 8, dev);
-        }
-        else
-        {
-            rslt = BMI160_E_INVALID_INPUT;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This is used to perform self test of accel/gyro of the BMI160 sensor
- */
-int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    int8_t self_test_rslt = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt != BMI160_OK)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* Proceed if null check is fine */
-        switch (select_sensor)
-        {
-            case BMI160_ACCEL_ONLY:
-                rslt = perform_accel_self_test(dev);
-                break;
-            case BMI160_GYRO_ONLY:
-
-                /* Set the power mode as normal mode */
-                dev->gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
-                rslt = bmi160_set_power_mode(dev);
-
-                /* Perform gyro self test */
-                if (rslt == BMI160_OK)
-                {
-                    /* Perform gyro self test */
-                    rslt = perform_gyro_self_test(dev);
-                }
-                break;
-            default:
-                rslt = BMI160_E_INVALID_INPUT;
-                break;
-        }
-
-        /* Check to ensure bus error does not occur */
-        if (rslt >= BMI160_OK)
-        {
-            /* Store the status of self test result */
-            self_test_rslt = rslt;
-
-            /* Perform soft reset */
-            rslt = bmi160_soft_reset(dev);
-        }
-
-        /* Check to ensure bus operations are success */
-        if (rslt == BMI160_OK)
-        {
-            /* Restore self_test_rslt as return value */
-            rslt = self_test_rslt;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the data from fifo buffer.
- */
-int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev)
-{
-    int8_t rslt = 0;
-    uint16_t bytes_to_read = 0;
-    uint16_t user_fifo_len = 0;
-    uint8_t addr = BMI160_FIFO_DATA_ADDR;
-
-    /* check the bmi160 structure as NULL*/
-    if ((dev == NULL) || (dev->fifo->data == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        reset_fifo_data_structure(dev);
-
-        /* get current FIFO fill-level*/
-        rslt = get_fifo_byte_counter(&bytes_to_read, dev);
-        if (rslt == BMI160_OK)
-        {
-            user_fifo_len = dev->fifo->length;
-            if (dev->fifo->length > bytes_to_read)
-            {
-                /* Handling the case where user requests
-                 * more data than available in FIFO */
-                dev->fifo->length = bytes_to_read;
-            }
-            if ((dev->fifo->fifo_time_enable == BMI160_FIFO_TIME_ENABLE) &&
-                (bytes_to_read + BMI160_FIFO_BYTES_OVERREAD <= user_fifo_len))
-            {
-                /* Handling case of sensor time availability*/
-                dev->fifo->length = dev->fifo->length + BMI160_FIFO_BYTES_OVERREAD;
-            }
-            if (dev->interface == BMI160_SPI_INTF)
-            {
-                /* SPI read mask */
-                addr = addr | BMI160_SPI_RD_MASK;
-            }
-
-            /* read only the filled bytes in the FIFO Buffer */
-            rslt = dev->read(dev->id, addr, dev->fifo->data, dev->fifo->length);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API writes fifo_flush command to command register.This
- *  action clears all data in the Fifo without changing fifo configuration
- *  settings
- */
-int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev)
-{
-    int8_t rslt = 0;
-    uint8_t data = BMI160_FIFO_FLUSH_VALUE;
-    uint8_t reg_addr = BMI160_COMMAND_REG_ADDR;
-
-    /* Check the bmi160_dev structure for NULL address*/
-    if (dev == NULL)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the FIFO configuration in the sensor.
- */
-int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev)
-{
-    int8_t rslt = 0;
-    uint8_t data = 0;
-    uint8_t reg_addr = BMI160_FIFO_CONFIG_1_ADDR;
-    uint8_t fifo_config = config & BMI160_FIFO_CONFIG_1_MASK;
-
-    /* Check the bmi160_dev structure for NULL address*/
-    if (dev == NULL)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
-        if (rslt == BMI160_OK)
-        {
-            if (fifo_config > 0)
-            {
-                if (enable == BMI160_ENABLE)
-                {
-                    data = data | fifo_config;
-                }
-                else
-                {
-                    data = data & (~fifo_config);
-                }
-            }
-
-            /* write fifo frame content configuration*/
-            rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
-            if (rslt == BMI160_OK)
-            {
-                /* read fifo frame content configuration*/
-                rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
-                if (rslt == BMI160_OK)
-                {
-                    /* extract fifo header enabled status */
-                    dev->fifo->fifo_header_enable = data & BMI160_FIFO_HEAD_ENABLE;
-
-                    /* extract accel/gyr/aux. data enabled status */
-                    dev->fifo->fifo_data_enable = data & BMI160_FIFO_M_G_A_ENABLE;
-
-                    /* extract fifo sensor time enabled status */
-                    dev->fifo->fifo_time_enable = data & BMI160_FIFO_TIME_ENABLE;
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*! @brief This API is used to configure the down sampling ratios of
- *  the accel and gyro data for FIFO.Also, it configures filtered or
- *  pre-filtered data for accel and gyro.
- *
- */
-int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev)
-{
-    int8_t rslt = 0;
-    uint8_t data = 0;
-    uint8_t reg_addr = BMI160_FIFO_DOWN_ADDR;
-
-    /* Check the bmi160_dev structure for NULL address*/
-    if (dev == NULL)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
-        if (rslt == BMI160_OK)
-        {
-            data = data | fifo_down;
-            rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API sets the FIFO watermark level in the sensor.
- *
- */
-int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev)
-{
-    int8_t rslt = 0;
-    uint8_t data = fifo_wm;
-    uint8_t reg_addr = BMI160_FIFO_CONFIG_0_ADDR;
-
-    /* Check the bmi160_dev structure for NULL address*/
-    if (dev == NULL)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API parses and extracts the accelerometer frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the "accel_data" structure instance.
- */
-int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const *dev)
-{
-    int8_t rslt = 0;
-    uint16_t data_index = 0;
-    uint16_t data_read_length = 0;
-    uint8_t accel_index = 0;
-    uint8_t fifo_data_enable = 0;
-
-    if (dev == NULL || dev->fifo == NULL || dev->fifo->data == NULL)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* Parsing the FIFO data in header-less mode */
-        if (dev->fifo->fifo_header_enable == 0)
-        {
-            /* Number of bytes to be parsed from FIFO */
-            get_accel_len_to_parse(&data_index, &data_read_length, accel_length, dev);
-            for (; data_index < data_read_length;)
-            {
-                /*Check for the availability of next two bytes of FIFO data */
-                check_frame_validity(&data_index, dev);
-                fifo_data_enable = dev->fifo->fifo_data_enable;
-                unpack_accel_frame(accel_data, &data_index, &accel_index, fifo_data_enable, dev);
-            }
-
-            /* update number of accel data read*/
-            *accel_length = accel_index;
-
-            /*update the accel byte index*/
-            dev->fifo->accel_byte_start_idx = data_index;
-        }
-        else
-        {
-            /* Parsing the FIFO data in header mode */
-            extract_accel_header_mode(accel_data, accel_length, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API parses and extracts the gyro frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the "gyro_data" structure instance.
- */
-int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev)
-{
-    int8_t rslt = 0;
-    uint16_t data_index = 0;
-    uint16_t data_read_length = 0;
-    uint8_t gyro_index = 0;
-    uint8_t fifo_data_enable = 0;
-
-    if (dev == NULL || dev->fifo->data == NULL)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* Parsing the FIFO data in header-less mode */
-        if (dev->fifo->fifo_header_enable == 0)
-        {
-            /* Number of bytes to be parsed from FIFO */
-            get_gyro_len_to_parse(&data_index, &data_read_length, gyro_length, dev);
-            for (; data_index < data_read_length;)
-            {
-                /*Check for the availability of next two bytes of FIFO data */
-                check_frame_validity(&data_index, dev);
-                fifo_data_enable = dev->fifo->fifo_data_enable;
-                unpack_gyro_frame(gyro_data, &data_index, &gyro_index, fifo_data_enable, dev);
-            }
-
-            /* update number of gyro data read */
-            *gyro_length = gyro_index;
-
-            /* update the gyro byte index */
-            dev->fifo->gyro_byte_start_idx = data_index;
-        }
-        else
-        {
-            /* Parsing the FIFO data in header mode */
-            extract_gyro_header_mode(gyro_data, gyro_length, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API parses and extracts the aux frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the "aux_data" structure instance.
- */
-int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev)
-{
-    int8_t rslt = 0;
-    uint16_t data_index = 0;
-    uint16_t data_read_length = 0;
-    uint8_t aux_index = 0;
-    uint8_t fifo_data_enable = 0;
-
-    if ((dev == NULL) || (dev->fifo->data == NULL) || (aux_data == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* Parsing the FIFO data in header-less mode */
-        if (dev->fifo->fifo_header_enable == 0)
-        {
-            /* Number of bytes to be parsed from FIFO */
-            get_aux_len_to_parse(&data_index, &data_read_length, aux_len, dev);
-            for (; data_index < data_read_length;)
-            {
-                /* Check for the availability of next two
-                 * bytes of FIFO data */
-                check_frame_validity(&data_index, dev);
-                fifo_data_enable = dev->fifo->fifo_data_enable;
-                unpack_aux_frame(aux_data, &data_index, &aux_index, fifo_data_enable, dev);
-            }
-
-            /* update number of aux data read */
-            *aux_len = aux_index;
-
-            /* update the aux byte index */
-            dev->fifo->aux_byte_start_idx = data_index;
-        }
-        else
-        {
-            /* Parsing the FIFO data in header mode */
-            extract_aux_header_mode(aux_data, aux_len, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API starts the FOC of accel and gyro
- *
- *  @note FOC should not be used in low-power mode of sensor
- *
- *  @note Accel FOC targets values of +1g , 0g , -1g
- *  Gyro FOC always targets value of 0 dps
- */
-int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf,
-                        struct bmi160_offsets *offset,
-                        struct bmi160_dev const *dev)
-{
-    int8_t rslt;
-    uint8_t data;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt != BMI160_OK)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* Set the offset enable bits */
-        rslt = configure_offset_enable(foc_conf, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Read the FOC config from the sensor */
-            rslt = bmi160_get_regs(BMI160_FOC_CONF_ADDR, &data, 1, dev);
-
-            /* Set the FOC config for gyro */
-            data = BMI160_SET_BITS(data, BMI160_GYRO_FOC_EN, foc_conf->foc_gyr_en);
-
-            /* Set the FOC config for accel xyz axes */
-            data = BMI160_SET_BITS(data, BMI160_ACCEL_FOC_X_CONF, foc_conf->foc_acc_x);
-            data = BMI160_SET_BITS(data, BMI160_ACCEL_FOC_Y_CONF, foc_conf->foc_acc_y);
-            data = BMI160_SET_BITS_POS_0(data, BMI160_ACCEL_FOC_Z_CONF, foc_conf->foc_acc_z);
-            if (rslt == BMI160_OK)
-            {
-                /* Set the FOC config in the sensor */
-                rslt = bmi160_set_regs(BMI160_FOC_CONF_ADDR, &data, 1, dev);
-                if (rslt == BMI160_OK)
-                {
-                    /* Procedure to trigger
-                     * FOC and check status */
-                    rslt = trigger_foc(offset, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API reads and stores the offset values of accel and gyro
- */
-int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data[7];
-    uint8_t lsb, msb;
-    int16_t offset_msb, offset_lsb;
-    int16_t offset_data;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt != BMI160_OK)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* Read the FOC config from the sensor */
-        rslt = bmi160_get_regs(BMI160_OFFSET_ADDR, data, 7, dev);
-
-        /* Accel offsets */
-        offset->off_acc_x = (int8_t)data[0];
-        offset->off_acc_y = (int8_t)data[1];
-        offset->off_acc_z = (int8_t)data[2];
-
-        /* Gyro x-axis offset */
-        lsb = data[3];
-        msb = BMI160_GET_BITS_POS_0(data[6], BMI160_GYRO_OFFSET_X);
-        offset_msb = (int16_t)(msb << 14);
-        offset_lsb = lsb << 6;
-        offset_data = offset_msb | offset_lsb;
-
-        /* Divide by 64 to get the Right shift by 6 value */
-        offset->off_gyro_x = (int16_t)(offset_data / 64);
-
-        /* Gyro y-axis offset */
-        lsb = data[4];
-        msb = BMI160_GET_BITS(data[6], BMI160_GYRO_OFFSET_Y);
-        offset_msb = (int16_t)(msb << 14);
-        offset_lsb = lsb << 6;
-        offset_data = offset_msb | offset_lsb;
-
-        /* Divide by 64 to get the Right shift by 6 value */
-        offset->off_gyro_y = (int16_t)(offset_data / 64);
-
-        /* Gyro z-axis offset */
-        lsb = data[5];
-        msb = BMI160_GET_BITS(data[6], BMI160_GYRO_OFFSET_Z);
-        offset_msb = (int16_t)(msb << 14);
-        offset_lsb = lsb << 6;
-        offset_data = offset_msb | offset_lsb;
-
-        /* Divide by 64 to get the Right shift by 6 value */
-        offset->off_gyro_z = (int16_t)(offset_data / 64);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API writes the offset values of accel and gyro to
- *  the sensor but these values will be reset on POR or soft reset.
- */
-int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf,
-                          const struct bmi160_offsets *offset,
-                          struct bmi160_dev const *dev)
-{
-    int8_t rslt;
-    uint8_t data[7];
-    uint8_t x_msb, y_msb, z_msb;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt != BMI160_OK)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* Update the accel offset */
-        data[0] = (uint8_t)offset->off_acc_x;
-        data[1] = (uint8_t)offset->off_acc_y;
-        data[2] = (uint8_t)offset->off_acc_z;
-
-        /* Update the LSB of gyro offset */
-        data[3] = BMI160_GET_LSB(offset->off_gyro_x);
-        data[4] = BMI160_GET_LSB(offset->off_gyro_y);
-        data[5] = BMI160_GET_LSB(offset->off_gyro_z);
-
-        /* Update the MSB of gyro offset */
-        x_msb = BMI160_GET_BITS(offset->off_gyro_x, BMI160_GYRO_OFFSET);
-        y_msb = BMI160_GET_BITS(offset->off_gyro_y, BMI160_GYRO_OFFSET);
-        z_msb = BMI160_GET_BITS(offset->off_gyro_z, BMI160_GYRO_OFFSET);
-        data[6] = (uint8_t)(z_msb << 4 | y_msb << 2 | x_msb);
-
-        /* Set the offset enable/disable for gyro and accel */
-        data[6] = BMI160_SET_BITS(data[6], BMI160_GYRO_OFFSET_EN, foc_conf->gyro_off_en);
-        data[6] = BMI160_SET_BITS(data[6], BMI160_ACCEL_OFFSET_EN, foc_conf->acc_off_en);
-
-        /* Set the offset config and values in the sensor */
-        rslt = bmi160_set_regs(BMI160_OFFSET_ADDR, data, 7, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API writes the image registers values to NVM which is
- *  stored even after POR or soft reset
- */
-int8_t bmi160_update_nvm(struct bmi160_dev const *dev)
-{
-    int8_t rslt;
-    uint8_t data;
-    uint8_t cmd = BMI160_NVM_BACKUP_EN;
-
-    /* Read the nvm_prog_en configuration */
-    rslt = bmi160_get_regs(BMI160_CONF_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        data = BMI160_SET_BITS(data, BMI160_NVM_UPDATE, 1);
-
-        /* Set the nvm_prog_en bit in the sensor */
-        rslt = bmi160_set_regs(BMI160_CONF_ADDR, &data, 1, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Update NVM */
-            rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
-            if (rslt == BMI160_OK)
-            {
-                /* Check for NVM ready status */
-                rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &data, 1, dev);
-                if (rslt == BMI160_OK)
-                {
-                    data = BMI160_GET_BITS(data, BMI160_NVM_STATUS);
-                    if (data != BMI160_ENABLE)
-                    {
-                        /* Delay to update NVM */
-                        dev->delay_ms(25);
-                    }
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API gets the interrupt status from the sensor.
- */
-int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
-                             union bmi160_int_status *int_status,
-                             struct bmi160_dev const *dev)
-{
-    int8_t rslt = 0;
-
-    /* To get the status of all interrupts */
-    if (int_status_sel == BMI160_INT_STATUS_ALL)
-    {
-        rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 4, dev);
-    }
-    else
-    {
-        if (int_status_sel & BMI160_INT_STATUS_0)
-        {
-            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 1, dev);
-        }
-        if (int_status_sel & BMI160_INT_STATUS_1)
-        {
-            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 1, &int_status->data[1], 1, dev);
-        }
-        if (int_status_sel & BMI160_INT_STATUS_2)
-        {
-            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 2, &int_status->data[2], 1, dev);
-        }
-        if (int_status_sel & BMI160_INT_STATUS_3)
-        {
-            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 3, &int_status->data[3], 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*********************** Local function definitions ***************************/
-
-/*!
- * @brief This API sets the any-motion interrupt of the sensor.
- * This interrupt occurs when accel values exceeds preset threshold
- * for a certain period of time.
- */
-static int8_t set_accel_any_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt != BMI160_OK) || (int_config == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg = &(int_config->int_type_cfg.acc_any_motion_int);
-        rslt = enable_accel_any_motion_int(any_motion_int_cfg, dev);
-        if (rslt == BMI160_OK)
-        {
-            rslt = config_any_motion_int_settg(int_config, any_motion_int_cfg, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets tap interrupts.Interrupt is fired when
- * tap movements happen.
- */
-static int8_t set_accel_tap_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt != BMI160_OK) || (int_config == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_tap_int_cfg *tap_int_cfg = &(int_config->int_type_cfg.acc_tap_int);
-        rslt = enable_tap_int(int_config, tap_int_cfg, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if (rslt == BMI160_OK)
-            {
-                rslt = config_tap_int_settg(int_config, tap_int_cfg, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the data ready interrupt for both accel and gyro.
- * This interrupt occurs when new accel and gyro data comes.
- */
-static int8_t set_accel_gyro_data_ready_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt != BMI160_OK) || (int_config == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        rslt = enable_data_ready_int(dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if (rslt == BMI160_OK)
-            {
-                rslt = map_hardware_interrupt(int_config, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the significant motion interrupt of the sensor.This
- * interrupt occurs when there is change in user location.
- */
-static int8_t set_accel_sig_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt != BMI160_OK) || (int_config == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg = &(int_config->int_type_cfg.acc_sig_motion_int);
-        rslt = enable_sig_motion_int(sig_mot_int_cfg, dev);
-        if (rslt == BMI160_OK)
-        {
-            rslt = config_sig_motion_int_settg(int_config, sig_mot_int_cfg, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the no motion/slow motion interrupt of the sensor.
- * Slow motion is similar to any motion interrupt.No motion interrupt
- * occurs when slope bet. two accel values falls below preset threshold
- * for preset duration.
- */
-static int8_t set_accel_no_motion_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt != BMI160_OK) || (int_config == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg = &(int_config->int_type_cfg.acc_no_motion_int);
-        rslt = enable_no_motion_int(no_mot_int_cfg, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Configure the INT PIN settings*/
-            rslt = config_no_motion_int_settg(int_config, no_mot_int_cfg, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the step detection interrupt.This interrupt
- * occurs when the single step causes accel values to go above
- * preset threshold.
- */
-static int8_t set_accel_step_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt != BMI160_OK) || (int_config == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg = &(int_config->int_type_cfg.acc_step_detect_int);
-        rslt = enable_step_detect_int(step_detect_int_cfg, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if (rslt == BMI160_OK)
-            {
-                rslt = map_feature_interrupt(int_config, dev);
-                if (rslt == BMI160_OK)
-                {
-                    rslt = config_step_detect(step_detect_int_cfg, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the orientation interrupt of the sensor.This
- * interrupt occurs when there is orientation change in the sensor
- * with respect to gravitational field vector g.
- */
-static int8_t set_accel_orientation_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt != BMI160_OK) || (int_config == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_orient_int_cfg *orient_int_cfg = &(int_config->int_type_cfg.acc_orient_int);
-        rslt = enable_orient_int(orient_int_cfg, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if (rslt == BMI160_OK)
-            {
-                /* map INT pin to orient interrupt */
-                rslt = map_feature_interrupt(int_config, dev);
-                if (rslt == BMI160_OK)
-                {
-                    /* configure the
-                     * orientation setting*/
-                    rslt = config_orient_int_settg(orient_int_cfg, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the flat interrupt of the sensor.This interrupt
- * occurs in case of flat orientation
- */
-static int8_t set_accel_flat_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt != BMI160_OK) || (int_config == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_flat_detect_int_cfg *flat_detect_int = &(int_config->int_type_cfg.acc_flat_int);
-
-        /* enable the flat interrupt */
-        rslt = enable_flat_int(flat_detect_int, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if (rslt == BMI160_OK)
-            {
-                /* map INT pin to flat interrupt */
-                rslt = map_feature_interrupt(int_config, dev);
-                if (rslt == BMI160_OK)
-                {
-                    /* configure the flat setting*/
-                    rslt = config_flat_int_settg(flat_detect_int, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the low-g interrupt of the sensor.This interrupt
- * occurs during free-fall.
- */
-static int8_t set_accel_low_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt != BMI160_OK) || (int_config == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_low_g_int_cfg *low_g_int = &(int_config->int_type_cfg.acc_low_g_int);
-
-        /* Enable the low-g interrupt*/
-        rslt = enable_low_g_int(low_g_int, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if (rslt == BMI160_OK)
-            {
-                /* Map INT pin to low-g interrupt */
-                rslt = map_feature_interrupt(int_config, dev);
-                if (rslt == BMI160_OK)
-                {
-                    /* configure the data source
-                     * for low-g interrupt*/
-                    rslt = config_low_g_data_src(low_g_int, dev);
-                    if (rslt == BMI160_OK)
-                    {
-                        rslt = config_low_g_int_settg(low_g_int, dev);
-                    }
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the high-g interrupt of the sensor.The interrupt
- * occurs if the absolute value of acceleration data of any enabled axis
- * exceeds the programmed threshold and the sign of the value does not
- * change for a preset duration.
- */
-static int8_t set_accel_high_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt != BMI160_OK) || (int_config == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_high_g_int_cfg *high_g_int_cfg = &(int_config->int_type_cfg.acc_high_g_int);
-
-        /* Enable the high-g interrupt */
-        rslt = enable_high_g_int(high_g_int_cfg, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if (rslt == BMI160_OK)
-            {
-                /* Map INT pin to high-g interrupt */
-                rslt = map_feature_interrupt(int_config, dev);
-                if (rslt == BMI160_OK)
-                {
-                    /* configure the data source
-                     * for high-g interrupt*/
-                    rslt = config_high_g_data_src(high_g_int_cfg, dev);
-                    if (rslt == BMI160_OK)
-                    {
-                        rslt = config_high_g_int_settg(high_g_int_cfg, dev);
-                    }
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configures the pins to fire the
- * interrupt signal when it occurs.
- */
-static int8_t set_intr_pin_config(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* configure the behavioural settings of interrupt pin */
-    rslt = config_int_out_ctrl(int_config, dev);
-    if (rslt == BMI160_OK)
-    {
-        rslt = config_int_latch(int_config, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to validate the device structure pointer for
- * null conditions.
- */
-static int8_t null_ptr_check(const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_ms == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* Device structure is fine */
-        rslt = BMI160_OK;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the default configuration parameters of accel & gyro.
- * Also maintain the previous state of configurations.
- */
-static void default_param_settg(struct bmi160_dev *dev)
-{
-    /* Initializing accel and gyro params with
-     * default values */
-    dev->accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
-    dev->accel_cfg.odr = BMI160_ACCEL_ODR_100HZ;
-    dev->accel_cfg.power = BMI160_ACCEL_SUSPEND_MODE;
-    dev->accel_cfg.range = BMI160_ACCEL_RANGE_2G;
-    dev->gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
-    dev->gyro_cfg.odr = BMI160_GYRO_ODR_100HZ;
-    dev->gyro_cfg.power = BMI160_GYRO_SUSPEND_MODE;
-    dev->gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
-
-    /* To maintain the previous state of accel configuration */
-    dev->prev_accel_cfg = dev->accel_cfg;
-
-    /* To maintain the previous state of gyro configuration */
-    dev->prev_gyro_cfg = dev->gyro_cfg;
-}
-
-/*!
- * @brief This API set the accel configuration.
- */
-static int8_t set_accel_conf(struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data[2] = { 0 };
-
-    rslt = check_accel_config(data, dev);
-    if (rslt == BMI160_OK)
-    {
-        /* Write output data rate and bandwidth */
-        rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, &data[0], 1, dev);
-        if (rslt == BMI160_OK)
-        {
-            dev->prev_accel_cfg.odr = dev->accel_cfg.odr;
-            dev->prev_accel_cfg.bw = dev->accel_cfg.bw;
-
-            /* write accel range */
-            rslt = bmi160_set_regs(BMI160_ACCEL_RANGE_ADDR, &data[1], 1, dev);
-            if (rslt == BMI160_OK)
-            {
-                dev->prev_accel_cfg.range = dev->accel_cfg.range;
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API check the accel configuration.
- */
-static int8_t check_accel_config(uint8_t *data, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* read accel Output data rate and bandwidth */
-    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 2, dev);
-    if (rslt == BMI160_OK)
-    {
-        rslt = process_accel_odr(&data[0], dev);
-        if (rslt == BMI160_OK)
-        {
-            rslt = process_accel_bw(&data[0], dev);
-            if (rslt == BMI160_OK)
-            {
-                rslt = process_accel_range(&data[1], dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the accel odr.
- */
-static int8_t process_accel_odr(uint8_t *data, const struct bmi160_dev *dev)
-{
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t odr = 0;
-
-    if (dev->accel_cfg.odr <= BMI160_ACCEL_ODR_MAX)
-    {
-        if (dev->accel_cfg.odr != dev->prev_accel_cfg.odr)
-        {
-            odr = (uint8_t)dev->accel_cfg.odr;
-            temp = *data & ~BMI160_ACCEL_ODR_MASK;
-
-            /* Adding output data rate */
-            *data = temp | (odr & BMI160_ACCEL_ODR_MASK);
-        }
-    }
-    else
-    {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the accel bandwidth.
- */
-static int8_t process_accel_bw(uint8_t *data, const struct bmi160_dev *dev)
-{
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t bw = 0;
-
-    if (dev->accel_cfg.bw <= BMI160_ACCEL_BW_MAX)
-    {
-        if (dev->accel_cfg.bw != dev->prev_accel_cfg.bw)
-        {
-            bw = (uint8_t)dev->accel_cfg.bw;
-            temp = *data & ~BMI160_ACCEL_BW_MASK;
-
-            /* Adding bandwidth */
-            *data = temp | ((bw << 4) & BMI160_ACCEL_ODR_MASK);
-        }
-    }
-    else
-    {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the accel range.
- */
-static int8_t process_accel_range(uint8_t *data, const struct bmi160_dev *dev)
-{
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t range = 0;
-
-    if (dev->accel_cfg.range <= BMI160_ACCEL_RANGE_MAX)
-    {
-        if (dev->accel_cfg.range != dev->prev_accel_cfg.range)
-        {
-            range = (uint8_t)dev->accel_cfg.range;
-            temp = *data & ~BMI160_ACCEL_RANGE_MASK;
-
-            /* Adding range */
-            *data = temp | (range & BMI160_ACCEL_RANGE_MASK);
-        }
-    }
-    else
-    {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API checks the invalid settings for ODR & Bw for
- * Accel and Gyro.
- */
-static int8_t check_invalid_settg(const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-
-    /* read the error reg */
-    rslt = bmi160_get_regs(BMI160_ERROR_REG_ADDR, &data, 1, dev);
-    data = data >> 1;
-    data = data & BMI160_ERR_REG_MASK;
-    if (data == 1)
-    {
-        rslt = BMI160_E_ACCEL_ODR_BW_INVALID;
-    }
-    else if (data == 2)
-    {
-        rslt = BMI160_E_GYRO_ODR_BW_INVALID;
-    }
-    else if (data == 3)
-    {
-        rslt = BMI160_E_LWP_PRE_FLTR_INT_INVALID;
-    }
-    else if (data == 7)
-    {
-        rslt = BMI160_E_LWP_PRE_FLTR_INVALID;
-    }
-
-    return rslt;
-}
-static int8_t set_gyro_conf(struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data[2] = { 0 };
-
-    rslt = check_gyro_config(data, dev);
-    if (rslt == BMI160_OK)
-    {
-        /* Write output data rate and bandwidth */
-        rslt = bmi160_set_regs(BMI160_GYRO_CONFIG_ADDR, &data[0], 1, dev);
-        if (rslt == BMI160_OK)
-        {
-            dev->prev_gyro_cfg.odr = dev->gyro_cfg.odr;
-            dev->prev_gyro_cfg.bw = dev->gyro_cfg.bw;
-
-            /* Write gyro range */
-            rslt = bmi160_set_regs(BMI160_GYRO_RANGE_ADDR, &data[1], 1, dev);
-            if (rslt == BMI160_OK)
-            {
-                dev->prev_gyro_cfg.range = dev->gyro_cfg.range;
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API check the gyro configuration.
- */
-static int8_t check_gyro_config(uint8_t *data, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* read gyro Output data rate and bandwidth */
-    rslt = bmi160_get_regs(BMI160_GYRO_CONFIG_ADDR, data, 2, dev);
-    if (rslt == BMI160_OK)
-    {
-        rslt = process_gyro_odr(&data[0], dev);
-        if (rslt == BMI160_OK)
-        {
-            rslt = process_gyro_bw(&data[0], dev);
-            if (rslt == BMI160_OK)
-            {
-                rslt = process_gyro_range(&data[1], dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the gyro odr.
- */
-static int8_t process_gyro_odr(uint8_t *data, const struct bmi160_dev *dev)
-{
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t odr = 0;
-
-    if (dev->gyro_cfg.odr <= BMI160_GYRO_ODR_MAX)
-    {
-        if (dev->gyro_cfg.odr != dev->prev_gyro_cfg.odr)
-        {
-            odr = (uint8_t)dev->gyro_cfg.odr;
-            temp = (*data & ~BMI160_GYRO_ODR_MASK);
-
-            /* Adding output data rate */
-            *data = temp | (odr & BMI160_GYRO_ODR_MASK);
-        }
-    }
-    else
-    {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the gyro bandwidth.
- */
-static int8_t process_gyro_bw(uint8_t *data, const struct bmi160_dev *dev)
-{
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t bw = 0;
-
-    if (dev->gyro_cfg.bw <= BMI160_GYRO_BW_MAX)
-    {
-        bw = (uint8_t)dev->gyro_cfg.bw;
-        temp = *data & ~BMI160_GYRO_BW_MASK;
-
-        /* Adding bandwidth */
-        *data = temp | ((bw << 4) & BMI160_GYRO_BW_MASK);
-    }
-    else
-    {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the gyro range.
- */
-static int8_t process_gyro_range(uint8_t *data, const struct bmi160_dev *dev)
-{
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t range = 0;
-
-    if (dev->gyro_cfg.range <= BMI160_GYRO_RANGE_MAX)
-    {
-        if (dev->gyro_cfg.range != dev->prev_gyro_cfg.range)
-        {
-            range = (uint8_t)dev->gyro_cfg.range;
-            temp = *data & ~BMI160_GYRO_RANGE_MSK;
-
-            /* Adding range */
-            *data = temp | (range & BMI160_GYRO_RANGE_MSK);
-        }
-    }
-    else
-    {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the accel power.
- */
-static int8_t set_accel_pwr(struct bmi160_dev *dev)
-{
-    int8_t rslt = 0;
-    uint8_t data = 0;
-
-    if ((dev->accel_cfg.power >= BMI160_ACCEL_SUSPEND_MODE) && (dev->accel_cfg.power <= BMI160_ACCEL_LOWPOWER_MODE))
-    {
-        if (dev->accel_cfg.power != dev->prev_accel_cfg.power)
-        {
-            rslt = process_under_sampling(&data, dev);
-            if (rslt == BMI160_OK)
-            {
-                /* Write accel power */
-                rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &dev->accel_cfg.power, 1, dev);
-
-                /* Add delay of 3.8 ms - refer data sheet table 24*/
-                if (dev->prev_accel_cfg.power == BMI160_ACCEL_SUSPEND_MODE)
-                {
-                    dev->delay_ms(BMI160_ACCEL_DELAY_MS);
-                }
-                dev->prev_accel_cfg.power = dev->accel_cfg.power;
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the undersampling setting of Accel.
- */
-static int8_t process_under_sampling(uint8_t *data, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t pre_filter = 0;
-
-    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        if (dev->accel_cfg.power == BMI160_ACCEL_LOWPOWER_MODE)
-        {
-            temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK;
-
-            /* Set under-sampling parameter */
-            *data = temp | ((1 << 7) & BMI160_ACCEL_UNDERSAMPLING_MASK);
-
-            /* Write data */
-            rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
-
-            /* disable the pre-filter data in
-             * low power mode */
-            if (rslt == BMI160_OK)
-            {
-                /* Disable the Pre-filter data*/
-                rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &pre_filter, 2, dev);
-            }
-        }
-        else
-        {
-            if (*data & BMI160_ACCEL_UNDERSAMPLING_MASK)
-            {
-                temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK;
-
-                /* disable under-sampling parameter
-                 * if already enabled */
-                *data = temp;
-
-                /* Write data */
-                rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the gyro power mode.
- */
-static int8_t set_gyro_pwr(struct bmi160_dev *dev)
-{
-    int8_t rslt = 0;
-
-    if ((dev->gyro_cfg.power == BMI160_GYRO_SUSPEND_MODE) || (dev->gyro_cfg.power == BMI160_GYRO_NORMAL_MODE) ||
-        (dev->gyro_cfg.power == BMI160_GYRO_FASTSTARTUP_MODE))
-    {
-        if (dev->gyro_cfg.power != dev->prev_gyro_cfg.power)
-        {
-            /* Write gyro power */
-            rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &dev->gyro_cfg.power, 1, dev);
-            if (dev->prev_gyro_cfg.power == BMI160_GYRO_SUSPEND_MODE)
-            {
-                /* Delay of 80 ms - datasheet Table 24 */
-                dev->delay_ms(BMI160_GYRO_DELAY_MS);
-            }
-            else if ((dev->prev_gyro_cfg.power == BMI160_GYRO_FASTSTARTUP_MODE) &&
-                     (dev->gyro_cfg.power == BMI160_GYRO_NORMAL_MODE))
-            {
-                /* This delay is required for transition from
-                 * fast-startup mode to normal mode - datasheet Table 3 */
-                dev->delay_ms(10);
-            }
-            else
-            {
-                /* do nothing */
-            }
-            dev->prev_gyro_cfg.power = dev->gyro_cfg.power;
-        }
-    }
-    else
-    {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads accel data along with sensor time if time is requested
- * by user. Kindly refer the user guide(README.md) for more info.
- */
-static int8_t get_accel_data(uint8_t len, struct bmi160_sensor_data *accel, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t idx = 0;
-    uint8_t data_array[9] = { 0 };
-    uint8_t time_0 = 0;
-    uint16_t time_1 = 0;
-    uint32_t time_2 = 0;
-    uint8_t lsb;
-    uint8_t msb;
-    int16_t msblsb;
-
-    /* read accel sensor data along with time if requested */
-    rslt = bmi160_get_regs(BMI160_ACCEL_DATA_ADDR, data_array, 6 + len, dev);
-    if (rslt == BMI160_OK)
-    {
-        /* Accel Data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->x = msblsb; /* Data in X axis */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->y = msblsb; /* Data in Y axis */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->z = msblsb; /* Data in Z axis */
-        if (len == 3)
-        {
-            time_0 = data_array[idx++];
-            time_1 = (uint16_t)(data_array[idx++] << 8);
-            time_2 = (uint32_t)(data_array[idx++] << 16);
-            accel->sensortime = (uint32_t)(time_2 | time_1 | time_0);
-        }
-        else
-        {
-            accel->sensortime = 0;
-        }
-    }
-    else
-    {
-        rslt = BMI160_E_COM_FAIL;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads accel data along with sensor time if time is requested
- * by user. Kindly refer the user guide(README.md) for more info.
- */
-static int8_t get_gyro_data(uint8_t len, struct bmi160_sensor_data *gyro, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t idx = 0;
-    uint8_t data_array[15] = { 0 };
-    uint8_t time_0 = 0;
-    uint16_t time_1 = 0;
-    uint32_t time_2 = 0;
-    uint8_t lsb;
-    uint8_t msb;
-    int16_t msblsb;
-
-    if (len == 0)
-    {
-        /* read gyro data only */
-        rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 6, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Gyro Data */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->x = msblsb; /* Data in X axis */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->y = msblsb; /* Data in Y axis */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->z = msblsb; /* Data in Z axis */
-            gyro->sensortime = 0;
-        }
-        else
-        {
-            rslt = BMI160_E_COM_FAIL;
-        }
-    }
-    else
-    {
-        /* read gyro sensor data along with time */
-        rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Gyro Data */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->x = msblsb; /* gyro X axis data */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->y = msblsb; /* gyro Y axis data */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->z = msblsb; /* gyro Z axis data */
-            idx = idx + 6;
-            time_0 = data_array[idx++];
-            time_1 = (uint16_t)(data_array[idx++] << 8);
-            time_2 = (uint32_t)(data_array[idx++] << 16);
-            gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0);
-        }
-        else
-        {
-            rslt = BMI160_E_COM_FAIL;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads accel and gyro data along with sensor time
- * if time is requested by user.
- *  Kindly refer the user guide(README.md) for more info.
- */
-static int8_t get_accel_gyro_data(uint8_t len,
-                                  struct bmi160_sensor_data *accel,
-                                  struct bmi160_sensor_data *gyro,
-                                  const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t idx = 0;
-    uint8_t data_array[15] = { 0 };
-    uint8_t time_0 = 0;
-    uint16_t time_1 = 0;
-    uint32_t time_2 = 0;
-    uint8_t lsb;
-    uint8_t msb;
-    int16_t msblsb;
-
-    /* read both accel and gyro sensor data
-     * along with time if requested */
-    rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev);
-    if (rslt == BMI160_OK)
-    {
-        /* Gyro Data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        gyro->x = msblsb; /* gyro X axis data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        gyro->y = msblsb; /* gyro Y axis data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        gyro->z = msblsb; /* gyro Z axis data */
-        /* Accel Data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->x = (int16_t)msblsb; /* accel X axis data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->y = (int16_t)msblsb; /* accel Y axis data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->z = (int16_t)msblsb; /* accel Z axis data */
-        if (len == 3)
-        {
-            time_0 = data_array[idx++];
-            time_1 = (uint16_t)(data_array[idx++] << 8);
-            time_2 = (uint32_t)(data_array[idx++] << 16);
-            accel->sensortime = (uint32_t)(time_2 | time_1 | time_0);
-            gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0);
-        }
-        else
-        {
-            accel->sensortime = 0;
-            gyro->sensortime = 0;
-        }
-    }
-    else
-    {
-        rslt = BMI160_E_COM_FAIL;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the any-motion interrupt for accel.
- */
-static int8_t enable_accel_any_motion_int(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
-                                          struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable any motion x, any motion y, any motion z
-     * in Int Enable 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        if (any_motion_int_cfg->anymotion_en == BMI160_ENABLE)
-        {
-            temp = data & ~BMI160_ANY_MOTION_X_INT_EN_MASK;
-
-            /* Adding Any_motion x axis */
-            data = temp | (any_motion_int_cfg->anymotion_x & BMI160_ANY_MOTION_X_INT_EN_MASK);
-            temp = data & ~BMI160_ANY_MOTION_Y_INT_EN_MASK;
-
-            /* Adding Any_motion y axis */
-            data = temp | ((any_motion_int_cfg->anymotion_y << 1) & BMI160_ANY_MOTION_Y_INT_EN_MASK);
-            temp = data & ~BMI160_ANY_MOTION_Z_INT_EN_MASK;
-
-            /* Adding Any_motion z axis */
-            data = temp | ((any_motion_int_cfg->anymotion_z << 2) & BMI160_ANY_MOTION_Z_INT_EN_MASK);
-
-            /* any-motion feature selected*/
-            dev->any_sig_sel = BMI160_ANY_MOTION_ENABLED;
-        }
-        else
-        {
-            data = data & ~BMI160_ANY_MOTION_ALL_INT_EN_MASK;
-
-            /* neither any-motion feature nor sig-motion selected */
-            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
-        }
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API disable the sig-motion interrupt.
- */
-static int8_t disable_sig_motion_int(const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Disabling Significant motion interrupt if enabled */
-    rslt = bmi160_get_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = (data & BMI160_SIG_MOTION_SEL_MASK);
-        if (temp)
-        {
-            temp = data & ~BMI160_SIG_MOTION_SEL_MASK;
-            data = temp;
-
-            /* Write data to register */
-            rslt = bmi160_set_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g,
- *  Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins.
- */
-static int8_t map_feature_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data[3] = { 0, 0, 0 };
-    uint8_t temp[3] = { 0, 0, 0 };
-
-    rslt = bmi160_get_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp[0] = data[0] & ~int_mask_lookup_table[int_config->int_type];
-        temp[2] = data[2] & ~int_mask_lookup_table[int_config->int_type];
-        switch (int_config->int_channel)
-        {
-            case BMI160_INT_CHANNEL_NONE:
-                data[0] = temp[0];
-                data[2] = temp[2];
-                break;
-            case BMI160_INT_CHANNEL_1:
-                data[0] = temp[0] | int_mask_lookup_table[int_config->int_type];
-                data[2] = temp[2];
-                break;
-            case BMI160_INT_CHANNEL_2:
-                data[2] = temp[2] | int_mask_lookup_table[int_config->int_type];
-                data[0] = temp[0];
-                break;
-            case BMI160_INT_CHANNEL_BOTH:
-                data[0] = temp[0] | int_mask_lookup_table[int_config->int_type];
-                data[2] = temp[2] | int_mask_lookup_table[int_config->int_type];
-                break;
-            default:
-                rslt = BMI160_E_OUT_OF_RANGE;
-        }
-        if (rslt == BMI160_OK)
-        {
-            rslt = bmi160_set_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full
- *  and FIFO watermark interrupt.
- */
-static int8_t map_hardware_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    rslt = bmi160_get_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = data & ~int_mask_lookup_table[int_config->int_type];
-        temp = temp & ~((uint8_t)(int_mask_lookup_table[int_config->int_type] << 4));
-        switch (int_config->int_channel)
-        {
-            case BMI160_INT_CHANNEL_NONE:
-                data = temp;
-                break;
-            case BMI160_INT_CHANNEL_1:
-                data = temp | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4);
-                break;
-            case BMI160_INT_CHANNEL_2:
-                data = temp | int_mask_lookup_table[int_config->int_type];
-                break;
-            case BMI160_INT_CHANNEL_BOTH:
-                data = temp | int_mask_lookup_table[int_config->int_type];
-                data = data | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4);
-                break;
-            default:
-                rslt = BMI160_E_OUT_OF_RANGE;
-        }
-        if (rslt == BMI160_OK)
-        {
-            rslt = bmi160_set_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for any-motion interrupt.
- */
-static int8_t config_any_motion_src(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
-                                    const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 1 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
-        data = temp | ((any_motion_int_cfg->anymotion_data_src << 7) & BMI160_MOTION_SRC_INT_MASK);
-
-        /* Write data to DATA 1 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the duration and threshold of
- * any-motion interrupt.
- */
-static int8_t config_any_dur_threshold(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
-                                       const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-    uint8_t data_array[2] = { 0 };
-    uint8_t dur;
-
-    /* Configure Int Motion 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_MOTION_0_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        /* slope duration */
-        dur = (uint8_t)any_motion_int_cfg->anymotion_dur;
-        temp = data & ~BMI160_SLOPE_INT_DUR_MASK;
-        data = temp | (dur & BMI160_MOTION_SRC_INT_MASK);
-        data_array[0] = data;
-
-        /* add slope threshold */
-        data_array[1] = any_motion_int_cfg->anymotion_thr;
-
-        /* INT MOTION 0 and INT MOTION 1 address lie consecutively,
-         * hence writing data to respective registers at one go */
-
-        /* Writing to Int_motion 0 and
-         * Int_motion 1 Address simultaneously */
-        rslt = bmi160_set_regs(BMI160_INT_MOTION_0_ADDR, data_array, 2, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure necessary setting of any-motion interrupt.
- */
-static int8_t config_any_motion_int_settg(const struct bmi160_int_settg *int_config,
-                                          const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
-                                          const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Configure Interrupt pins */
-    rslt = set_intr_pin_config(int_config, dev);
-    if (rslt == BMI160_OK)
-    {
-        rslt = disable_sig_motion_int(dev);
-        if (rslt == BMI160_OK)
-        {
-            rslt = map_feature_interrupt(int_config, dev);
-            if (rslt == BMI160_OK)
-            {
-                rslt = config_any_motion_src(any_motion_int_cfg, dev);
-                if (rslt == BMI160_OK)
-                {
-                    rslt = config_any_dur_threshold(any_motion_int_cfg, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enable the data ready interrupt.
- */
-static int8_t enable_data_ready_int(const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable data ready interrupt in Int Enable 1 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = data & ~BMI160_DATA_RDY_INT_EN_MASK;
-        data = temp | ((1 << 4) & BMI160_DATA_RDY_INT_EN_MASK);
-
-        /* Writing data to INT ENABLE 1 Address */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the no motion/slow motion interrupt.
- */
-static int8_t enable_no_motion_int(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
-                                   const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable no motion x, no motion y, no motion z
-     * in Int Enable 2 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        if (no_mot_int_cfg->no_motion_x == 1)
-        {
-            temp = data & ~BMI160_NO_MOTION_X_INT_EN_MASK;
-
-            /* Adding No_motion x axis */
-            data = temp | (1 & BMI160_NO_MOTION_X_INT_EN_MASK);
-        }
-        if (no_mot_int_cfg->no_motion_y == 1)
-        {
-            temp = data & ~BMI160_NO_MOTION_Y_INT_EN_MASK;
-
-            /* Adding No_motion x axis */
-            data = temp | ((1 << 1) & BMI160_NO_MOTION_Y_INT_EN_MASK);
-        }
-        if (no_mot_int_cfg->no_motion_z == 1)
-        {
-            temp = data & ~BMI160_NO_MOTION_Z_INT_EN_MASK;
-
-            /* Adding No_motion x axis */
-            data = temp | ((1 << 2) & BMI160_NO_MOTION_Z_INT_EN_MASK);
-        }
-
-        /* write data to Int Enable 2 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * no motion/slow motion interrupt.
- */
-static int8_t config_no_motion_int_settg(const struct bmi160_int_settg *int_config,
-                                         const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
-                                         const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Configure Interrupt pins */
-    rslt = set_intr_pin_config(int_config, dev);
-    if (rslt == BMI160_OK)
-    {
-        rslt = map_feature_interrupt(int_config, dev);
-        if (rslt == BMI160_OK)
-        {
-            rslt = config_no_motion_data_src(no_mot_int_cfg, dev);
-            if (rslt == BMI160_OK)
-            {
-                rslt = config_no_motion_dur_thr(no_mot_int_cfg, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of interrupt for no motion.
- */
-static int8_t config_no_motion_data_src(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
-                                        const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 1 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
-        data = temp | ((no_mot_int_cfg->no_motion_src << 7) & BMI160_MOTION_SRC_INT_MASK);
-
-        /* Write data to DATA 1 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the duration and threshold of
- * no motion/slow motion interrupt along with selection of no/slow motion.
- */
-static int8_t config_no_motion_dur_thr(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
-                                       const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-    uint8_t temp_1 = 0;
-    uint8_t reg_addr;
-    uint8_t data_array[2] = { 0 };
-
-    /* Configuring INT_MOTION register */
-    reg_addr = BMI160_INT_MOTION_0_ADDR;
-    rslt = bmi160_get_regs(reg_addr, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = data & ~BMI160_NO_MOTION_INT_DUR_MASK;
-
-        /* Adding no_motion duration */
-        data = temp | ((no_mot_int_cfg->no_motion_dur << 2) & BMI160_NO_MOTION_INT_DUR_MASK);
-
-        /* Write data to NO_MOTION 0 address */
-        rslt = bmi160_set_regs(reg_addr, &data, 1, dev);
-        if (rslt == BMI160_OK)
-        {
-            reg_addr = BMI160_INT_MOTION_3_ADDR;
-            rslt = bmi160_get_regs(reg_addr, &data, 1, dev);
-            if (rslt == BMI160_OK)
-            {
-                temp = data & ~BMI160_NO_MOTION_SEL_BIT_MASK;
-
-                /* Adding no_motion_sel bit */
-                temp_1 = (no_mot_int_cfg->no_motion_sel & BMI160_NO_MOTION_SEL_BIT_MASK);
-                data = (temp | temp_1);
-                data_array[1] = data;
-
-                /* Adding no motion threshold */
-                data_array[0] = no_mot_int_cfg->no_motion_thres;
-                reg_addr = BMI160_INT_MOTION_2_ADDR;
-
-                /* writing data to INT_MOTION 2 and INT_MOTION 3
-                 * address simultaneously */
-                rslt = bmi160_set_regs(reg_addr, data_array, 2, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the sig-motion motion interrupt.
- */
-static int8_t enable_sig_motion_int(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg, struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* For significant motion,enable any motion x,any motion y,
-     * any motion z in Int Enable 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        if (sig_mot_int_cfg->sig_en == BMI160_ENABLE)
-        {
-            temp = data & ~BMI160_SIG_MOTION_INT_EN_MASK;
-            data = temp | (7 & BMI160_SIG_MOTION_INT_EN_MASK);
-
-            /* sig-motion feature selected*/
-            dev->any_sig_sel = BMI160_SIG_MOTION_ENABLED;
-        }
-        else
-        {
-            data = data & ~BMI160_SIG_MOTION_INT_EN_MASK;
-
-            /* neither any-motion feature nor sig-motion selected */
-            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
-        }
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * significant motion interrupt.
- */
-static int8_t config_sig_motion_int_settg(const struct bmi160_int_settg *int_config,
-                                          const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
-                                          const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Configure Interrupt pins */
-    rslt = set_intr_pin_config(int_config, dev);
-    if (rslt == BMI160_OK)
-    {
-        rslt = map_feature_interrupt(int_config, dev);
-        if (rslt == BMI160_OK)
-        {
-            rslt = config_sig_motion_data_src(sig_mot_int_cfg, dev);
-            if (rslt == BMI160_OK)
-            {
-                rslt = config_sig_dur_threshold(sig_mot_int_cfg, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for sig motion interrupt.
- */
-static int8_t config_sig_motion_data_src(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
-                                         const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 1 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
-        data = temp | ((sig_mot_int_cfg->sig_data_src << 7) & BMI160_MOTION_SRC_INT_MASK);
-
-        /* Write data to DATA 1 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the threshold, skip and proof time of
- * sig motion interrupt.
- */
-static int8_t config_sig_dur_threshold(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
-                                       const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data;
-    uint8_t temp = 0;
-
-    /* Configuring INT_MOTION registers */
-
-    /* Write significant motion threshold.
-     * This threshold is same as any motion threshold */
-    data = sig_mot_int_cfg->sig_mot_thres;
-
-    /* Write data to INT_MOTION 1 address */
-    rslt = bmi160_set_regs(BMI160_INT_MOTION_1_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        rslt = bmi160_get_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
-        if (rslt == BMI160_OK)
-        {
-            temp = data & ~BMI160_SIG_MOTION_SKIP_MASK;
-
-            /* adding skip time of sig_motion interrupt*/
-            data = temp | ((sig_mot_int_cfg->sig_mot_skip << 2) & BMI160_SIG_MOTION_SKIP_MASK);
-            temp = data & ~BMI160_SIG_MOTION_PROOF_MASK;
-
-            /* adding proof time of sig_motion interrupt */
-            data = temp | ((sig_mot_int_cfg->sig_mot_proof << 4) & BMI160_SIG_MOTION_PROOF_MASK);
-
-            /* configure the int_sig_mot_sel bit to select
-             * significant motion interrupt */
-            temp = data & ~BMI160_SIG_MOTION_SEL_MASK;
-            data = temp | ((sig_mot_int_cfg->sig_en << 1) & BMI160_SIG_MOTION_SEL_MASK);
-            rslt = bmi160_set_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the step detector interrupt.
- */
-static int8_t enable_step_detect_int(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg,
-                                     const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable data ready interrupt in Int Enable 2 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = data & ~BMI160_STEP_DETECT_INT_EN_MASK;
-        data = temp | ((step_detect_int_cfg->step_detector_en << 3) & BMI160_STEP_DETECT_INT_EN_MASK);
-
-        /* Writing data to INT ENABLE 2 Address */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the step detector parameter.
- */
-static int8_t config_step_detect(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg,
-                                 const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data_array[2] = { 0 };
-
-    if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_NORMAL)
-    {
-        /* Normal mode setting */
-        data_array[0] = 0x15;
-        data_array[1] = 0x03;
-    }
-    else if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_SENSITIVE)
-    {
-        /* Sensitive mode setting */
-        data_array[0] = 0x2D;
-        data_array[1] = 0x00;
-    }
-    else if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_ROBUST)
-    {
-        /* Robust mode setting */
-        data_array[0] = 0x1D;
-        data_array[1] = 0x07;
-    }
-    else if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_USER_DEFINE)
-    {
-        /* Non recommended User defined setting */
-        /* Configuring STEP_CONFIG register */
-        rslt = bmi160_get_regs(BMI160_INT_STEP_CONFIG_0_ADDR, &data_array[0], 2, dev);
-        if (rslt == BMI160_OK)
-        {
-            temp = data_array[0] & ~BMI160_STEP_DETECT_MIN_THRES_MASK;
-
-            /* Adding min_threshold */
-            data_array[0] = temp | ((step_detect_int_cfg->min_threshold << 3) & BMI160_STEP_DETECT_MIN_THRES_MASK);
-            temp = data_array[0] & ~BMI160_STEP_DETECT_STEPTIME_MIN_MASK;
-
-            /* Adding steptime_min */
-            data_array[0] = temp | ((step_detect_int_cfg->steptime_min) & BMI160_STEP_DETECT_STEPTIME_MIN_MASK);
-            temp = data_array[1] & ~BMI160_STEP_MIN_BUF_MASK;
-
-            /* Adding steptime_min */
-            data_array[1] = temp | ((step_detect_int_cfg->step_min_buf) & BMI160_STEP_MIN_BUF_MASK);
-        }
-    }
-
-    /* Write data to STEP_CONFIG register */
-    rslt = bmi160_set_regs(BMI160_INT_STEP_CONFIG_0_ADDR, data_array, 2, dev);
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the single/double tap interrupt.
- */
-static int8_t enable_tap_int(const struct bmi160_int_settg *int_config,
-                             const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
-                             const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable single tap or double tap interrupt in Int Enable 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        if (int_config->int_type == BMI160_ACC_SINGLE_TAP_INT)
-        {
-            temp = data & ~BMI160_SINGLE_TAP_INT_EN_MASK;
-            data = temp | ((tap_int_cfg->tap_en << 5) & BMI160_SINGLE_TAP_INT_EN_MASK);
-        }
-        else
-        {
-            temp = data & ~BMI160_DOUBLE_TAP_INT_EN_MASK;
-            data = temp | ((tap_int_cfg->tap_en << 4) & BMI160_DOUBLE_TAP_INT_EN_MASK);
-        }
-
-        /* Write to Enable 0 Address */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * tap interrupt.
- */
-static int8_t config_tap_int_settg(const struct bmi160_int_settg *int_config,
-                                   const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
-                                   const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Configure Interrupt pins */
-    rslt = set_intr_pin_config(int_config, dev);
-    if (rslt == BMI160_OK)
-    {
-        rslt = map_feature_interrupt(int_config, dev);
-        if (rslt == BMI160_OK)
-        {
-            rslt = config_tap_data_src(tap_int_cfg, dev);
-            if (rslt == BMI160_OK)
-            {
-                rslt = config_tap_param(int_config, tap_int_cfg, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for tap interrupt.
- */
-static int8_t config_tap_data_src(const struct bmi160_acc_tap_int_cfg *tap_int_cfg, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 0 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = data & ~BMI160_TAP_SRC_INT_MASK;
-        data = temp | ((tap_int_cfg->tap_data_src << 3) & BMI160_TAP_SRC_INT_MASK);
-
-        /* Write data to Data 0 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the  parameters of tap interrupt.
- * Threshold, quite, shock, and duration.
- */
-static int8_t config_tap_param(const struct bmi160_int_settg *int_config,
-                               const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
-                               const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data = 0;
-    uint8_t data_array[2] = { 0 };
-    uint8_t count = 0;
-    uint8_t dur, shock, quiet, thres;
-
-    /* Configure tap 0 register for tap shock,tap quiet duration
-     * in case of single tap interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_TAP_0_ADDR, data_array, 2, dev);
-    if (rslt == BMI160_OK)
-    {
-        data = data_array[count];
-        if (int_config->int_type == BMI160_ACC_DOUBLE_TAP_INT)
-        {
-            dur = (uint8_t)tap_int_cfg->tap_dur;
-            temp = (data & ~BMI160_TAP_DUR_MASK);
-
-            /* Add tap duration data in case of
-             * double tap interrupt */
-            data = temp | (dur & BMI160_TAP_DUR_MASK);
-        }
-        shock = (uint8_t)tap_int_cfg->tap_shock;
-        temp = data & ~BMI160_TAP_SHOCK_DUR_MASK;
-        data = temp | ((shock << 6) & BMI160_TAP_SHOCK_DUR_MASK);
-        quiet = (uint8_t)tap_int_cfg->tap_quiet;
-        temp = data & ~BMI160_TAP_QUIET_DUR_MASK;
-        data = temp | ((quiet << 7) & BMI160_TAP_QUIET_DUR_MASK);
-        data_array[count++] = data;
-        data = data_array[count];
-        thres = (uint8_t)tap_int_cfg->tap_thr;
-        temp = data & ~BMI160_TAP_THRES_MASK;
-        data = temp | (thres & BMI160_TAP_THRES_MASK);
-        data_array[count++] = data;
-
-        /* TAP 0 and TAP 1 address lie consecutively,
-         * hence writing data to respective registers at one go */
-
-        /* Writing to Tap 0 and Tap 1 Address simultaneously */
-        rslt = bmi160_set_regs(BMI160_INT_TAP_0_ADDR, data_array, count, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the secondary interface.
- */
-static int8_t config_sec_if(const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t if_conf = 0;
-    uint8_t cmd = BMI160_AUX_NORMAL_MODE;
-
-    /* set the aux power mode to normal*/
-    rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        /* 0.5ms delay - refer datasheet table 24*/
-        dev->delay_ms(1);
-        rslt = bmi160_get_regs(BMI160_IF_CONF_ADDR, &if_conf, 1, dev);
-        if_conf |= (uint8_t)(1 << 5);
-        if (rslt == BMI160_OK)
-        {
-            /*enable the secondary interface also*/
-            rslt = bmi160_set_regs(BMI160_IF_CONF_ADDR, &if_conf, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the ODR of the auxiliary sensor.
- */
-static int8_t config_aux_odr(const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t aux_odr;
-
-    rslt = bmi160_get_regs(BMI160_AUX_ODR_ADDR, &aux_odr, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        aux_odr = (uint8_t)(dev->aux_cfg.aux_odr);
-
-        /* Set the secondary interface ODR
-         * i.e polling rate of secondary sensor */
-        rslt = bmi160_set_regs(BMI160_AUX_ODR_ADDR, &aux_odr, 1, dev);
-        dev->delay_ms(BMI160_AUX_COM_DELAY);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API maps the actual burst read length set by user.
- */
-static int8_t map_read_len(uint16_t *len, const struct bmi160_dev *dev)
-{
-    int8_t rslt = BMI160_OK;
-
-    switch (dev->aux_cfg.aux_rd_burst_len)
-    {
-        case BMI160_AUX_READ_LEN_0:
-            *len = 1;
-            break;
-        case BMI160_AUX_READ_LEN_1:
-            *len = 2;
-            break;
-        case BMI160_AUX_READ_LEN_2:
-            *len = 6;
-            break;
-        case BMI160_AUX_READ_LEN_3:
-            *len = 8;
-            break;
-        default:
-            rslt = BMI160_E_INVALID_INPUT;
-            break;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the settings of auxiliary sensor.
- */
-static int8_t config_aux_settg(const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    rslt = config_sec_if(dev);
-    if (rslt == BMI160_OK)
-    {
-        /* Configures the auxiliary interface settings */
-        rslt = bmi160_config_aux_mode(dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API extract the read data from auxiliary sensor.
- */
-static int8_t extract_aux_read(uint16_t map_len,
-                               uint8_t reg_addr,
-                               uint8_t *aux_data,
-                               uint16_t len,
-                               const struct bmi160_dev *dev)
-{
-    int8_t rslt = BMI160_OK;
-    uint8_t data[8] = { 0, };
-    uint8_t read_addr = BMI160_AUX_DATA_ADDR;
-    uint8_t count = 0;
-    uint8_t read_count;
-    uint8_t read_len = (uint8_t)map_len;
-
-    for (; count < len;)
-    {
-        /* set address to read */
-        rslt = bmi160_set_regs(BMI160_AUX_IF_2_ADDR, &reg_addr, 1, dev);
-        dev->delay_ms(BMI160_AUX_COM_DELAY);
-        if (rslt == BMI160_OK)
-        {
-            rslt = bmi160_get_regs(read_addr, data, map_len, dev);
-            if (rslt == BMI160_OK)
-            {
-                read_count = 0;
-
-                /* if read len is less the burst read len
-                 * mention by user*/
-                if (len < map_len)
-                {
-                    read_len = (uint8_t)len;
-                }
-                else
-                {
-                    if ((len - count) < map_len)
-                    {
-                        read_len = (uint8_t)(len - count);
-                    }
-                }
-                for (; read_count < read_len; read_count++)
-                {
-                    aux_data[count + read_count] = data[read_count];
-                }
-                reg_addr += (uint8_t)map_len;
-                count += (uint8_t)map_len;
-            }
-            else
-            {
-                rslt = BMI160_E_COM_FAIL;
-                break;
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the orient interrupt.
- */
-static int8_t enable_orient_int(const struct bmi160_acc_orient_int_cfg *orient_int_cfg, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable data ready interrupt in Int Enable 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = data & ~BMI160_ORIENT_INT_EN_MASK;
-        data = temp | ((orient_int_cfg->orient_en << 6) & BMI160_ORIENT_INT_EN_MASK);
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the necessary setting of orientation interrupt.
- */
-static int8_t config_orient_int_settg(const struct bmi160_acc_orient_int_cfg *orient_int_cfg,
-                                      const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-    uint8_t data_array[2] = { 0, 0 };
-
-    /* Configuring INT_ORIENT registers */
-    rslt = bmi160_get_regs(BMI160_INT_ORIENT_0_ADDR, data_array, 2, dev);
-    if (rslt == BMI160_OK)
-    {
-        data = data_array[0];
-        temp = data & ~BMI160_ORIENT_MODE_MASK;
-
-        /* Adding Orientation mode */
-        data = temp | ((orient_int_cfg->orient_mode) & BMI160_ORIENT_MODE_MASK);
-        temp = data & ~BMI160_ORIENT_BLOCK_MASK;
-
-        /* Adding Orientation blocking */
-        data = temp | ((orient_int_cfg->orient_blocking << 2) & BMI160_ORIENT_BLOCK_MASK);
-        temp = data & ~BMI160_ORIENT_HYST_MASK;
-
-        /* Adding Orientation hysteresis */
-        data = temp | ((orient_int_cfg->orient_hyst << 4) & BMI160_ORIENT_HYST_MASK);
-        data_array[0] = data;
-        data = data_array[1];
-        temp = data & ~BMI160_ORIENT_THETA_MASK;
-
-        /* Adding Orientation threshold */
-        data = temp | ((orient_int_cfg->orient_theta) & BMI160_ORIENT_THETA_MASK);
-        temp = data & ~BMI160_ORIENT_UD_ENABLE;
-
-        /* Adding Orient_ud_en */
-        data = temp | ((orient_int_cfg->orient_ud_en << 6) & BMI160_ORIENT_UD_ENABLE);
-        temp = data & ~BMI160_AXES_EN_MASK;
-
-        /* Adding axes_en */
-        data = temp | ((orient_int_cfg->axes_ex << 7) & BMI160_AXES_EN_MASK);
-        data_array[1] = data;
-
-        /* Writing data to INT_ORIENT 0 and INT_ORIENT 1
-         * registers simultaneously */
-        rslt = bmi160_set_regs(BMI160_INT_ORIENT_0_ADDR, data_array, 2, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the flat interrupt.
- */
-static int8_t enable_flat_int(const struct bmi160_acc_flat_detect_int_cfg *flat_int, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable flat interrupt in Int Enable 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = data & ~BMI160_FLAT_INT_EN_MASK;
-        data = temp | ((flat_int->flat_en << 7) & BMI160_FLAT_INT_EN_MASK);
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the necessary setting of flat interrupt.
- */
-static int8_t config_flat_int_settg(const struct bmi160_acc_flat_detect_int_cfg *flat_int, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-    uint8_t data_array[2] = { 0, 0 };
-
-    /* Configuring INT_FLAT register */
-    rslt = bmi160_get_regs(BMI160_INT_FLAT_0_ADDR, data_array, 2, dev);
-    if (rslt == BMI160_OK)
-    {
-        data = data_array[0];
-        temp = data & ~BMI160_FLAT_THRES_MASK;
-
-        /* Adding flat theta */
-        data = temp | ((flat_int->flat_theta) & BMI160_FLAT_THRES_MASK);
-        data_array[0] = data;
-        data = data_array[1];
-        temp = data & ~BMI160_FLAT_HOLD_TIME_MASK;
-
-        /* Adding flat hold time */
-        data = temp | ((flat_int->flat_hold_time << 4) & BMI160_FLAT_HOLD_TIME_MASK);
-        temp = data & ~BMI160_FLAT_HYST_MASK;
-
-        /* Adding flat hysteresis */
-        data = temp | ((flat_int->flat_hy) & BMI160_FLAT_HYST_MASK);
-        data_array[1] = data;
-
-        /* Writing data to INT_FLAT 0 and INT_FLAT 1
-         * registers simultaneously */
-        rslt = bmi160_set_regs(BMI160_INT_FLAT_0_ADDR, data_array, 2, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the Low-g interrupt.
- */
-static int8_t enable_low_g_int(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable low-g interrupt in Int Enable 1 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = data & ~BMI160_LOW_G_INT_EN_MASK;
-        data = temp | ((low_g_int->low_en << 3) & BMI160_LOW_G_INT_EN_MASK);
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for low-g interrupt.
- */
-static int8_t config_low_g_data_src(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 0 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = data & ~BMI160_LOW_HIGH_SRC_INT_MASK;
-        data = temp | ((low_g_int->low_data_src << 7) & BMI160_LOW_HIGH_SRC_INT_MASK);
-
-        /* Write data to Data 0 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the necessary setting of low-g interrupt.
- */
-static int8_t config_low_g_int_settg(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data_array[3] = { 0, 0, 0 };
-
-    /* Configuring INT_LOWHIGH register for low-g interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_LOWHIGH_2_ADDR, &data_array[2], 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = data_array[2] & ~BMI160_LOW_G_HYST_MASK;
-
-        /* Adding low-g hysteresis */
-        data_array[2] = temp | (low_g_int->low_hyst & BMI160_LOW_G_HYST_MASK);
-        temp = data_array[2] & ~BMI160_LOW_G_LOW_MODE_MASK;
-
-        /* Adding low-mode */
-        data_array[2] = temp | ((low_g_int->low_mode << 2) & BMI160_LOW_G_LOW_MODE_MASK);
-
-        /* Adding low-g threshold */
-        data_array[1] = low_g_int->low_thres;
-
-        /* Adding low-g interrupt delay */
-        data_array[0] = low_g_int->low_dur;
-
-        /* Writing data to INT_LOWHIGH 0,1,2 registers simultaneously*/
-        rslt = bmi160_set_regs(BMI160_INT_LOWHIGH_0_ADDR, data_array, 3, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the high-g interrupt.
- */
-static int8_t enable_high_g_int(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable low-g interrupt in Int Enable 1 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        /* Adding high-g X-axis */
-        temp = data & ~BMI160_HIGH_G_X_INT_EN_MASK;
-        data = temp | (high_g_int_cfg->high_g_x & BMI160_HIGH_G_X_INT_EN_MASK);
-
-        /* Adding high-g Y-axis */
-        temp = data & ~BMI160_HIGH_G_Y_INT_EN_MASK;
-        data = temp | ((high_g_int_cfg->high_g_y << 1) & BMI160_HIGH_G_Y_INT_EN_MASK);
-
-        /* Adding high-g Z-axis */
-        temp = data & ~BMI160_HIGH_G_Z_INT_EN_MASK;
-        data = temp | ((high_g_int_cfg->high_g_z << 2) & BMI160_HIGH_G_Z_INT_EN_MASK);
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for high-g interrupt.
- */
-static int8_t config_high_g_data_src(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg,
-                                     const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 0 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = data & ~BMI160_LOW_HIGH_SRC_INT_MASK;
-        data = temp | ((high_g_int_cfg->high_data_src << 7) & BMI160_LOW_HIGH_SRC_INT_MASK);
-
-        /* Write data to Data 0 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the necessary setting of high-g interrupt.
- */
-static int8_t config_high_g_int_settg(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg,
-                                      const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data_array[3] = { 0, 0, 0 };
-
-    rslt = bmi160_get_regs(BMI160_INT_LOWHIGH_2_ADDR, &data_array[0], 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        temp = data_array[0] & ~BMI160_HIGH_G_HYST_MASK;
-
-        /* Adding high-g hysteresis */
-        data_array[0] = temp | ((high_g_int_cfg->high_hy << 6) & BMI160_HIGH_G_HYST_MASK);
-
-        /* Adding high-g duration */
-        data_array[1] = high_g_int_cfg->high_dur;
-
-        /* Adding high-g threshold */
-        data_array[2] = high_g_int_cfg->high_thres;
-        rslt = bmi160_set_regs(BMI160_INT_LOWHIGH_2_ADDR, data_array, 3, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the behavioural setting of interrupt pin.
- */
-static int8_t config_int_out_ctrl(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data = 0;
-
-    /* Configuration of output interrupt signals on pins INT1 and INT2 are
-     * done in BMI160_INT_OUT_CTRL_ADDR register*/
-    rslt = bmi160_get_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        /* updating the interrupt pin structure to local structure */
-        const struct bmi160_int_pin_settg *intr_pin_sett = &(int_config->int_pin_settg);
-
-        /* Configuring channel 1 */
-        if (int_config->int_channel == BMI160_INT_CHANNEL_1)
-        {
-            /* Output enable */
-            temp = data & ~BMI160_INT1_OUTPUT_EN_MASK;
-            data = temp | ((intr_pin_sett->output_en << 3) & BMI160_INT1_OUTPUT_EN_MASK);
-
-            /* Output mode */
-            temp = data & ~BMI160_INT1_OUTPUT_MODE_MASK;
-            data = temp | ((intr_pin_sett->output_mode << 2) & BMI160_INT1_OUTPUT_MODE_MASK);
-
-            /* Output type */
-            temp = data & ~BMI160_INT1_OUTPUT_TYPE_MASK;
-            data = temp | ((intr_pin_sett->output_type << 1) & BMI160_INT1_OUTPUT_TYPE_MASK);
-
-            /* edge control */
-            temp = data & ~BMI160_INT1_EDGE_CTRL_MASK;
-            data = temp | ((intr_pin_sett->edge_ctrl) & BMI160_INT1_EDGE_CTRL_MASK);
-        }
-        else
-        {
-            /* Configuring channel 2 */
-            /* Output enable */
-            temp = data & ~BMI160_INT2_OUTPUT_EN_MASK;
-            data = temp | ((intr_pin_sett->output_en << 7) & BMI160_INT2_OUTPUT_EN_MASK);
-
-            /* Output mode */
-            temp = data & ~BMI160_INT2_OUTPUT_MODE_MASK;
-            data = temp | ((intr_pin_sett->output_mode << 6) & BMI160_INT2_OUTPUT_MODE_MASK);
-
-            /* Output type */
-            temp = data & ~BMI160_INT2_OUTPUT_TYPE_MASK;
-            data = temp | ((intr_pin_sett->output_type << 5) & BMI160_INT2_OUTPUT_TYPE_MASK);
-
-            /* edge control */
-            temp = data & ~BMI160_INT2_EDGE_CTRL_MASK;
-            data = temp | ((intr_pin_sett->edge_ctrl << 4) & BMI160_INT2_EDGE_CTRL_MASK);
-        }
-        rslt = bmi160_set_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the mode(input enable, latch or non-latch) of interrupt pin.
- */
-static int8_t config_int_latch(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data = 0;
-
-    /* Configuration of latch on pins INT1 and INT2 are done in
-     * BMI160_INT_LATCH_ADDR register*/
-    rslt = bmi160_get_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        /* updating the interrupt pin structure to local structure */
-        const struct bmi160_int_pin_settg *intr_pin_sett = &(int_config->int_pin_settg);
-        if (int_config->int_channel == BMI160_INT_CHANNEL_1)
-        {
-            /* Configuring channel 1 */
-            /* Input enable */
-            temp = data & ~BMI160_INT1_INPUT_EN_MASK;
-            data = temp | ((intr_pin_sett->input_en << 4) & BMI160_INT1_INPUT_EN_MASK);
-        }
-        else
-        {
-            /* Configuring channel 2 */
-            /* Input enable */
-            temp = data & ~BMI160_INT2_INPUT_EN_MASK;
-            data = temp | ((intr_pin_sett->input_en << 5) & BMI160_INT2_INPUT_EN_MASK);
-        }
-
-        /* In case of latch interrupt,update the latch duration */
-
-        /* Latching holds the interrupt for the amount of latch
-         * duration time */
-        temp = data & ~BMI160_INT_LATCH_MASK;
-        data = temp | (intr_pin_sett->latch_dur & BMI160_INT_LATCH_MASK);
-
-        /* OUT_CTRL_INT and LATCH_INT address lie consecutively,
-         * hence writing data to respective registers at one go */
-        rslt = bmi160_set_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API performs the self test for accelerometer of BMI160
- */
-static int8_t perform_accel_self_test(struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    struct bmi160_sensor_data accel_pos, accel_neg;
-
-    /* Enable Gyro self test bit */
-    rslt = enable_accel_self_test(dev);
-    if (rslt == BMI160_OK)
-    {
-        /* Perform accel self test with positive excitation */
-        rslt = accel_self_test_positive_excitation(&accel_pos, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Perform accel self test with negative excitation */
-            rslt = accel_self_test_negative_excitation(&accel_neg, dev);
-            if (rslt == BMI160_OK)
-            {
-                /* Validate the self test result */
-                rslt = validate_accel_self_test(&accel_pos, &accel_neg);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables to perform the accel self test by setting proper
- * configurations to facilitate accel self test
- */
-static int8_t enable_accel_self_test(struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t reg_data;
-
-    /* Set the Accel power mode as normal mode */
-    dev->accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
-
-    /* Set the sensor range configuration as 8G */
-    dev->accel_cfg.range = BMI160_ACCEL_RANGE_8G;
-    rslt = bmi160_set_sens_conf(dev);
-    if (rslt == BMI160_OK)
-    {
-        /* Accel configurations are set to facilitate self test
-         * acc_odr - 1600Hz ; acc_bwp = 2 ; acc_us = 0 */
-        reg_data = BMI160_ACCEL_SELF_TEST_CONFIG;
-        rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, &reg_data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API performs accel self test with positive excitation
- */
-static int8_t accel_self_test_positive_excitation(struct bmi160_sensor_data *accel_pos, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t reg_data;
-
-    /* Enable accel self test with positive self-test excitation
-     * and with amplitude of deflection set as high */
-    reg_data = BMI160_ACCEL_SELF_TEST_POSITIVE_EN;
-    rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        /* Read the data after a delay of 50ms - refer datasheet  2.8.1 accel self test*/
-        dev->delay_ms(BMI160_ACCEL_SELF_TEST_DELAY);
-        rslt = bmi160_get_sensor_data(BMI160_ACCEL_ONLY, accel_pos, NULL, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API performs accel self test with negative excitation
- */
-static int8_t accel_self_test_negative_excitation(struct bmi160_sensor_data *accel_neg, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t reg_data;
-
-    /* Enable accel self test with negative self-test excitation
-     * and with amplitude of deflection set as high */
-    reg_data = BMI160_ACCEL_SELF_TEST_NEGATIVE_EN;
-    rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        /* Read the data after a delay of 50ms */
-        dev->delay_ms(BMI160_ACCEL_SELF_TEST_DELAY);
-        rslt = bmi160_get_sensor_data(BMI160_ACCEL_ONLY, accel_neg, NULL, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API validates the accel self test results
- */
-static int8_t validate_accel_self_test(const struct bmi160_sensor_data *accel_pos,
-                                       const struct bmi160_sensor_data *accel_neg)
-{
-    int8_t rslt;
-
-    /* Validate the results of self test */
-    if (((accel_neg->x - accel_pos->x) > BMI160_ACCEL_SELF_TEST_LIMIT) &&
-        ((accel_neg->y - accel_pos->y) > BMI160_ACCEL_SELF_TEST_LIMIT) &&
-        ((accel_neg->z - accel_pos->z) > BMI160_ACCEL_SELF_TEST_LIMIT))
-    {
-        /* Self test pass condition */
-        rslt = BMI160_OK;
-    }
-    else
-    {
-        rslt = BMI160_W_ACCEl_SELF_TEST_FAIL;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API performs the self test for gyroscope of BMI160
- */
-static int8_t perform_gyro_self_test(const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-
-    /* Enable Gyro self test bit */
-    rslt = enable_gyro_self_test(dev);
-    if (rslt == BMI160_OK)
-    {
-        /* Validate the gyro self test results */
-        rslt = validate_gyro_self_test(dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the self test bit to trigger self test for Gyro
- */
-static int8_t enable_gyro_self_test(const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t reg_data;
-
-    /* Enable the Gyro self test bit to trigger the self test */
-    rslt = bmi160_get_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        reg_data = BMI160_SET_BITS(reg_data, BMI160_GYRO_SELF_TEST, 1);
-        rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Delay to enable gyro self test */
-            dev->delay_ms(15);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API validates the self test results of Gyro
- */
-static int8_t validate_gyro_self_test(const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t reg_data;
-
-    /* Validate the Gyro self test result */
-    rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        reg_data = BMI160_GET_BITS(reg_data, BMI160_GYRO_SELF_TEST_STATUS);
-        if (reg_data == BMI160_ENABLE)
-        {
-            /* Gyro self test success case */
-            rslt = BMI160_OK;
-        }
-        else
-        {
-            rslt = BMI160_W_GYRO_SELF_TEST_FAIL;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API sets FIFO full interrupt of the sensor.This interrupt
- *  occurs when the FIFO is full and the next full data sample would cause
- *  a FIFO overflow, which may delete the old samples.
- */
-static int8_t set_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt = BMI160_OK;
-
-    /* Null-pointer check */
-    if ((dev == NULL) || (dev->delay_ms == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /*enable the fifo full interrupt */
-        rslt = enable_fifo_full_int(int_config, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if (rslt == BMI160_OK)
-            {
-                rslt = map_hardware_interrupt(int_config, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This enable the FIFO full interrupt engine.
- */
-static int8_t enable_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        data = BMI160_SET_BITS(data, BMI160_FIFO_FULL_INT, int_config->fifo_full_int_en);
-
-        /* Writing data to INT ENABLE 1 Address */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API sets FIFO watermark interrupt of the sensor.The FIFO
- *  watermark interrupt is fired, when the FIFO fill level is above a fifo
- *  watermark.
- */
-static int8_t set_fifo_watermark_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt = BMI160_OK;
-
-    if ((dev == NULL) || (dev->delay_ms == NULL))
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* Enable fifo-watermark interrupt in Int Enable 1 register */
-        rslt = enable_fifo_wtm_int(int_config, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if (rslt == BMI160_OK)
-            {
-                rslt = map_hardware_interrupt(int_config, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This enable the FIFO watermark interrupt engine.
- */
-static int8_t enable_fifo_wtm_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data = 0;
-
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        data = BMI160_SET_BITS(data, BMI160_FIFO_WTM_INT, int_config->fifo_WTM_int_en);
-
-        /* Writing data to INT ENABLE 1 Address */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to reset the FIFO related configurations
- *  in the fifo_frame structure.
- */
-static void reset_fifo_data_structure(const struct bmi160_dev *dev)
-{
-    /*Prepare for next FIFO read by resetting FIFO's
-     * internal data structures*/
-    dev->fifo->accel_byte_start_idx = 0;
-    dev->fifo->gyro_byte_start_idx = 0;
-    dev->fifo->aux_byte_start_idx = 0;
-    dev->fifo->sensor_time = 0;
-    dev->fifo->skipped_frame_count = 0;
-}
-
-/*!
- *  @brief This API is used to read fifo_byte_counter value (i.e)
- *  current fill-level in Fifo buffer.
- */
-static int8_t get_fifo_byte_counter(uint16_t *bytes_to_read, struct bmi160_dev const *dev)
-{
-    int8_t rslt = 0;
-    uint8_t data[2];
-    uint8_t addr = BMI160_FIFO_LENGTH_ADDR;
-
-    rslt |= bmi160_get_regs(addr, data, 2, dev);
-    data[1] = data[1] & BMI160_FIFO_BYTE_COUNTER_MASK;
-
-    /* Available data in FIFO is stored in bytes_to_read*/
-    *bytes_to_read = (((uint16_t)data[1] << 8) | ((uint16_t)data[0]));
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to compute the number of bytes of accel FIFO data
- *  which is to be parsed in header-less mode
- */
-static void get_accel_len_to_parse(uint16_t *data_index,
-                                   uint16_t *data_read_length,
-                                   const uint8_t *acc_frame_count,
-                                   const struct bmi160_dev *dev)
-{
-    /* Data start index */
-    *data_index = dev->fifo->accel_byte_start_idx;
-    if (dev->fifo->fifo_data_enable == BMI160_FIFO_A_ENABLE)
-    {
-        *data_read_length = (*acc_frame_count) * BMI160_FIFO_A_LENGTH;
-    }
-    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_G_A_ENABLE)
-    {
-        *data_read_length = (*acc_frame_count) * BMI160_FIFO_GA_LENGTH;
-    }
-    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_A_ENABLE)
-    {
-        *data_read_length = (*acc_frame_count) * BMI160_FIFO_MA_LENGTH;
-    }
-    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE)
-    {
-        *data_read_length = (*acc_frame_count) * BMI160_FIFO_MGA_LENGTH;
-    }
-    else
-    {
-        /* When accel is not enabled ,there will be no accel data.
-         * so we update the data index as complete */
-        *data_index = dev->fifo->length;
-    }
-    if (*data_read_length > dev->fifo->length)
-    {
-        /* Handling the case where more data is requested
-         * than that is available*/
-        *data_read_length = dev->fifo->length;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed.
- */
-static void unpack_accel_frame(struct bmi160_sensor_data *acc,
-                               uint16_t *idx,
-                               uint8_t *acc_idx,
-                               uint8_t frame_info,
-                               const struct bmi160_dev *dev)
-{
-    switch (frame_info)
-    {
-        case BMI160_FIFO_HEAD_A:
-        case BMI160_FIFO_A_ENABLE:
-
-            /*Partial read, then skip the data*/
-            if ((*idx + BMI160_FIFO_A_LENGTH) > dev->fifo->length)
-            {
-                /*Update the data index as complete*/
-                *idx = dev->fifo->length;
-                break;
-            }
-
-            /*Unpack the data array into the structure instance "acc" */
-            unpack_accel_data(&acc[*acc_idx], *idx, dev);
-
-            /*Move the data index*/
-            *idx = *idx + BMI160_FIFO_A_LENGTH;
-            (*acc_idx)++;
-            break;
-        case BMI160_FIFO_HEAD_G_A:
-        case BMI160_FIFO_G_A_ENABLE:
-
-            /*Partial read, then skip the data*/
-            if ((*idx + BMI160_FIFO_GA_LENGTH) > dev->fifo->length)
-            {
-                /*Update the data index as complete*/
-                *idx = dev->fifo->length;
-                break;
-            }
-
-            /*Unpack the data array into structure instance "acc"*/
-            unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_G_LENGTH, dev);
-
-            /*Move the data index*/
-            *idx = *idx + BMI160_FIFO_GA_LENGTH;
-            (*acc_idx)++;
-            break;
-        case BMI160_FIFO_HEAD_M_A:
-        case BMI160_FIFO_M_A_ENABLE:
-
-            /*Partial read, then skip the data*/
-            if ((*idx + BMI160_FIFO_MA_LENGTH) > dev->fifo->length)
-            {
-                /*Update the data index as complete*/
-                *idx = dev->fifo->length;
-                break;
-            }
-
-            /*Unpack the data array into structure instance "acc"*/
-            unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
-
-            /*Move the data index*/
-            *idx = *idx + BMI160_FIFO_MA_LENGTH;
-            (*acc_idx)++;
-            break;
-        case BMI160_FIFO_HEAD_M_G_A:
-        case BMI160_FIFO_M_G_A_ENABLE:
-
-            /*Partial read, then skip the data*/
-            if ((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length)
-            {
-                /*Update the data index as complete*/
-                *idx = dev->fifo->length;
-                break;
-            }
-
-            /*Unpack the data array into structure instance "acc"*/
-            unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_MG_LENGTH, dev);
-
-            /*Move the data index*/
-            *idx = *idx + BMI160_FIFO_MGA_LENGTH;
-            (*acc_idx)++;
-            break;
-        case BMI160_FIFO_HEAD_M:
-        case BMI160_FIFO_M_ENABLE:
-            (*idx) = (*idx) + BMI160_FIFO_M_LENGTH;
-            break;
-        case BMI160_FIFO_HEAD_G:
-        case BMI160_FIFO_G_ENABLE:
-            (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
-            break;
-        case BMI160_FIFO_HEAD_M_G:
-        case BMI160_FIFO_M_G_ENABLE:
-            (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
-            break;
-        default:
-            break;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
- */
-static void unpack_accel_data(struct bmi160_sensor_data *accel_data,
-                              uint16_t data_start_index,
-                              const struct bmi160_dev *dev)
-{
-    uint16_t data_lsb;
-    uint16_t data_msb;
-
-    /* Accel raw x data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    accel_data->x = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Accel raw y data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    accel_data->y = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Accel raw z data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    accel_data->z = (int16_t)((data_msb << 8) | data_lsb);
-}
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data in header mode.
- */
-static void extract_accel_header_mode(struct bmi160_sensor_data *accel_data,
-                                      uint8_t *accel_length,
-                                      const struct bmi160_dev *dev)
-{
-    uint8_t frame_header = 0;
-    uint16_t data_index;
-    uint8_t accel_index = 0;
-
-    for (data_index = dev->fifo->accel_byte_start_idx; data_index < dev->fifo->length;)
-    {
-        /* extracting Frame header */
-        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
-
-        /*Index is moved to next byte where the data is starting*/
-        data_index++;
-        switch (frame_header)
-        {
-            /* Accel frame */
-            case BMI160_FIFO_HEAD_A:
-            case BMI160_FIFO_HEAD_M_A:
-            case BMI160_FIFO_HEAD_G_A:
-            case BMI160_FIFO_HEAD_M_G_A:
-                unpack_accel_frame(accel_data, &data_index, &accel_index, frame_header, dev);
-                break;
-            case BMI160_FIFO_HEAD_M:
-                move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
-                break;
-            case BMI160_FIFO_HEAD_G:
-                move_next_frame(&data_index, BMI160_FIFO_G_LENGTH, dev);
-                break;
-            case BMI160_FIFO_HEAD_M_G:
-                move_next_frame(&data_index, BMI160_FIFO_MG_LENGTH, dev);
-                break;
-
-            /* Sensor time frame */
-            case BMI160_FIFO_HEAD_SENSOR_TIME:
-                unpack_sensortime_frame(&data_index, dev);
-                break;
-
-            /* Skip frame */
-            case BMI160_FIFO_HEAD_SKIP_FRAME:
-                unpack_skipped_frame(&data_index, dev);
-                break;
-
-            /* Input config frame */
-            case BMI160_FIFO_HEAD_INPUT_CONFIG:
-                move_next_frame(&data_index, 1, dev);
-                break;
-            case BMI160_FIFO_HEAD_OVER_READ:
-
-                /* Update the data index as complete in case of Over read */
-                data_index = dev->fifo->length;
-                break;
-            default:
-                break;
-        }
-        if (*accel_length == accel_index)
-        {
-            /* Number of frames to read completed */
-            break;
-        }
-    }
-
-    /*Update number of accel data read*/
-    *accel_length = accel_index;
-
-    /*Update the accel frame index*/
-    dev->fifo->accel_byte_start_idx = data_index;
-}
-
-/*!
- *  @brief This API computes the number of bytes of gyro FIFO data
- *  which is to be parsed in header-less mode
- */
-static void get_gyro_len_to_parse(uint16_t *data_index,
-                                  uint16_t *data_read_length,
-                                  const uint8_t *gyro_frame_count,
-                                  const struct bmi160_dev *dev)
-{
-    /* Data start index */
-    *data_index = dev->fifo->gyro_byte_start_idx;
-    if (dev->fifo->fifo_data_enable == BMI160_FIFO_G_ENABLE)
-    {
-        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_G_LENGTH;
-    }
-    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_G_A_ENABLE)
-    {
-        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_GA_LENGTH;
-    }
-    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_ENABLE)
-    {
-        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_MG_LENGTH;
-    }
-    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE)
-    {
-        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_MGA_LENGTH;
-    }
-    else
-    {
-        /* When gyro is not enabled ,there will be no gyro data.
-         * so we update the data index as complete */
-        *data_index = dev->fifo->length;
-    }
-    if (*data_read_length > dev->fifo->length)
-    {
-        /* Handling the case where more data is requested
-         * than that is available*/
-        *data_read_length = dev->fifo->length;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the gyroscope's data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed.
- */
-static void unpack_gyro_frame(struct bmi160_sensor_data *gyro,
-                              uint16_t *idx,
-                              uint8_t *gyro_idx,
-                              uint8_t frame_info,
-                              const struct bmi160_dev *dev)
-{
-    switch (frame_info)
-    {
-        case BMI160_FIFO_HEAD_G:
-        case BMI160_FIFO_G_ENABLE:
-
-            /*Partial read, then skip the data*/
-            if ((*idx + BMI160_FIFO_G_LENGTH) > dev->fifo->length)
-            {
-                /*Update the data index as complete*/
-                *idx = dev->fifo->length;
-                break;
-            }
-
-            /*Unpack the data array into structure instance "gyro"*/
-            unpack_gyro_data(&gyro[*gyro_idx], *idx, dev);
-
-            /*Move the data index*/
-            (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
-            (*gyro_idx)++;
-            break;
-        case BMI160_FIFO_HEAD_G_A:
-        case BMI160_FIFO_G_A_ENABLE:
-
-            /*Partial read, then skip the data*/
-            if ((*idx + BMI160_FIFO_GA_LENGTH) > dev->fifo->length)
-            {
-                /*Update the data index as complete*/
-                *idx = dev->fifo->length;
-                break;
-            }
-
-            /* Unpack the data array into structure instance "gyro" */
-            unpack_gyro_data(&gyro[*gyro_idx], *idx, dev);
-
-            /* Move the data index */
-            *idx = *idx + BMI160_FIFO_GA_LENGTH;
-            (*gyro_idx)++;
-            break;
-        case BMI160_FIFO_HEAD_M_G_A:
-        case BMI160_FIFO_M_G_A_ENABLE:
-
-            /*Partial read, then skip the data*/
-            if ((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length)
-            {
-                /*Update the data index as complete*/
-                *idx = dev->fifo->length;
-                break;
-            }
-
-            /*Unpack the data array into structure instance "gyro"*/
-            unpack_gyro_data(&gyro[*gyro_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
-
-            /*Move the data index*/
-            *idx = *idx + BMI160_FIFO_MGA_LENGTH;
-            (*gyro_idx)++;
-            break;
-        case BMI160_FIFO_HEAD_M_A:
-        case BMI160_FIFO_M_A_ENABLE:
-
-            /* Move the data index */
-            *idx = *idx + BMI160_FIFO_MA_LENGTH;
-            break;
-        case BMI160_FIFO_HEAD_M:
-        case BMI160_FIFO_M_ENABLE:
-            (*idx) = (*idx) + BMI160_FIFO_M_LENGTH;
-            break;
-        case BMI160_FIFO_HEAD_M_G:
-        case BMI160_FIFO_M_G_ENABLE:
-
-            /*Partial read, then skip the data*/
-            if ((*idx + BMI160_FIFO_MG_LENGTH) > dev->fifo->length)
-            {
-                /*Update the data index as complete*/
-                *idx = dev->fifo->length;
-                break;
-            }
-
-            /*Unpack the data array into structure instance "gyro"*/
-            unpack_gyro_data(&gyro[*gyro_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
-
-            /*Move the data index*/
-            (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
-            (*gyro_idx)++;
-            break;
-        case BMI160_FIFO_HEAD_A:
-        case BMI160_FIFO_A_ENABLE:
-
-            /*Move the data index*/
-            *idx = *idx + BMI160_FIFO_A_LENGTH;
-            break;
-        default:
-            break;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the gyro data from the
- *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
- */
-static void unpack_gyro_data(struct bmi160_sensor_data *gyro_data,
-                             uint16_t data_start_index,
-                             const struct bmi160_dev *dev)
-{
-    uint16_t data_lsb;
-    uint16_t data_msb;
-
-    /* Gyro raw x data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    gyro_data->x = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Gyro raw y data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    gyro_data->y = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Gyro raw z data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    gyro_data->z = (int16_t)((data_msb << 8) | data_lsb);
-}
-
-/*!
- *  @brief This API is used to parse the gyro data from the
- *  FIFO data in header mode.
- */
-static void extract_gyro_header_mode(struct bmi160_sensor_data *gyro_data,
-                                     uint8_t *gyro_length,
-                                     const struct bmi160_dev *dev)
-{
-    uint8_t frame_header = 0;
-    uint16_t data_index;
-    uint8_t gyro_index = 0;
-
-    for (data_index = dev->fifo->gyro_byte_start_idx; data_index < dev->fifo->length;)
-    {
-        /* extracting Frame header */
-        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
-
-        /*Index is moved to next byte where the data is starting*/
-        data_index++;
-        switch (frame_header)
-        {
-            /* GYRO frame */
-            case BMI160_FIFO_HEAD_G:
-            case BMI160_FIFO_HEAD_G_A:
-            case BMI160_FIFO_HEAD_M_G:
-            case BMI160_FIFO_HEAD_M_G_A:
-                unpack_gyro_frame(gyro_data, &data_index, &gyro_index, frame_header, dev);
-                break;
-            case BMI160_FIFO_HEAD_A:
-                move_next_frame(&data_index, BMI160_FIFO_A_LENGTH, dev);
-                break;
-            case BMI160_FIFO_HEAD_M:
-                move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
-                break;
-            case BMI160_FIFO_HEAD_M_A:
-                move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
-                break;
-
-            /* Sensor time frame */
-            case BMI160_FIFO_HEAD_SENSOR_TIME:
-                unpack_sensortime_frame(&data_index, dev);
-                break;
-
-            /* Skip frame */
-            case BMI160_FIFO_HEAD_SKIP_FRAME:
-                unpack_skipped_frame(&data_index, dev);
-                break;
-
-            /* Input config frame */
-            case BMI160_FIFO_HEAD_INPUT_CONFIG:
-                move_next_frame(&data_index, 1, dev);
-                break;
-            case BMI160_FIFO_HEAD_OVER_READ:
-
-                /* Update the data index as complete in case of over read */
-                data_index = dev->fifo->length;
-                break;
-            default:
-                break;
-        }
-        if (*gyro_length == gyro_index)
-        {
-            /*Number of frames to read completed*/
-            break;
-        }
-    }
-
-    /*Update number of gyro data read*/
-    *gyro_length = gyro_index;
-
-    /*Update the gyro frame index*/
-    dev->fifo->gyro_byte_start_idx = data_index;
-}
-
-/*!
- *  @brief This API computes the number of bytes of aux FIFO data
- *  which is to be parsed in header-less mode
- */
-static void get_aux_len_to_parse(uint16_t *data_index,
-                                 uint16_t *data_read_length,
-                                 const uint8_t *aux_frame_count,
-                                 const struct bmi160_dev *dev)
-{
-    /* Data start index */
-    *data_index = dev->fifo->gyro_byte_start_idx;
-    if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_ENABLE)
-    {
-        *data_read_length = (*aux_frame_count) * BMI160_FIFO_M_LENGTH;
-    }
-    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_A_ENABLE)
-    {
-        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MA_LENGTH;
-    }
-    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_ENABLE)
-    {
-        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MG_LENGTH;
-    }
-    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE)
-    {
-        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MGA_LENGTH;
-    }
-    else
-    {
-        /* When aux is not enabled ,there will be no aux data.
-         * so we update the data index as complete */
-        *data_index = dev->fifo->length;
-    }
-    if (*data_read_length > dev->fifo->length)
-    {
-        /* Handling the case where more data is requested
-         * than that is available */
-        *data_read_length = dev->fifo->length;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the aux's data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed
- */
-static void unpack_aux_frame(struct bmi160_aux_data *aux_data,
-                             uint16_t *idx,
-                             uint8_t *aux_index,
-                             uint8_t frame_info,
-                             const struct bmi160_dev *dev)
-{
-    switch (frame_info)
-    {
-        case BMI160_FIFO_HEAD_M:
-        case BMI160_FIFO_M_ENABLE:
-
-            /* Partial read, then skip the data */
-            if ((*idx + BMI160_FIFO_M_LENGTH) > dev->fifo->length)
-            {
-                /* Update the data index as complete */
-                *idx = dev->fifo->length;
-                break;
-            }
-
-            /* Unpack the data array into structure instance */
-            unpack_aux_data(&aux_data[*aux_index], *idx, dev);
-
-            /* Move the data index */
-            *idx = *idx + BMI160_FIFO_M_LENGTH;
-            (*aux_index)++;
-            break;
-        case BMI160_FIFO_HEAD_M_A:
-        case BMI160_FIFO_M_A_ENABLE:
-
-            /* Partial read, then skip the data */
-            if ((*idx + BMI160_FIFO_MA_LENGTH) > dev->fifo->length)
-            {
-                /* Update the data index as complete */
-                *idx = dev->fifo->length;
-                break;
-            }
-
-            /* Unpack the data array into structure instance */
-            unpack_aux_data(&aux_data[*aux_index], *idx, dev);
-
-            /* Move the data index */
-            *idx = *idx + BMI160_FIFO_MA_LENGTH;
-            (*aux_index)++;
-            break;
-        case BMI160_FIFO_HEAD_M_G:
-        case BMI160_FIFO_M_G_ENABLE:
-
-            /* Partial read, then skip the data */
-            if ((*idx + BMI160_FIFO_MG_LENGTH) > dev->fifo->length)
-            {
-                /* Update the data index as complete */
-                *idx = dev->fifo->length;
-                break;
-            }
-
-            /* Unpack the data array into structure instance */
-            unpack_aux_data(&aux_data[*aux_index], *idx, dev);
-
-            /* Move the data index */
-            (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
-            (*aux_index)++;
-            break;
-        case BMI160_FIFO_HEAD_M_G_A:
-        case BMI160_FIFO_M_G_A_ENABLE:
-
-            /*Partial read, then skip the data*/
-            if ((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length)
-            {
-                /* Update the data index as complete */
-                *idx = dev->fifo->length;
-                break;
-            }
-
-            /* Unpack the data array into structure instance */
-            unpack_aux_data(&aux_data[*aux_index], *idx, dev);
-
-            /*Move the data index*/
-            *idx = *idx + BMI160_FIFO_MGA_LENGTH;
-            (*aux_index)++;
-            break;
-        case BMI160_FIFO_HEAD_G:
-        case BMI160_FIFO_G_ENABLE:
-
-            /* Move the data index */
-            (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
-            break;
-        case BMI160_FIFO_HEAD_G_A:
-        case BMI160_FIFO_G_A_ENABLE:
-
-            /* Move the data index */
-            *idx = *idx + BMI160_FIFO_GA_LENGTH;
-            break;
-        case BMI160_FIFO_HEAD_A:
-        case BMI160_FIFO_A_ENABLE:
-
-            /* Move the data index */
-            *idx = *idx + BMI160_FIFO_A_LENGTH;
-            break;
-        default:
-            break;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the aux data from the
- *  FIFO data and store it in the instance of the structure bmi160_aux_data.
- */
-static void unpack_aux_data(struct bmi160_aux_data *aux_data, uint16_t data_start_index, const struct bmi160_dev *dev)
-{
-    /* Aux data bytes */
-    aux_data->data[0] = dev->fifo->data[data_start_index++];
-    aux_data->data[1] = dev->fifo->data[data_start_index++];
-    aux_data->data[2] = dev->fifo->data[data_start_index++];
-    aux_data->data[3] = dev->fifo->data[data_start_index++];
-    aux_data->data[4] = dev->fifo->data[data_start_index++];
-    aux_data->data[5] = dev->fifo->data[data_start_index++];
-    aux_data->data[6] = dev->fifo->data[data_start_index++];
-    aux_data->data[7] = dev->fifo->data[data_start_index++];
-}
-
-/*!
- *  @brief This API is used to parse the aux data from the
- *  FIFO data in header mode.
- */
-static void extract_aux_header_mode(struct bmi160_aux_data *aux_data, uint8_t *aux_length, const struct bmi160_dev *dev)
-{
-    uint8_t frame_header = 0;
-    uint16_t data_index;
-    uint8_t aux_index = 0;
-
-    for (data_index = dev->fifo->aux_byte_start_idx; data_index < dev->fifo->length;)
-    {
-        /* extracting Frame header */
-        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
-
-        /*Index is moved to next byte where the data is starting*/
-        data_index++;
-        switch (frame_header)
-        {
-            /* Aux frame */
-            case BMI160_FIFO_HEAD_M:
-            case BMI160_FIFO_HEAD_M_A:
-            case BMI160_FIFO_HEAD_M_G:
-            case BMI160_FIFO_HEAD_M_G_A:
-                unpack_aux_frame(aux_data, &data_index, &aux_index, frame_header, dev);
-                break;
-            case BMI160_FIFO_HEAD_G:
-                move_next_frame(&data_index, BMI160_FIFO_G_LENGTH, dev);
-                break;
-            case BMI160_FIFO_HEAD_G_A:
-                move_next_frame(&data_index, BMI160_FIFO_GA_LENGTH, dev);
-                break;
-            case BMI160_FIFO_HEAD_A:
-                move_next_frame(&data_index, BMI160_FIFO_A_LENGTH, dev);
-                break;
-
-            /* Sensor time frame */
-            case BMI160_FIFO_HEAD_SENSOR_TIME:
-                unpack_sensortime_frame(&data_index, dev);
-                break;
-
-            /* Skip frame */
-            case BMI160_FIFO_HEAD_SKIP_FRAME:
-                unpack_skipped_frame(&data_index, dev);
-                break;
-
-            /* Input config frame */
-            case BMI160_FIFO_HEAD_INPUT_CONFIG:
-                move_next_frame(&data_index, 1, dev);
-                break;
-            case BMI160_FIFO_HEAD_OVER_READ:
-
-                /* Update the data index as complete in case
-                 * of over read */
-                data_index = dev->fifo->length;
-                break;
-            default:
-
-                /* Update the data index as complete in case of
-                 * getting other headers like 0x00 */
-                data_index = dev->fifo->length;
-                break;
-        }
-        if (*aux_length == aux_index)
-        {
-            /*Number of frames to read completed*/
-            break;
-        }
-    }
-
-    /* Update number of aux data read */
-    *aux_length = aux_index;
-
-    /* Update the aux frame index */
-    dev->fifo->aux_byte_start_idx = data_index;
-}
-
-/*!
- *  @brief This API checks the presence of non-valid frames in the read fifo data.
- */
-static void check_frame_validity(uint16_t *data_index, const struct bmi160_dev *dev)
-{
-    if ((*data_index + 2) < dev->fifo->length)
-    {
-        /* Check if FIFO is empty */
-        if ((dev->fifo->data[*data_index] == FIFO_CONFIG_MSB_CHECK) &&
-            (dev->fifo->data[*data_index + 1] == FIFO_CONFIG_LSB_CHECK))
-        {
-            /*Update the data index as complete*/
-            *data_index = dev->fifo->length;
-        }
-    }
-}
-
-/*!
- *  @brief This API is used to move the data index ahead of the
- *  current_frame_length parameter when unnecessary FIFO data appears while
- *  extracting the user specified data.
- */
-static void move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi160_dev *dev)
-{
-    /*Partial read, then move the data index to last data*/
-    if ((*data_index + current_frame_length) > dev->fifo->length)
-    {
-        /*Update the data index as complete*/
-        *data_index = dev->fifo->length;
-    }
-    else
-    {
-        /*Move the data index to next frame*/
-        *data_index = *data_index + current_frame_length;
-    }
-}
-
-/*!
- *  @brief This API is used to parse and store the sensor time from the
- *  FIFO data in the structure instance dev.
- */
-static void unpack_sensortime_frame(uint16_t *data_index, const struct bmi160_dev *dev)
-{
-    uint32_t sensor_time_byte3 = 0;
-    uint16_t sensor_time_byte2 = 0;
-    uint8_t sensor_time_byte1 = 0;
-
-    /*Partial read, then move the data index to last data*/
-    if ((*data_index + BMI160_SENSOR_TIME_LENGTH) > dev->fifo->length)
-    {
-        /*Update the data index as complete*/
-        *data_index = dev->fifo->length;
-    }
-    else
-    {
-        sensor_time_byte3 = dev->fifo->data[(*data_index) + BMI160_SENSOR_TIME_MSB_BYTE] << 16;
-        sensor_time_byte2 = dev->fifo->data[(*data_index) + BMI160_SENSOR_TIME_XLSB_BYTE] << 8;
-        sensor_time_byte1 = dev->fifo->data[(*data_index)];
-
-        /* Sensor time */
-        dev->fifo->sensor_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
-        *data_index = (*data_index) + BMI160_SENSOR_TIME_LENGTH;
-    }
-}
-
-/*!
- *  @brief This API is used to parse and store the skipped_frame_count from
- *  the FIFO data in the structure instance dev.
- */
-static void unpack_skipped_frame(uint16_t *data_index, const struct bmi160_dev *dev)
-{
-    /*Partial read, then move the data index to last data*/
-    if (*data_index >= dev->fifo->length)
-    {
-        /*Update the data index as complete*/
-        *data_index = dev->fifo->length;
-    }
-    else
-    {
-        dev->fifo->skipped_frame_count = dev->fifo->data[*data_index];
-
-        /*Move the data index*/
-        *data_index = (*data_index) + 1;
-    }
-}
-
-/*!
- *  @brief This API is used to get the FOC status from the sensor
- */
-static int8_t get_foc_status(uint8_t *foc_status, struct bmi160_dev const *dev)
-{
-    int8_t rslt;
-    uint8_t data;
-
-    /* Read the FOC status from sensor */
-    rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &data, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        /* Get the foc_status bit */
-        *foc_status = BMI160_GET_BITS(data, BMI160_FOC_STATUS);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to configure the offset enable bits in the sensor
- */
-static int8_t configure_offset_enable(const struct bmi160_foc_conf *foc_conf, struct bmi160_dev const *dev)
-{
-    int8_t rslt;
-    uint8_t data;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt != BMI160_OK)
-    {
-        rslt = BMI160_E_NULL_PTR;
-    }
-    else
-    {
-        /* Read the FOC config from the sensor */
-        rslt = bmi160_get_regs(BMI160_OFFSET_CONF_ADDR, &data, 1, dev);
-        if (rslt == BMI160_OK)
-        {
-            /* Set the offset enable/disable for gyro */
-            data = BMI160_SET_BITS(data, BMI160_GYRO_OFFSET_EN, foc_conf->gyro_off_en);
-
-            /* Set the offset enable/disable for accel */
-            data = BMI160_SET_BITS(data, BMI160_ACCEL_OFFSET_EN, foc_conf->acc_off_en);
-
-            /* Set the offset config in the sensor */
-            rslt = bmi160_set_regs(BMI160_OFFSET_CONF_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-static int8_t trigger_foc(struct bmi160_offsets *offset, struct bmi160_dev const *dev)
-{
-    int8_t rslt;
-    uint8_t foc_status;
-    uint8_t cmd = BMI160_START_FOC_CMD;
-    uint8_t timeout = 0;
-    uint8_t data_array[20];
-
-    /* Start the FOC process */
-    rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
-    if (rslt == BMI160_OK)
-    {
-        /* Check the FOC status*/
-        rslt = get_foc_status(&foc_status, dev);
-        if ((rslt != BMI160_OK) || (foc_status != BMI160_ENABLE))
-        {
-            while ((foc_status != BMI160_ENABLE) && (timeout < 11))
-            {
-                /* Maximum time of 250ms is given in 10
-                 * steps of 25ms each - 250ms refer datasheet 2.9.1 */
-                dev->delay_ms(25);
-
-                /* Check the FOC status*/
-                rslt = get_foc_status(&foc_status, dev);
-                timeout++;
-            }
-            if ((rslt == BMI160_OK) && (foc_status == BMI160_ENABLE))
-            {
-                /* Get offset values from sensor */
-                rslt = bmi160_get_offsets(offset, dev);
-            }
-            else
-            {
-                /* FOC failure case */
-                rslt = BMI160_FOC_FAILURE;
-            }
-        }
-        if (rslt == BMI160_OK)
-        {
-            /* Read registers 0x04-0x17 */
-            rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 20, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/** @}*/
+/**
+* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+*
+* BSD-3-Clause
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+*
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in the
+*    documentation and/or other materials provided with the distribution.
+*
+* 3. Neither the name of the copyright holder nor the names of its
+*    contributors may be used to endorse or promote products derived from
+*    this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+* @file bmi160.c
+* @date 10/01/2020
+* @version  3.8.1
+*
+*/
+
+/*!
+ * @defgroup bmi160
+ * @brief
+ * @{*/
+
+#include "bmi160.h"
+
+/* Below look up table follows the enum bmi160_int_types.
+ * Hence any change should match to the enum bmi160_int_types
+ */
+const uint8_t int_mask_lookup_table[13] = {
+    BMI160_INT1_SLOPE_MASK, BMI160_INT1_SLOPE_MASK, BMI160_INT2_LOW_STEP_DETECT_MASK, BMI160_INT1_DOUBLE_TAP_MASK,
+    BMI160_INT1_SINGLE_TAP_MASK, BMI160_INT1_ORIENT_MASK, BMI160_INT1_FLAT_MASK, BMI160_INT1_HIGH_G_MASK,
+    BMI160_INT1_LOW_G_MASK, BMI160_INT1_NO_MOTION_MASK, BMI160_INT2_DATA_READY_MASK, BMI160_INT2_FIFO_FULL_MASK,
+    BMI160_INT2_FIFO_WM_MASK
+};
+
+/*********************************************************************/
+/* Static function declarations */
+
+/*!
+ * @brief This API configures the pins to fire the
+ * interrupt signal when it occurs
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_intr_pin_config(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the any-motion interrupt of the sensor.
+ * This interrupt occurs when accel values exceeds preset threshold
+ * for a certain period of time.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_any_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets tap interrupts.Interrupt is fired when
+ * tap movements happen.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_tap_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the data ready interrupt for both accel and gyro.
+ * This interrupt occurs when new accel and gyro data come.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_gyro_data_ready_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the significant motion interrupt of the sensor.This
+ * interrupt occurs when there is change in user location.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_sig_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the no motion/slow motion interrupt of the sensor.
+ * Slow motion is similar to any motion interrupt.No motion interrupt
+ * occurs when slope bet. two accel values falls below preset threshold
+ * for preset duration.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_no_motion_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the step detection interrupt.This interrupt
+ * occurs when the single step causes accel values to go above
+ * preset threshold.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_step_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the orientation interrupt of the sensor.This
+ * interrupt occurs when there is orientation change in the sensor
+ * with respect to gravitational field vector g.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_orientation_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the flat interrupt of the sensor.This interrupt
+ * occurs in case of flat orientation
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_flat_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the low-g interrupt of the sensor.This interrupt
+ * occurs during free-fall.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_low_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the high-g interrupt of the sensor.The interrupt
+ * occurs if the absolute value of acceleration data of any enabled axis
+ * exceeds the programmed threshold and the sign of the value does not
+ * change for a preset duration.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_high_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the default configuration parameters of accel & gyro.
+ * Also maintain the previous state of configurations.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static void default_param_settg(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API is used to validate the device structure pointer for
+ * null conditions.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t null_ptr_check(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API set the accel configuration.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_conf(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API check the accel configuration.
+ *
+ * @param[in] data        : Pointer to store the updated accel config.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t check_accel_config(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API process the accel odr.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_accel_odr(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API process the accel bandwidth.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_accel_bw(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API process the accel range.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_accel_range(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API checks the invalid settings for ODR & Bw for Accel and Gyro.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t check_invalid_settg(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API set the gyro configuration.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_gyro_conf(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API check the gyro configuration.
+ *
+ * @param[in] data        : Pointer to store the updated gyro config.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t check_gyro_config(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API process the gyro odr.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_gyro_odr(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API process the gyro bandwidth.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_gyro_bw(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API process the gyro range.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_gyro_range(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the accel power mode.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_pwr(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API process the undersampling setting of Accel.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_under_sampling(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the gyro power mode.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_gyro_pwr(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API reads accel data along with sensor time if time is requested
+ * by user. Kindly refer the user guide(README.md) for more info.
+ *
+ * @param[in] len    : len to read no of bytes
+ * @param[out] accel    : Structure pointer to store accel data
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t get_accel_data(uint8_t len, struct bmi160_sensor_data *accel, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API reads accel data along with sensor time if time is requested
+ * by user. Kindly refer the user guide(README.md) for more info.
+ *
+ * @param[in] len    : len to read no of bytes
+ * @param[out] gyro    : Structure pointer to store accel data
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t get_gyro_data(uint8_t len, struct bmi160_sensor_data *gyro, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API reads accel and gyro data along with sensor time
+ * if time is requested by user.
+ * Kindly refer the user guide(README.md) for more info.
+ *
+ * @param[in] len    : len to read no of bytes
+ * @param[out] accel    : Structure pointer to store accel data
+ * @param[out] gyro    : Structure pointer to store accel data
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t get_accel_gyro_data(uint8_t len,
+                                  struct bmi160_sensor_data *accel,
+                                  struct bmi160_sensor_data *gyro,
+                                  const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the any-motion interrupt for accel.
+ *
+ * @param[in] any_motion_int_cfg   : Structure instance of
+ *                   bmi160_acc_any_mot_int_cfg.
+ * @param[in] dev          : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_accel_any_motion_int(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                          struct bmi160_dev *dev);
+
+/*!
+ * @brief This API disable the sig-motion interrupt.
+ *
+ * @param[in] dev   : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t disable_sig_motion_int(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for any-motion interrupt.
+ *
+ * @param[in] any_motion_int_cfg  : Structure instance of
+ *                  bmi160_acc_any_mot_int_cfg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_any_motion_src(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                    const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the duration and threshold of
+ * any-motion interrupt.
+ *
+ * @param[in] any_motion_int_cfg  : Structure instance of
+ *                  bmi160_acc_any_mot_int_cfg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_any_dur_threshold(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                       const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure necessary setting of any-motion interrupt.
+ *
+ * @param[in] int_config       : Structure instance of bmi160_int_settg.
+ * @param[in] any_motion_int_cfg   : Structure instance of
+ *                   bmi160_acc_any_mot_int_cfg.
+ * @param[in] dev          : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_any_motion_int_settg(const struct bmi160_int_settg *int_config,
+                                          const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                          const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enable the data ready interrupt.
+ *
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_data_ready_int(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the no motion/slow motion interrupt.
+ *
+ * @param[in] no_mot_int_cfg    : Structure instance of
+ *                bmi160_acc_no_motion_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_no_motion_int(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                   const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * no motion/slow motion interrupt.
+ *
+ * @param[in] int_config    : structure instance of bmi160_int_settg.
+ * @param[in] no_mot_int_cfg    : Structure instance of
+ *                bmi160_acc_no_motion_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_no_motion_int_settg(const struct bmi160_int_settg *int_config,
+                                         const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                         const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the source of interrupt for no motion.
+ *
+ * @param[in] no_mot_int_cfg    : Structure instance of
+ *                bmi160_acc_no_motion_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_no_motion_data_src(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                        const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the duration and threshold of
+ * no motion/slow motion interrupt along with selection of no/slow motion.
+ *
+ * @param[in] no_mot_int_cfg    : Structure instance of
+ *                bmi160_acc_no_motion_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_no_motion_dur_thr(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                       const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the sig-motion motion interrupt.
+ *
+ * @param[in] sig_mot_int_cfg   : Structure instance of
+ *                bmi160_acc_sig_mot_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_sig_motion_int(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg, struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * significant motion interrupt.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] sig_mot_int_cfg   : Structure instance of
+ *                bmi160_acc_sig_mot_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_sig_motion_int_settg(const struct bmi160_int_settg *int_config,
+                                          const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
+                                          const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for sig motion interrupt.
+ *
+ * @param[in] sig_mot_int_cfg   : Structure instance of
+ *                bmi160_acc_sig_mot_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_sig_motion_data_src(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
+                                         const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the threshold, skip and proof time of
+ * sig motion interrupt.
+ *
+ * @param[in] sig_mot_int_cfg   : Structure instance of
+ *                bmi160_acc_sig_mot_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_sig_dur_threshold(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
+                                       const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the step detector interrupt.
+ *
+ * @param[in] step_detect_int_cfg   : Structure instance of
+ *                    bmi160_acc_step_detect_int_cfg.
+ * @param[in] dev           : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_step_detect_int(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg,
+                                     const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the step detector parameter.
+ *
+ * @param[in] step_detect_int_cfg   : Structure instance of
+ *                    bmi160_acc_step_detect_int_cfg.
+ * @param[in] dev           : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_step_detect(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg,
+                                 const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the single/double tap interrupt.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_tap_int(const struct bmi160_int_settg *int_config,
+                             const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
+                             const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * tap interrupt.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_tap_int_settg(const struct bmi160_int_settg *int_config,
+                                   const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
+                                   const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for tap interrupt.
+ *
+ * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_tap_data_src(const struct bmi160_acc_tap_int_cfg *tap_int_cfg, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the  parameters of tap interrupt.
+ * Threshold, quite, shock, and duration.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_tap_param(const struct bmi160_int_settg *int_config,
+                               const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
+                               const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enable the external mode configuration.
+ *
+ * @param[in] dev   : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_sec_if(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the ODR of the auxiliary sensor.
+ *
+ * @param[in] dev   : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_aux_odr(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API maps the actual burst read length set by user.
+ *
+ * @param[in] len   : Pointer to store the read length.
+ * @param[in] dev   : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t map_read_len(uint16_t *len, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the settings of auxiliary sensor.
+ *
+ * @param[in] dev   : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_aux_settg(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API extract the read data from auxiliary sensor.
+ *
+ * @param[in] map_len     : burst read value.
+ * @param[in] reg_addr    : Address of register to read.
+ * @param[in] aux_data    : Pointer to store the read data.
+ * @param[in] len     : length to read the data.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+static int8_t extract_aux_read(uint16_t map_len,
+                               uint8_t reg_addr,
+                               uint8_t *aux_data,
+                               uint16_t len,
+                               const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the orient interrupt.
+ *
+ * @param[in] orient_int_cfg : Structure instance of bmi160_acc_orient_int_cfg.
+ * @param[in] dev        : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_orient_int(const struct bmi160_acc_orient_int_cfg *orient_int_cfg, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the necessary setting of orientation interrupt.
+ *
+ * @param[in] orient_int_cfg : Structure instance of bmi160_acc_orient_int_cfg.
+ * @param[in] dev        : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_orient_int_settg(const struct bmi160_acc_orient_int_cfg *orient_int_cfg,
+                                      const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the flat interrupt.
+ *
+ * @param[in] flat_int  : Structure instance of bmi160_acc_flat_detect_int_cfg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_flat_int(const struct bmi160_acc_flat_detect_int_cfg *flat_int, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the necessary setting of flat interrupt.
+ *
+ * @param[in] flat_int  : Structure instance of bmi160_acc_flat_detect_int_cfg.
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_flat_int_settg(const struct bmi160_acc_flat_detect_int_cfg *flat_int,
+                                    const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the Low-g interrupt.
+ *
+ * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_low_g_int(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter) for low-g interrupt.
+ *
+ * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_low_g_data_src(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the necessary setting of low-g interrupt.
+ *
+ * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_low_g_int_settg(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the high-g interrupt.
+ *
+ * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
+ * @param[in] dev        : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_high_g_int(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for high-g interrupt.
+ *
+ * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
+ * @param[in] dev        : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_high_g_data_src(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg,
+                                     const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the necessary setting of high-g interrupt.
+ *
+ * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
+ * @param[in] dev        : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_high_g_int_settg(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg,
+                                      const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the behavioural setting of interrupt pin.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_int_out_ctrl(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the mode(input enable, latch or non-latch) of interrupt pin.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_int_latch(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API performs the self test for accelerometer of BMI160
+ *
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t perform_accel_self_test(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables to perform the accel self test by setting proper
+ * configurations to facilitate accel self test
+ *
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_accel_self_test(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API performs accel self test with positive excitation
+ *
+ * @param[in] accel_pos : Structure pointer to store accel data
+ *                        for positive excitation
+ * @param[in] dev   : structure instance of bmi160_dev
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t accel_self_test_positive_excitation(struct bmi160_sensor_data *accel_pos, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API performs accel self test with negative excitation
+ *
+ * @param[in] accel_neg : Structure pointer to store accel data
+ *                        for negative excitation
+ * @param[in] dev   : structure instance of bmi160_dev
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t accel_self_test_negative_excitation(struct bmi160_sensor_data *accel_neg, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API validates the accel self test results
+ *
+ * @param[in] accel_pos : Structure pointer to store accel data
+ *                        for positive excitation
+ * @param[in] accel_neg : Structure pointer to store accel data
+ *                        for negative excitation
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error / +ve value -> Self test fail
+ */
+static int8_t validate_accel_self_test(const struct bmi160_sensor_data *accel_pos,
+                                       const struct bmi160_sensor_data *accel_neg);
+
+/*!
+ * @brief This API performs the self test for gyroscope of BMI160
+ *
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t perform_gyro_self_test(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the self test bit to trigger self test for gyro
+ *
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_gyro_self_test(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API validates the self test results of gyro
+ *
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t validate_gyro_self_test(const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API sets FIFO full interrupt of the sensor.This interrupt
+ *  occurs when the FIFO is full and the next full data sample would cause
+ *  a FIFO overflow, which may delete the old samples.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t set_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This enable the FIFO full interrupt engine.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API sets FIFO watermark interrupt of the sensor.The FIFO
+ *  watermark interrupt is fired, when the FIFO fill level is above a fifo
+ *  watermark.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t set_fifo_watermark_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This enable the FIFO watermark interrupt engine.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_fifo_wtm_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API is used to reset the FIFO related configurations
+ *  in the fifo_frame structure.
+ *
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static void reset_fifo_data_structure(const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to read number of bytes filled
+ *  currently in FIFO buffer.
+ *
+ *  @param[in] bytes_to_read  : Number of bytes available in FIFO at the
+ *                              instant which is obtained from FIFO counter.
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success / -ve value -> Error.
+ *  @retval Any non zero value -> Fail
+ *
+ */
+static int8_t get_fifo_byte_counter(uint16_t *bytes_to_read, struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API is used to compute the number of bytes of accel FIFO data
+ *  which is to be parsed in header-less mode
+ *
+ *  @param[out] data_index        : The start index for parsing data
+ *  @param[out] data_read_length  : Number of bytes to be parsed
+ *  @param[in]  acc_frame_count   : Number of accelerometer frames to be read
+ *  @param[in]  dev               : Structure instance of bmi160_dev.
+ *
+ */
+static void get_accel_len_to_parse(uint16_t *data_index,
+                                   uint16_t *data_read_length,
+                                   const uint8_t *acc_frame_count,
+                                   const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed.
+ *
+ *  @param[in,out] acc      : structure instance of sensor data
+ *  @param[in,out] idx      : Index value of number of bytes parsed
+ *  @param[in,out] acc_idx  : Index value of accelerometer data
+ *                                (x,y,z axes) frames parsed
+ *  @param[in] frame_info       : It consists of either fifo_data_enable
+ *                                parameter in header-less mode or
+ *                                frame header data in header mode
+ *  @param[in] dev      : structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_accel_frame(struct bmi160_sensor_data *acc,
+                               uint16_t *idx,
+                               uint8_t *acc_idx,
+                               uint8_t frame_info,
+                               const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
+ *
+ * @param[in,out] accel_data        : structure instance of sensor data
+ * @param[in,out] data_start_index  : Index value of number of bytes parsed
+ * @param[in] dev           : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_accel_data(struct bmi160_sensor_data *accel_data,
+                              uint16_t data_start_index,
+                              const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data in header mode.
+ *
+ *  @param[in,out] accel_data    : Structure instance of sensor data
+ *  @param[in,out] accel_length  : Number of accelerometer frames
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void extract_accel_header_mode(struct bmi160_sensor_data *accel_data,
+                                      uint8_t *accel_length,
+                                      const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API computes the number of bytes of gyro FIFO data
+ *  which is to be parsed in header-less mode
+ *
+ *  @param[out] data_index       : The start index for parsing data
+ *  @param[out] data_read_length : No of bytes to be parsed from FIFO buffer
+ *  @param[in] gyro_frame_count  : Number of Gyro data frames to be read
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ */
+static void get_gyro_len_to_parse(uint16_t *data_index,
+                                  uint16_t *data_read_length,
+                                  const uint8_t *gyro_frame_count,
+                                  const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the gyroscope's data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed.
+ *
+ *  @param[in,out] gyro     : structure instance of sensor data
+ *  @param[in,out] idx      : Index value of number of bytes parsed
+ *  @param[in,out] gyro_idx : Index value of gyro data
+ *                                (x,y,z axes) frames parsed
+ *  @param[in] frame_info       : It consists of either fifo_data_enable
+ *                                parameter in header-less mode or
+ *                                frame header data in header mode
+ *  @param[in] dev      : structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_gyro_frame(struct bmi160_sensor_data *gyro,
+                              uint16_t *idx,
+                              uint8_t *gyro_idx,
+                              uint8_t frame_info,
+                              const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the gyro data from the
+ *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
+ *
+ *  @param[in,out] gyro_data         : structure instance of sensor data
+ *  @param[in,out] data_start_index  : Index value of number of bytes parsed
+ *  @param[in] dev           : structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_gyro_data(struct bmi160_sensor_data *gyro_data,
+                             uint16_t data_start_index,
+                             const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the gyro data from the
+ *  FIFO data in header mode.
+ *
+ *  @param[in,out] gyro_data     : Structure instance of sensor data
+ *  @param[in,out] gyro_length   : Number of gyro frames
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void extract_gyro_header_mode(struct bmi160_sensor_data *gyro_data,
+                                     uint8_t *gyro_length,
+                                     const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API computes the number of bytes of aux FIFO data
+ *  which is to be parsed in header-less mode
+ *
+ *  @param[out] data_index       : The start index for parsing data
+ *  @param[out] data_read_length : No of bytes to be parsed from FIFO buffer
+ *  @param[in] aux_frame_count   : Number of Aux data frames to be read
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ */
+static void get_aux_len_to_parse(uint16_t *data_index,
+                                 uint16_t *data_read_length,
+                                 const uint8_t *aux_frame_count,
+                                 const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the aux's data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed
+ *
+ *  @param[in,out] aux_data : structure instance of sensor data
+ *  @param[in,out] idx      : Index value of number of bytes parsed
+ *  @param[in,out] aux_index    : Index value of gyro data
+ *                                (x,y,z axes) frames parsed
+ *  @param[in] frame_info       : It consists of either fifo_data_enable
+ *                                parameter in header-less mode or
+ *                                frame header data in header mode
+ *  @param[in] dev      : structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_aux_frame(struct bmi160_aux_data *aux_data,
+                             uint16_t *idx,
+                             uint8_t *aux_index,
+                             uint8_t frame_info,
+                             const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data and store it in the instance of the structure bmi160_aux_data.
+ *
+ * @param[in,out] aux_data      : structure instance of sensor data
+ * @param[in,out] data_start_index  : Index value of number of bytes parsed
+ * @param[in] dev           : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_aux_data(struct bmi160_aux_data *aux_data, uint16_t data_start_index, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data in header mode.
+ *
+ *  @param[in,out] aux_data     : Structure instance of sensor data
+ *  @param[in,out] aux_length   : Number of aux frames
+ *  @param[in] dev              : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void extract_aux_header_mode(struct bmi160_aux_data *aux_data, uint8_t *aux_length,
+                                    const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API checks the presence of non-valid frames in the read fifo data.
+ *
+ *  @param[in,out] data_index    : The index of the current data to
+ *                                be parsed from fifo data
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void check_frame_validity(uint16_t *data_index, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to move the data index ahead of the
+ *  current_frame_length parameter when unnecessary FIFO data appears while
+ *  extracting the user specified data.
+ *
+ *  @param[in,out] data_index       : Index of the FIFO data which
+ *                                  is to be moved ahead of the
+ *                                  current_frame_length
+ *  @param[in] current_frame_length : Number of bytes in a particular frame
+ *  @param[in] dev                  : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse and store the sensor time from the
+ *  FIFO data in the structure instance dev.
+ *
+ *  @param[in,out] data_index : Index of the FIFO data which
+ *                              has the sensor time.
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_sensortime_frame(uint16_t *data_index, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse and store the skipped_frame_count from
+ *  the FIFO data in the structure instance dev.
+ *
+ *  @param[in,out] data_index   : Index of the FIFO data which
+ *                                    has the skipped frame count.
+ *  @param[in] dev              : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_skipped_frame(uint16_t *data_index, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to get the FOC status from the sensor
+ *
+ *  @param[in,out] foc_status   : Result of FOC status.
+ *  @param[in] dev              : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t get_foc_status(uint8_t *foc_status, struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API is used to configure the offset enable bits in the sensor
+ *
+ *  @param[in,out] foc_conf   : Structure instance of bmi160_foc_conf which
+ *                                   has the FOC and offset configurations
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t configure_offset_enable(const struct bmi160_foc_conf *foc_conf, struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API is used to trigger the FOC in the sensor
+ *
+ *  @param[in,out] offset     : Structure instance of bmi160_offsets which
+ *                              reads and stores the offset values after FOC
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t trigger_foc(struct bmi160_offsets *offset, struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full
+ *  and FIFO watermark interrupt
+ *
+ *  @param[in] int_config     : Structure instance of bmi160_int_settg which
+ *                              stores the interrupt type and interrupt channel
+ *              configurations to map/unmap the interrupt pins
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t map_hardware_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g,
+ *  Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins.
+ *
+ *  @param[in] int_config     : Structure instance of bmi160_int_settg which
+ *                              stores the interrupt type and interrupt channel
+ *              configurations to map/unmap the interrupt pins
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t map_feature_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*********************** User function definitions ****************************/
+
+/*!
+ * @brief This API reads the data from the given register address
+ * of sensor.
+ */
+int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+
+    /* Variable to define temporary length */
+    uint16_t temp_len = len + dev->dummy_byte;
+
+    /* Variable to define temporary buffer */
+    uint8_t temp_buf[temp_len];
+
+    /* Variable to define loop */
+    uint16_t indx = 0;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->read == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else if (len == 0)
+    {
+        rslt = BMI160_READ_WRITE_LENGHT_INVALID;
+    }
+    else
+    {
+        /* Configuring reg_addr for SPI Interface */
+        if (dev->interface == BMI160_SPI_INTF)
+        {
+            reg_addr = (reg_addr | BMI160_SPI_RD_MASK);
+        }
+        rslt = dev->read(dev->id, reg_addr, temp_buf, temp_len);
+
+        if (rslt == BMI160_OK)
+        {
+            /* Read the data from the position next to dummy byte */
+            while (indx < len)
+            {
+                data[indx] = temp_buf[indx];
+                indx++;
+            }
+        }
+        else
+        {
+            rslt = BMI160_E_COM_FAIL;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes the given data to the register address
+ * of sensor.
+ */
+int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+    uint8_t count = 0;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->write == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else if (len == 0)
+    {
+        rslt = BMI160_READ_WRITE_LENGHT_INVALID;
+    }
+    else
+    {
+        /* Configuring reg_addr for SPI Interface */
+        if (dev->interface == BMI160_SPI_INTF)
+        {
+            reg_addr = (reg_addr & BMI160_SPI_WR_MASK);
+        }
+        if ((dev->prev_accel_cfg.power == BMI160_ACCEL_NORMAL_MODE) ||
+            (dev->prev_gyro_cfg.power == BMI160_GYRO_NORMAL_MODE))
+        {
+            rslt = dev->write(dev->id, reg_addr, data, len);
+
+            /* Kindly refer bmi160 data sheet section 3.2.4 */
+            dev->delay_ms(1);
+
+        }
+        else
+        {
+            /*Burst write is not allowed in
+             * suspend & low power mode */
+            for (; count < len; count++)
+            {
+                rslt = dev->write(dev->id, reg_addr, &data[count], 1);
+                reg_addr++;
+
+                /* Kindly refer bmi160 data sheet section 3.2.4 */
+                dev->delay_ms(1);
+
+            }
+        }
+        if (rslt != BMI160_OK)
+        {
+            rslt = BMI160_E_COM_FAIL;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is the entry point for sensor.It performs
+ *  the selection of I2C/SPI read mechanism according to the
+ *  selected interface and reads the chip-id of bmi160 sensor.
+ */
+int8_t bmi160_init(struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data;
+    uint8_t try = 3;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+
+    /* An extra dummy byte is read during SPI read */
+    if (dev->interface == BMI160_SPI_INTF)
+    {
+        dev->dummy_byte = 1;
+    }
+    else
+    {
+        dev->dummy_byte = 0;
+    }
+
+    /* Dummy read of 0x7F register to enable SPI Interface
+     * if SPI is used */
+    if ((rslt == BMI160_OK) && (dev->interface == BMI160_SPI_INTF))
+    {
+        rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
+    }
+
+    if (rslt == BMI160_OK)
+    {
+        /* Assign chip id as zero */
+        dev->chip_id = 0;
+
+        while ((try--) && (dev->chip_id != BMI160_CHIP_ID))
+        {
+            /* Read chip_id */
+            rslt = bmi160_get_regs(BMI160_CHIP_ID_ADDR, &dev->chip_id, 1, dev);
+        }
+        if ((rslt == BMI160_OK) && (dev->chip_id == BMI160_CHIP_ID))
+        {
+            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
+
+            /* Soft reset */
+            rslt = bmi160_soft_reset(dev);
+        }
+        else
+        {
+            rslt = BMI160_E_DEV_NOT_FOUND;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API resets and restarts the device.
+ * All register values are overwritten with default parameters.
+ */
+int8_t bmi160_soft_reset(struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = BMI160_SOFT_RESET_CMD;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->delay_ms == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Reset the device */
+        rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &data, 1, dev);
+        dev->delay_ms(BMI160_SOFT_RESET_DELAY_MS);
+        if ((rslt == BMI160_OK) && (dev->interface == BMI160_SPI_INTF))
+        {
+            /* Dummy read of 0x7F register to enable SPI Interface
+             * if SPI is used */
+            rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
+        }
+        if (rslt == BMI160_OK)
+        {
+            /* Update the default parameters */
+            default_param_settg(dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configures the power mode, range and bandwidth
+ * of sensor.
+ */
+int8_t bmi160_set_sens_conf(struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->delay_ms == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = set_accel_conf(dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = set_gyro_conf(dev);
+            if (rslt == BMI160_OK)
+            {
+                /* write power mode for accel and gyro */
+                rslt = bmi160_set_power_mode(dev);
+                if (rslt == BMI160_OK)
+                {
+                    rslt = check_invalid_settg(dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the power mode of the sensor.
+ */
+int8_t bmi160_set_power_mode(struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->delay_ms == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = set_accel_pwr(dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = set_gyro_pwr(dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the power mode of the sensor.
+ */
+int8_t bmi160_get_power_mode(struct bmi160_pmu_status *pmu_status, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t power_mode = 0;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->delay_ms == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = bmi160_get_regs(BMI160_PMU_STATUS_ADDR, &power_mode, 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Power mode of the accel,gyro,aux sensor is obtained */
+            pmu_status->aux_pmu_status = BMI160_GET_BITS_POS_0(power_mode, BMI160_MAG_POWER_MODE);
+            pmu_status->gyro_pmu_status = BMI160_GET_BITS(power_mode, BMI160_GYRO_POWER_MODE);
+            pmu_status->accel_pmu_status = BMI160_GET_BITS(power_mode, BMI160_ACCEL_POWER_MODE);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads sensor data, stores it in
+ * the bmi160_sensor_data structure pointer passed by the user.
+ */
+int8_t bmi160_get_sensor_data(uint8_t select_sensor,
+                              struct bmi160_sensor_data *accel,
+                              struct bmi160_sensor_data *gyro,
+                              const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+    uint8_t time_sel;
+    uint8_t sen_sel;
+    uint8_t len = 0;
+
+    /*Extract the sensor  and time select information*/
+    sen_sel = select_sensor & BMI160_SEN_SEL_MASK;
+    time_sel = ((sen_sel & BMI160_TIME_SEL) >> 2);
+    sen_sel = sen_sel & (BMI160_ACCEL_SEL | BMI160_GYRO_SEL);
+    if (time_sel == 1)
+    {
+        len = 3;
+    }
+
+    /* Null-pointer check */
+    if (dev != NULL)
+    {
+        switch (sen_sel)
+        {
+            case BMI160_ACCEL_ONLY:
+
+                /* Null-pointer check */
+                if (accel == NULL)
+                {
+                    rslt = BMI160_E_NULL_PTR;
+                }
+                else
+                {
+                    rslt = get_accel_data(len, accel, dev);
+                }
+                break;
+            case BMI160_GYRO_ONLY:
+
+                /* Null-pointer check */
+                if (gyro == NULL)
+                {
+                    rslt = BMI160_E_NULL_PTR;
+                }
+                else
+                {
+                    rslt = get_gyro_data(len, gyro, dev);
+                }
+                break;
+            case BMI160_BOTH_ACCEL_AND_GYRO:
+
+                /* Null-pointer check */
+                if ((gyro == NULL) || (accel == NULL))
+                {
+                    rslt = BMI160_E_NULL_PTR;
+                }
+                else
+                {
+                    rslt = get_accel_gyro_data(len, accel, gyro, dev);
+                }
+                break;
+            default:
+                rslt = BMI160_E_INVALID_INPUT;
+                break;
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configures the necessary interrupt based on
+ *  the user settings in the bmi160_int_settg structure instance.
+ */
+int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+
+    switch (int_config->int_type)
+    {
+        case BMI160_ACC_ANY_MOTION_INT:
+
+            /*Any-motion  interrupt*/
+            rslt = set_accel_any_motion_int(int_config, dev);
+            break;
+        case BMI160_ACC_SIG_MOTION_INT:
+
+            /* Significant motion interrupt */
+            rslt = set_accel_sig_motion_int(int_config, dev);
+            break;
+        case BMI160_ACC_SLOW_NO_MOTION_INT:
+
+            /* Slow or no motion interrupt */
+            rslt = set_accel_no_motion_int(int_config, dev);
+            break;
+        case BMI160_ACC_DOUBLE_TAP_INT:
+        case BMI160_ACC_SINGLE_TAP_INT:
+
+            /* Double tap and single tap Interrupt */
+            rslt = set_accel_tap_int(int_config, dev);
+            break;
+        case BMI160_STEP_DETECT_INT:
+
+            /* Step detector interrupt */
+            rslt = set_accel_step_detect_int(int_config, dev);
+            break;
+        case BMI160_ACC_ORIENT_INT:
+
+            /* Orientation interrupt */
+            rslt = set_accel_orientation_int(int_config, dev);
+            break;
+        case BMI160_ACC_FLAT_INT:
+
+            /* Flat detection interrupt */
+            rslt = set_accel_flat_detect_int(int_config, dev);
+            break;
+        case BMI160_ACC_LOW_G_INT:
+
+            /* Low-g interrupt */
+            rslt = set_accel_low_g_int(int_config, dev);
+            break;
+        case BMI160_ACC_HIGH_G_INT:
+
+            /* High-g interrupt */
+            rslt = set_accel_high_g_int(int_config, dev);
+            break;
+        case BMI160_ACC_GYRO_DATA_RDY_INT:
+
+            /* Data ready interrupt */
+            rslt = set_accel_gyro_data_ready_int(int_config, dev);
+            break;
+        case BMI160_ACC_GYRO_FIFO_FULL_INT:
+
+            /* Fifo full interrupt */
+            rslt = set_fifo_full_int(int_config, dev);
+            break;
+        case BMI160_ACC_GYRO_FIFO_WATERMARK_INT:
+
+            /* Fifo water-mark interrupt */
+            rslt = set_fifo_watermark_int(int_config, dev);
+            break;
+        case BMI160_FIFO_TAG_INT_PIN:
+
+            /* Fifo tagging feature support */
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            break;
+        default:
+            break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables or disable the step counter feature.
+ * 1 - enable step counter (0 - disable)
+ */
+int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = bmi160_get_regs(BMI160_INT_STEP_CONFIG_1_ADDR, &data, 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            if (step_cnt_enable == BMI160_ENABLE)
+            {
+                data |= (uint8_t)(step_cnt_enable << 3);
+            }
+            else
+            {
+                data &= ~BMI160_STEP_COUNT_EN_BIT_MASK;
+            }
+            rslt = bmi160_set_regs(BMI160_INT_STEP_CONFIG_1_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the step counter value.
+ */
+int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data[2] = { 0, 0 };
+    uint16_t msb = 0;
+    uint8_t lsb = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = bmi160_get_regs(BMI160_INT_STEP_CNT_0_ADDR, data, 2, dev);
+        if (rslt == BMI160_OK)
+        {
+            lsb = data[0];
+            msb = data[1] << 8;
+            *step_val = msb | lsb;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the mention no of byte of data from the given
+ * register address of auxiliary sensor.
+ */
+int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+    uint16_t map_len = 0;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->read == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        if (dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE)
+        {
+            rslt = map_read_len(&map_len, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = extract_aux_read(map_len, reg_addr, aux_data, len, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI160_E_INVALID_INPUT;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes the mention no of byte of data to the given
+ * register address of auxiliary sensor.
+ */
+int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+    uint8_t count = 0;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->write == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        for (; count < len; count++)
+        {
+            /* set data to write */
+            rslt = bmi160_set_regs(BMI160_AUX_IF_4_ADDR, aux_data, 1, dev);
+            dev->delay_ms(BMI160_AUX_COM_DELAY);
+            if (rslt == BMI160_OK)
+            {
+                /* set address to write */
+                rslt = bmi160_set_regs(BMI160_AUX_IF_3_ADDR, &reg_addr, 1, dev);
+                dev->delay_ms(BMI160_AUX_COM_DELAY);
+                if (rslt == BMI160_OK && (count < len - 1))
+                {
+                    aux_data++;
+                    reg_addr++;
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API initialize the auxiliary sensor
+ * in order to access it.
+ */
+int8_t bmi160_aux_init(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        if (dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE)
+        {
+            /* Configures the auxiliary sensor interface settings */
+            rslt = config_aux_settg(dev);
+        }
+        else
+        {
+            rslt = BMI160_E_INVALID_INPUT;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to setup the auxiliary sensor of bmi160 in auto mode
+ * Thus enabling the auto update of 8 bytes of data from auxiliary sensor
+ * to BMI160 register address 0x04 to 0x0B
+ */
+int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        if (dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE)
+        {
+            /* Write the aux. address to read in 0x4D of BMI160*/
+            rslt = bmi160_set_regs(BMI160_AUX_IF_2_ADDR, data_addr, 1, dev);
+            dev->delay_ms(BMI160_AUX_COM_DELAY);
+            if (rslt == BMI160_OK)
+            {
+                /* Configure the polling ODR for
+                 * auxiliary sensor */
+                rslt = config_aux_odr(dev);
+                if (rslt == BMI160_OK)
+                {
+                    /* Disable the aux. manual mode, i.e aux.
+                     * sensor is in auto-mode (data-mode) */
+                    dev->aux_cfg.manual_enable = BMI160_DISABLE;
+                    rslt = bmi160_config_aux_mode(dev);
+
+                    /*  Auxiliary sensor data is obtained
+                     * in auto mode from this point */
+                }
+            }
+        }
+        else
+        {
+            rslt = BMI160_E_INVALID_INPUT;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configures the 0x4C register and settings like
+ * Auxiliary sensor manual enable/ disable and aux burst read length.
+ */
+int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t aux_if[2] = { (uint8_t)(dev->aux_cfg.aux_i2c_addr * 2), 0 };
+
+    rslt = bmi160_get_regs(BMI160_AUX_IF_1_ADDR, &aux_if[1], 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* update the Auxiliary interface to manual/auto mode */
+        aux_if[1] = BMI160_SET_BITS(aux_if[1], BMI160_MANUAL_MODE_EN, dev->aux_cfg.manual_enable);
+
+        /* update the burst read length defined by user */
+        aux_if[1] = BMI160_SET_BITS_POS_0(aux_if[1], BMI160_AUX_READ_BURST, dev->aux_cfg.aux_rd_burst_len);
+
+        /* Set the secondary interface address and manual mode
+         * along with burst read length */
+        rslt = bmi160_set_regs(BMI160_AUX_IF_0_ADDR, &aux_if[0], 2, dev);
+        dev->delay_ms(BMI160_AUX_COM_DELAY);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to read the raw uncompensated auxiliary sensor
+ * data of 8 bytes from BMI160 register address 0x04 to 0x0B
+ */
+int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        if ((dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) && (dev->aux_cfg.manual_enable == BMI160_DISABLE))
+        {
+            /* Read the aux. sensor's raw data */
+            rslt = bmi160_get_regs(BMI160_AUX_DATA_ADDR, aux_data, 8, dev);
+        }
+        else
+        {
+            rslt = BMI160_E_INVALID_INPUT;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This is used to perform self test of accel/gyro of the BMI160 sensor
+ */
+int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    int8_t self_test_rslt = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+
+        /* Proceed if null check is fine */
+        switch (select_sensor)
+        {
+            case BMI160_ACCEL_ONLY:
+                rslt = perform_accel_self_test(dev);
+                break;
+            case BMI160_GYRO_ONLY:
+
+                /* Set the power mode as normal mode */
+                dev->gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
+                rslt = bmi160_set_power_mode(dev);
+
+                /* Perform gyro self test */
+                if (rslt == BMI160_OK)
+                {
+                    /* Perform gyro self test */
+                    rslt = perform_gyro_self_test(dev);
+                }
+
+                break;
+            default:
+                rslt = BMI160_E_INVALID_INPUT;
+                break;
+        }
+
+        /* Check to ensure bus error does not occur */
+        if (rslt >= BMI160_OK)
+        {
+            /* Store the status of self test result */
+            self_test_rslt = rslt;
+
+            /* Perform soft reset */
+            rslt = bmi160_soft_reset(dev);
+
+        }
+
+        /* Check to ensure bus operations are success */
+        if (rslt == BMI160_OK)
+        {
+            /* Restore self_test_rslt as return value */
+            rslt = self_test_rslt;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the data from fifo buffer.
+ */
+int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev)
+{
+    int8_t rslt = 0;
+    uint16_t bytes_to_read = 0;
+    uint16_t user_fifo_len = 0;
+
+    /* check the bmi160 structure as NULL*/
+    if ((dev == NULL) || (dev->fifo->data == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        reset_fifo_data_structure(dev);
+
+        /* get current FIFO fill-level*/
+        rslt = get_fifo_byte_counter(&bytes_to_read, dev);
+        if (rslt == BMI160_OK)
+        {
+            user_fifo_len = dev->fifo->length;
+            if ((dev->fifo->length > bytes_to_read))
+            {
+                /* Handling the case where user requests
+                 * more data than available in FIFO */
+                dev->fifo->length = bytes_to_read;
+            }
+            if ((dev->fifo->fifo_time_enable == BMI160_FIFO_TIME_ENABLE) &&
+                (bytes_to_read + BMI160_FIFO_BYTES_OVERREAD <= user_fifo_len))
+            {
+                /* Handling case of sensor time availability*/
+                dev->fifo->length = dev->fifo->length + BMI160_FIFO_BYTES_OVERREAD;
+            }
+
+            /* read only the filled bytes in the FIFO Buffer */
+            rslt = bmi160_get_regs(BMI160_FIFO_DATA_ADDR, dev->fifo->data, dev->fifo->length, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API writes fifo_flush command to command register.This
+ *  action clears all data in the Fifo without changing fifo configuration
+ *  settings
+ */
+int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t data = BMI160_FIFO_FLUSH_VALUE;
+    uint8_t reg_addr = BMI160_COMMAND_REG_ADDR;
+
+    /* Check the bmi160_dev structure for NULL address*/
+    if (dev == NULL)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the FIFO configuration in the sensor.
+ */
+int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev)
+{
+    int8_t rslt = 0;
+    uint8_t data = 0;
+    uint8_t reg_addr = BMI160_FIFO_CONFIG_1_ADDR;
+    uint8_t fifo_config = config & BMI160_FIFO_CONFIG_1_MASK;
+
+    /* Check the bmi160_dev structure for NULL address*/
+    if (dev == NULL)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
+        if (rslt == BMI160_OK)
+        {
+            if (fifo_config > 0)
+            {
+                if (enable == BMI160_ENABLE)
+                {
+                    data = data | fifo_config;
+                }
+                else
+                {
+                    data = data & (~fifo_config);
+                }
+            }
+
+            /* write fifo frame content configuration*/
+            rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* read fifo frame content configuration*/
+                rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
+                if (rslt == BMI160_OK)
+                {
+                    /* extract fifo header enabled status */
+                    dev->fifo->fifo_header_enable = data & BMI160_FIFO_HEAD_ENABLE;
+
+                    /* extract accel/gyr/aux. data enabled status */
+                    dev->fifo->fifo_data_enable = data & BMI160_FIFO_M_G_A_ENABLE;
+
+                    /* extract fifo sensor time enabled status */
+                    dev->fifo->fifo_time_enable = data & BMI160_FIFO_TIME_ENABLE;
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*! @brief This API is used to configure the down sampling ratios of
+ *  the accel and gyro data for FIFO.Also, it configures filtered or
+ *  pre-filtered data for accel and gyro.
+ *
+ */
+int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t data = 0;
+    uint8_t reg_addr = BMI160_FIFO_DOWN_ADDR;
+
+    /* Check the bmi160_dev structure for NULL address*/
+    if (dev == NULL)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
+        if (rslt == BMI160_OK)
+        {
+            data = data | fifo_down;
+            rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API sets the FIFO watermark level in the sensor.
+ *
+ */
+int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t data = fifo_wm;
+    uint8_t reg_addr = BMI160_FIFO_CONFIG_0_ADDR;
+
+    /* Check the bmi160_dev structure for NULL address*/
+    if (dev == NULL)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API parses and extracts the accelerometer frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "accel_data" structure instance.
+ */
+int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const *dev)
+{
+    int8_t rslt = 0;
+    uint16_t data_index = 0;
+    uint16_t data_read_length = 0;
+    uint8_t accel_index = 0;
+    uint8_t fifo_data_enable = 0;
+
+    if (dev == NULL || dev->fifo == NULL || dev->fifo->data == NULL)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Parsing the FIFO data in header-less mode */
+        if (dev->fifo->fifo_header_enable == 0)
+        {
+            /* Number of bytes to be parsed from FIFO */
+            get_accel_len_to_parse(&data_index, &data_read_length, accel_length, dev);
+            for (; data_index < data_read_length;)
+            {
+                /*Check for the availability of next two bytes of FIFO data */
+                check_frame_validity(&data_index, dev);
+                fifo_data_enable = dev->fifo->fifo_data_enable;
+                unpack_accel_frame(accel_data, &data_index, &accel_index, fifo_data_enable, dev);
+            }
+
+            /* update number of accel data read*/
+            *accel_length = accel_index;
+
+            /*update the accel byte index*/
+            dev->fifo->accel_byte_start_idx = data_index;
+        }
+        else
+        {
+            /* Parsing the FIFO data in header mode */
+            extract_accel_header_mode(accel_data, accel_length, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API parses and extracts the gyro frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "gyro_data" structure instance.
+ */
+int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev)
+{
+    int8_t rslt = 0;
+    uint16_t data_index = 0;
+    uint16_t data_read_length = 0;
+    uint8_t gyro_index = 0;
+    uint8_t fifo_data_enable = 0;
+
+    if (dev == NULL || dev->fifo->data == NULL)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Parsing the FIFO data in header-less mode */
+        if (dev->fifo->fifo_header_enable == 0)
+        {
+            /* Number of bytes to be parsed from FIFO */
+            get_gyro_len_to_parse(&data_index, &data_read_length, gyro_length, dev);
+            for (; data_index < data_read_length;)
+            {
+                /*Check for the availability of next two bytes of FIFO data */
+                check_frame_validity(&data_index, dev);
+                fifo_data_enable = dev->fifo->fifo_data_enable;
+                unpack_gyro_frame(gyro_data, &data_index, &gyro_index, fifo_data_enable, dev);
+            }
+
+            /* update number of gyro data read */
+            *gyro_length = gyro_index;
+
+            /* update the gyro byte index */
+            dev->fifo->gyro_byte_start_idx = data_index;
+        }
+        else
+        {
+            /* Parsing the FIFO data in header mode */
+            extract_gyro_header_mode(gyro_data, gyro_length, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API parses and extracts the aux frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "aux_data" structure instance.
+ */
+int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev)
+{
+    int8_t rslt = 0;
+    uint16_t data_index = 0;
+    uint16_t data_read_length = 0;
+    uint8_t aux_index = 0;
+    uint8_t fifo_data_enable = 0;
+
+    if ((dev == NULL) || (dev->fifo->data == NULL) || (aux_data == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Parsing the FIFO data in header-less mode */
+        if (dev->fifo->fifo_header_enable == 0)
+        {
+            /* Number of bytes to be parsed from FIFO */
+            get_aux_len_to_parse(&data_index, &data_read_length, aux_len, dev);
+            for (; data_index < data_read_length;)
+            {
+                /* Check for the availability of next two
+                 * bytes of FIFO data */
+                check_frame_validity(&data_index, dev);
+                fifo_data_enable = dev->fifo->fifo_data_enable;
+                unpack_aux_frame(aux_data, &data_index, &aux_index, fifo_data_enable, dev);
+            }
+
+            /* update number of aux data read */
+            *aux_len = aux_index;
+
+            /* update the aux byte index */
+            dev->fifo->aux_byte_start_idx = data_index;
+        }
+        else
+        {
+            /* Parsing the FIFO data in header mode */
+            extract_aux_header_mode(aux_data, aux_len, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API starts the FOC of accel and gyro
+ *
+ *  @note FOC should not be used in low-power mode of sensor
+ *
+ *  @note Accel FOC targets values of +1g , 0g , -1g
+ *  Gyro FOC always targets value of 0 dps
+ */
+int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf,
+                        struct bmi160_offsets *offset,
+                        struct bmi160_dev const *dev)
+{
+    int8_t rslt;
+    uint8_t data;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Set the offset enable bits */
+        rslt = configure_offset_enable(foc_conf, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Read the FOC config from the sensor */
+            rslt = bmi160_get_regs(BMI160_FOC_CONF_ADDR, &data, 1, dev);
+
+            /* Set the FOC config for gyro */
+            data = BMI160_SET_BITS(data, BMI160_GYRO_FOC_EN, foc_conf->foc_gyr_en);
+
+            /* Set the FOC config for accel xyz axes */
+            data = BMI160_SET_BITS(data, BMI160_ACCEL_FOC_X_CONF, foc_conf->foc_acc_x);
+            data = BMI160_SET_BITS(data, BMI160_ACCEL_FOC_Y_CONF, foc_conf->foc_acc_y);
+            data = BMI160_SET_BITS_POS_0(data, BMI160_ACCEL_FOC_Z_CONF, foc_conf->foc_acc_z);
+            if (rslt == BMI160_OK)
+            {
+                /* Set the FOC config in the sensor */
+                rslt = bmi160_set_regs(BMI160_FOC_CONF_ADDR, &data, 1, dev);
+                if (rslt == BMI160_OK)
+                {
+                    /* Procedure to trigger
+                     * FOC and check status */
+                    rslt = trigger_foc(offset, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API reads and stores the offset values of accel and gyro
+ */
+int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data[7];
+    uint8_t lsb, msb;
+    int16_t offset_msb, offset_lsb;
+    int16_t offset_data;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Read the FOC config from the sensor */
+        rslt = bmi160_get_regs(BMI160_OFFSET_ADDR, data, 7, dev);
+
+        /* Accel offsets */
+        offset->off_acc_x = (int8_t)data[0];
+        offset->off_acc_y = (int8_t)data[1];
+        offset->off_acc_z = (int8_t)data[2];
+
+        /* Gyro x-axis offset */
+        lsb = data[3];
+        msb = BMI160_GET_BITS_POS_0(data[6], BMI160_GYRO_OFFSET_X);
+        offset_msb = (int16_t)(msb << 14);
+        offset_lsb = lsb << 6;
+        offset_data = offset_msb | offset_lsb;
+
+        /* Divide by 64 to get the Right shift by 6 value */
+        offset->off_gyro_x = (int16_t)(offset_data / 64);
+
+        /* Gyro y-axis offset */
+        lsb = data[4];
+        msb = BMI160_GET_BITS(data[6], BMI160_GYRO_OFFSET_Y);
+        offset_msb = (int16_t)(msb << 14);
+        offset_lsb = lsb << 6;
+        offset_data = offset_msb | offset_lsb;
+
+        /* Divide by 64 to get the Right shift by 6 value */
+        offset->off_gyro_y = (int16_t)(offset_data / 64);
+
+        /* Gyro z-axis offset */
+        lsb = data[5];
+        msb = BMI160_GET_BITS(data[6], BMI160_GYRO_OFFSET_Z);
+        offset_msb = (int16_t)(msb << 14);
+        offset_lsb = lsb << 6;
+        offset_data = offset_msb | offset_lsb;
+
+        /* Divide by 64 to get the Right shift by 6 value */
+        offset->off_gyro_z = (int16_t)(offset_data / 64);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API writes the offset values of accel and gyro to
+ *  the sensor but these values will be reset on POR or soft reset.
+ */
+int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf,
+                          const struct bmi160_offsets *offset,
+                          struct bmi160_dev const *dev)
+{
+    int8_t rslt;
+    uint8_t data[7];
+    uint8_t x_msb, y_msb, z_msb;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Update the accel offset */
+        data[0] = (uint8_t)offset->off_acc_x;
+        data[1] = (uint8_t)offset->off_acc_y;
+        data[2] = (uint8_t)offset->off_acc_z;
+
+        /* Update the LSB of gyro offset */
+        data[3] = BMI160_GET_LSB(offset->off_gyro_x);
+        data[4] = BMI160_GET_LSB(offset->off_gyro_y);
+        data[5] = BMI160_GET_LSB(offset->off_gyro_z);
+
+        /* Update the MSB of gyro offset */
+        x_msb = BMI160_GET_BITS(offset->off_gyro_x, BMI160_GYRO_OFFSET);
+        y_msb = BMI160_GET_BITS(offset->off_gyro_y, BMI160_GYRO_OFFSET);
+        z_msb = BMI160_GET_BITS(offset->off_gyro_z, BMI160_GYRO_OFFSET);
+        data[6] = (uint8_t)(z_msb << 4 | y_msb << 2 | x_msb);
+
+        /* Set the offset enable/disable for gyro and accel */
+        data[6] = BMI160_SET_BITS(data[6], BMI160_GYRO_OFFSET_EN, foc_conf->gyro_off_en);
+        data[6] = BMI160_SET_BITS(data[6], BMI160_ACCEL_OFFSET_EN, foc_conf->acc_off_en);
+
+        /* Set the offset config and values in the sensor */
+        rslt = bmi160_set_regs(BMI160_OFFSET_ADDR, data, 7, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API writes the image registers values to NVM which is
+ *  stored even after POR or soft reset
+ */
+int8_t bmi160_update_nvm(struct bmi160_dev const *dev)
+{
+    int8_t rslt;
+    uint8_t data;
+    uint8_t cmd = BMI160_NVM_BACKUP_EN;
+
+    /* Read the nvm_prog_en configuration */
+    rslt = bmi160_get_regs(BMI160_CONF_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        data = BMI160_SET_BITS(data, BMI160_NVM_UPDATE, 1);
+
+        /* Set the nvm_prog_en bit in the sensor */
+        rslt = bmi160_set_regs(BMI160_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Update NVM */
+            rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* Check for NVM ready status */
+                rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &data, 1, dev);
+                if (rslt == BMI160_OK)
+                {
+                    data = BMI160_GET_BITS(data, BMI160_NVM_STATUS);
+                    if (data != BMI160_ENABLE)
+                    {
+                        /* Delay to update NVM */
+                        dev->delay_ms(25);
+                    }
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API gets the interrupt status from the sensor.
+ */
+int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
+                             union bmi160_int_status *int_status,
+                             struct bmi160_dev const *dev)
+{
+    int8_t rslt = 0;
+
+    /* To get the status of all interrupts */
+    if (int_status_sel == BMI160_INT_STATUS_ALL)
+    {
+        rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 4, dev);
+    }
+    else
+    {
+        if (int_status_sel & BMI160_INT_STATUS_0)
+        {
+            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 1, dev);
+        }
+        if (int_status_sel & BMI160_INT_STATUS_1)
+        {
+            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 1, &int_status->data[1], 1, dev);
+        }
+        if (int_status_sel & BMI160_INT_STATUS_2)
+        {
+            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 2, &int_status->data[2], 1, dev);
+        }
+        if (int_status_sel & BMI160_INT_STATUS_3)
+        {
+            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 3, &int_status->data[3], 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*********************** Local function definitions ***************************/
+
+/*!
+ * @brief This API sets the any-motion interrupt of the sensor.
+ * This interrupt occurs when accel values exceeds preset threshold
+ * for a certain period of time.
+ */
+static int8_t set_accel_any_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg = &(int_config->int_type_cfg.acc_any_motion_int);
+        rslt = enable_accel_any_motion_int(any_motion_int_cfg, dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = config_any_motion_int_settg(int_config, any_motion_int_cfg, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets tap interrupts.Interrupt is fired when
+ * tap movements happen.
+ */
+static int8_t set_accel_tap_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_tap_int_cfg *tap_int_cfg = &(int_config->int_type_cfg.acc_tap_int);
+        rslt = enable_tap_int(int_config, tap_int_cfg, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = config_tap_int_settg(int_config, tap_int_cfg, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the data ready interrupt for both accel and gyro.
+ * This interrupt occurs when new accel and gyro data comes.
+ */
+static int8_t set_accel_gyro_data_ready_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = enable_data_ready_int(dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = map_hardware_interrupt(int_config, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the significant motion interrupt of the sensor.This
+ * interrupt occurs when there is change in user location.
+ */
+static int8_t set_accel_sig_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg = &(int_config->int_type_cfg.acc_sig_motion_int);
+        rslt = enable_sig_motion_int(sig_mot_int_cfg, dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = config_sig_motion_int_settg(int_config, sig_mot_int_cfg, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the no motion/slow motion interrupt of the sensor.
+ * Slow motion is similar to any motion interrupt.No motion interrupt
+ * occurs when slope bet. two accel values falls below preset threshold
+ * for preset duration.
+ */
+static int8_t set_accel_no_motion_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg = &(int_config->int_type_cfg.acc_no_motion_int);
+        rslt = enable_no_motion_int(no_mot_int_cfg, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure the INT PIN settings*/
+            rslt = config_no_motion_int_settg(int_config, no_mot_int_cfg, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the step detection interrupt.This interrupt
+ * occurs when the single step causes accel values to go above
+ * preset threshold.
+ */
+static int8_t set_accel_step_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg = &(int_config->int_type_cfg.acc_step_detect_int);
+        rslt = enable_step_detect_int(step_detect_int_cfg, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = map_feature_interrupt(int_config, dev);
+                if (rslt == BMI160_OK)
+                {
+                    rslt = config_step_detect(step_detect_int_cfg, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the orientation interrupt of the sensor.This
+ * interrupt occurs when there is orientation change in the sensor
+ * with respect to gravitational field vector g.
+ */
+static int8_t set_accel_orientation_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_orient_int_cfg *orient_int_cfg = &(int_config->int_type_cfg.acc_orient_int);
+        rslt = enable_orient_int(orient_int_cfg, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* map INT pin to orient interrupt */
+                rslt = map_feature_interrupt(int_config, dev);
+                if (rslt == BMI160_OK)
+                {
+                    /* configure the
+                     * orientation setting*/
+                    rslt = config_orient_int_settg(orient_int_cfg, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the flat interrupt of the sensor.This interrupt
+ * occurs in case of flat orientation
+ */
+static int8_t set_accel_flat_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_flat_detect_int_cfg *flat_detect_int = &(int_config->int_type_cfg.acc_flat_int);
+
+        /* enable the flat interrupt */
+        rslt = enable_flat_int(flat_detect_int, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* map INT pin to flat interrupt */
+                rslt = map_feature_interrupt(int_config, dev);
+                if (rslt == BMI160_OK)
+                {
+                    /* configure the flat setting*/
+                    rslt = config_flat_int_settg(flat_detect_int, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the low-g interrupt of the sensor.This interrupt
+ * occurs during free-fall.
+ */
+static int8_t set_accel_low_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_low_g_int_cfg *low_g_int = &(int_config->int_type_cfg.acc_low_g_int);
+
+        /* Enable the low-g interrupt*/
+        rslt = enable_low_g_int(low_g_int, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* Map INT pin to low-g interrupt */
+                rslt = map_feature_interrupt(int_config, dev);
+                if (rslt == BMI160_OK)
+                {
+                    /* configure the data source
+                     * for low-g interrupt*/
+                    rslt = config_low_g_data_src(low_g_int, dev);
+                    if (rslt == BMI160_OK)
+                    {
+                        rslt = config_low_g_int_settg(low_g_int, dev);
+                    }
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the high-g interrupt of the sensor.The interrupt
+ * occurs if the absolute value of acceleration data of any enabled axis
+ * exceeds the programmed threshold and the sign of the value does not
+ * change for a preset duration.
+ */
+static int8_t set_accel_high_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_high_g_int_cfg *high_g_int_cfg = &(int_config->int_type_cfg.acc_high_g_int);
+
+        /* Enable the high-g interrupt */
+        rslt = enable_high_g_int(high_g_int_cfg, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* Map INT pin to high-g interrupt */
+                rslt = map_feature_interrupt(int_config, dev);
+                if (rslt == BMI160_OK)
+                {
+                    /* configure the data source
+                     * for high-g interrupt*/
+                    rslt = config_high_g_data_src(high_g_int_cfg, dev);
+                    if (rslt == BMI160_OK)
+                    {
+                        rslt = config_high_g_int_settg(high_g_int_cfg, dev);
+                    }
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configures the pins to fire the
+ * interrupt signal when it occurs.
+ */
+static int8_t set_intr_pin_config(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* configure the behavioural settings of interrupt pin */
+    rslt = config_int_out_ctrl(int_config, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = config_int_latch(int_config, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to validate the device structure pointer for
+ * null conditions.
+ */
+static int8_t null_ptr_check(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_ms == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Device structure is fine */
+        rslt = BMI160_OK;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the default configuration parameters of accel & gyro.
+ * Also maintain the previous state of configurations.
+ */
+static void default_param_settg(struct bmi160_dev *dev)
+{
+    /* Initializing accel and gyro params with
+     * default values */
+    dev->accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
+    dev->accel_cfg.odr = BMI160_ACCEL_ODR_100HZ;
+    dev->accel_cfg.power = BMI160_ACCEL_SUSPEND_MODE;
+    dev->accel_cfg.range = BMI160_ACCEL_RANGE_2G;
+    dev->gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
+    dev->gyro_cfg.odr = BMI160_GYRO_ODR_100HZ;
+    dev->gyro_cfg.power = BMI160_GYRO_SUSPEND_MODE;
+    dev->gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
+
+    /* To maintain the previous state of accel configuration */
+    dev->prev_accel_cfg = dev->accel_cfg;
+
+    /* To maintain the previous state of gyro configuration */
+    dev->prev_gyro_cfg = dev->gyro_cfg;
+}
+
+/*!
+ * @brief This API set the accel configuration.
+ */
+static int8_t set_accel_conf(struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data[2] = { 0 };
+
+    rslt = check_accel_config(data, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Write output data rate and bandwidth */
+        rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, &data[0], 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            dev->prev_accel_cfg.odr = dev->accel_cfg.odr;
+            dev->prev_accel_cfg.bw = dev->accel_cfg.bw;
+
+            /* write accel range */
+            rslt = bmi160_set_regs(BMI160_ACCEL_RANGE_ADDR, &data[1], 1, dev);
+            if (rslt == BMI160_OK)
+            {
+                dev->prev_accel_cfg.range = dev->accel_cfg.range;
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API check the accel configuration.
+ */
+static int8_t check_accel_config(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* read accel Output data rate and bandwidth */
+    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 2, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = process_accel_odr(&data[0], dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = process_accel_bw(&data[0], dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = process_accel_range(&data[1], dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the accel odr.
+ */
+static int8_t process_accel_odr(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t odr = 0;
+
+    if (dev->accel_cfg.odr <= BMI160_ACCEL_ODR_MAX)
+    {
+        if (dev->accel_cfg.odr != dev->prev_accel_cfg.odr)
+        {
+            odr = (uint8_t)dev->accel_cfg.odr;
+            temp = *data & ~BMI160_ACCEL_ODR_MASK;
+
+            /* Adding output data rate */
+            *data = temp | (odr & BMI160_ACCEL_ODR_MASK);
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the accel bandwidth.
+ */
+static int8_t process_accel_bw(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t bw = 0;
+
+    if (dev->accel_cfg.bw <= BMI160_ACCEL_BW_MAX)
+    {
+        if (dev->accel_cfg.bw != dev->prev_accel_cfg.bw)
+        {
+            bw = (uint8_t)dev->accel_cfg.bw;
+            temp = *data & ~BMI160_ACCEL_BW_MASK;
+
+            /* Adding bandwidth */
+            *data = temp | ((bw << 4) & BMI160_ACCEL_ODR_MASK);
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the accel range.
+ */
+static int8_t process_accel_range(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t range = 0;
+
+    if (dev->accel_cfg.range <= BMI160_ACCEL_RANGE_MAX)
+    {
+        if (dev->accel_cfg.range != dev->prev_accel_cfg.range)
+        {
+            range = (uint8_t)dev->accel_cfg.range;
+            temp = *data & ~BMI160_ACCEL_RANGE_MASK;
+
+            /* Adding range */
+            *data = temp | (range & BMI160_ACCEL_RANGE_MASK);
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API checks the invalid settings for ODR & Bw for
+ * Accel and Gyro.
+ */
+static int8_t check_invalid_settg(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+
+    /* read the error reg */
+    rslt = bmi160_get_regs(BMI160_ERROR_REG_ADDR, &data, 1, dev);
+    data = data >> 1;
+    data = data & BMI160_ERR_REG_MASK;
+    if (data == 1)
+    {
+        rslt = BMI160_E_ACCEL_ODR_BW_INVALID;
+    }
+    else if (data == 2)
+    {
+        rslt = BMI160_E_GYRO_ODR_BW_INVALID;
+    }
+    else if (data == 3)
+    {
+        rslt = BMI160_E_LWP_PRE_FLTR_INT_INVALID;
+    }
+    else if (data == 7)
+    {
+        rslt = BMI160_E_LWP_PRE_FLTR_INVALID;
+    }
+
+    return rslt;
+}
+static int8_t set_gyro_conf(struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data[2] = { 0 };
+
+    rslt = check_gyro_config(data, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Write output data rate and bandwidth */
+        rslt = bmi160_set_regs(BMI160_GYRO_CONFIG_ADDR, &data[0], 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            dev->prev_gyro_cfg.odr = dev->gyro_cfg.odr;
+            dev->prev_gyro_cfg.bw = dev->gyro_cfg.bw;
+
+            /* Write gyro range */
+            rslt = bmi160_set_regs(BMI160_GYRO_RANGE_ADDR, &data[1], 1, dev);
+            if (rslt == BMI160_OK)
+            {
+                dev->prev_gyro_cfg.range = dev->gyro_cfg.range;
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API check the gyro configuration.
+ */
+static int8_t check_gyro_config(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* read gyro Output data rate and bandwidth */
+    rslt = bmi160_get_regs(BMI160_GYRO_CONFIG_ADDR, data, 2, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = process_gyro_odr(&data[0], dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = process_gyro_bw(&data[0], dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = process_gyro_range(&data[1], dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the gyro odr.
+ */
+static int8_t process_gyro_odr(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t odr = 0;
+
+    if (dev->gyro_cfg.odr <= BMI160_GYRO_ODR_MAX)
+    {
+        if (dev->gyro_cfg.odr != dev->prev_gyro_cfg.odr)
+        {
+            odr = (uint8_t)dev->gyro_cfg.odr;
+            temp = (*data & ~BMI160_GYRO_ODR_MASK);
+
+            /* Adding output data rate */
+            *data = temp | (odr & BMI160_GYRO_ODR_MASK);
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the gyro bandwidth.
+ */
+static int8_t process_gyro_bw(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t bw = 0;
+
+    if (dev->gyro_cfg.bw <= BMI160_GYRO_BW_MAX)
+    {
+        bw = (uint8_t)dev->gyro_cfg.bw;
+        temp = *data & ~BMI160_GYRO_BW_MASK;
+
+        /* Adding bandwidth */
+        *data = temp | ((bw << 4) & BMI160_GYRO_BW_MASK);
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the gyro range.
+ */
+static int8_t process_gyro_range(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t range = 0;
+
+    if (dev->gyro_cfg.range <= BMI160_GYRO_RANGE_MAX)
+    {
+        if (dev->gyro_cfg.range != dev->prev_gyro_cfg.range)
+        {
+            range = (uint8_t)dev->gyro_cfg.range;
+            temp = *data & ~BMI160_GYRO_RANGE_MSK;
+
+            /* Adding range */
+            *data = temp | (range & BMI160_GYRO_RANGE_MSK);
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the accel power.
+ */
+static int8_t set_accel_pwr(struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t data = 0;
+
+    if ((dev->accel_cfg.power >= BMI160_ACCEL_SUSPEND_MODE) && (dev->accel_cfg.power <= BMI160_ACCEL_LOWPOWER_MODE))
+    {
+        if (dev->accel_cfg.power != dev->prev_accel_cfg.power)
+        {
+            rslt = process_under_sampling(&data, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* Write accel power */
+                rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &dev->accel_cfg.power, 1, dev);
+
+                /* Add delay of 3.8 ms - refer data sheet table 24*/
+                if (dev->prev_accel_cfg.power == BMI160_ACCEL_SUSPEND_MODE)
+                {
+                    dev->delay_ms(BMI160_ACCEL_DELAY_MS);
+                }
+                dev->prev_accel_cfg.power = dev->accel_cfg.power;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the undersampling setting of Accel.
+ */
+static int8_t process_under_sampling(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t pre_filter = 0;
+
+    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        if (dev->accel_cfg.power == BMI160_ACCEL_LOWPOWER_MODE)
+        {
+            temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK;
+
+            /* Set under-sampling parameter */
+            *data = temp | ((1 << 7) & BMI160_ACCEL_UNDERSAMPLING_MASK);
+
+            /* Write data */
+            rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
+
+            /* disable the pre-filter data in
+             * low power mode */
+            if (rslt == BMI160_OK)
+            {
+                /* Disable the Pre-filter data*/
+                rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &pre_filter, 2, dev);
+            }
+        }
+        else if (*data & BMI160_ACCEL_UNDERSAMPLING_MASK)
+        {
+            temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK;
+
+            /* disable under-sampling parameter
+             * if already enabled */
+            *data = temp;
+
+            /* Write data */
+            rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the gyro power mode.
+ */
+static int8_t set_gyro_pwr(struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+
+    if ((dev->gyro_cfg.power == BMI160_GYRO_SUSPEND_MODE) || (dev->gyro_cfg.power == BMI160_GYRO_NORMAL_MODE) ||
+        (dev->gyro_cfg.power == BMI160_GYRO_FASTSTARTUP_MODE))
+    {
+        if (dev->gyro_cfg.power != dev->prev_gyro_cfg.power)
+        {
+            /* Write gyro power */
+            rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &dev->gyro_cfg.power, 1, dev);
+            if (dev->prev_gyro_cfg.power == BMI160_GYRO_SUSPEND_MODE)
+            {
+                /* Delay of 80 ms - datasheet Table 24 */
+                dev->delay_ms(BMI160_GYRO_DELAY_MS);
+            }
+            else if ((dev->prev_gyro_cfg.power == BMI160_GYRO_FASTSTARTUP_MODE) &&
+                     (dev->gyro_cfg.power == BMI160_GYRO_NORMAL_MODE))
+            {
+                /* This delay is required for transition from
+                 * fast-startup mode to normal mode - datasheet Table 3 */
+                dev->delay_ms(10);
+            }
+            else
+            {
+                /* do nothing */
+            }
+            dev->prev_gyro_cfg.power = dev->gyro_cfg.power;
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads accel data along with sensor time if time is requested
+ * by user. Kindly refer the user guide(README.md) for more info.
+ */
+static int8_t get_accel_data(uint8_t len, struct bmi160_sensor_data *accel, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t idx = 0;
+    uint8_t data_array[9] = { 0 };
+    uint8_t time_0 = 0;
+    uint16_t time_1 = 0;
+    uint32_t time_2 = 0;
+    uint8_t lsb;
+    uint8_t msb;
+    int16_t msblsb;
+
+    /* read accel sensor data along with time if requested */
+    rslt = bmi160_get_regs(BMI160_ACCEL_DATA_ADDR, data_array, 6 + len, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Accel Data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->x = msblsb; /* Data in X axis */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->y = msblsb; /* Data in Y axis */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->z = msblsb; /* Data in Z axis */
+        if (len == 3)
+        {
+            time_0 = data_array[idx++];
+            time_1 = (uint16_t)(data_array[idx++] << 8);
+            time_2 = (uint32_t)(data_array[idx++] << 16);
+            accel->sensortime = (uint32_t)(time_2 | time_1 | time_0);
+        }
+        else
+        {
+            accel->sensortime = 0;
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_COM_FAIL;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads accel data along with sensor time if time is requested
+ * by user. Kindly refer the user guide(README.md) for more info.
+ */
+static int8_t get_gyro_data(uint8_t len, struct bmi160_sensor_data *gyro, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t idx = 0;
+    uint8_t data_array[15] = { 0 };
+    uint8_t time_0 = 0;
+    uint16_t time_1 = 0;
+    uint32_t time_2 = 0;
+    uint8_t lsb;
+    uint8_t msb;
+    int16_t msblsb;
+
+    if (len == 0)
+    {
+        /* read gyro data only */
+        rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 6, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Gyro Data */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->x = msblsb; /* Data in X axis */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->y = msblsb; /* Data in Y axis */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->z = msblsb; /* Data in Z axis */
+            gyro->sensortime = 0;
+        }
+        else
+        {
+            rslt = BMI160_E_COM_FAIL;
+        }
+    }
+    else
+    {
+        /* read gyro sensor data along with time */
+        rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Gyro Data */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->x = msblsb; /* gyro X axis data */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->y = msblsb; /* gyro Y axis data */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->z = msblsb; /* gyro Z axis data */
+            idx = idx + 6;
+            time_0 = data_array[idx++];
+            time_1 = (uint16_t)(data_array[idx++] << 8);
+            time_2 = (uint32_t)(data_array[idx++] << 16);
+            gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0);
+        }
+        else
+        {
+            rslt = BMI160_E_COM_FAIL;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads accel and gyro data along with sensor time
+ * if time is requested by user.
+ *  Kindly refer the user guide(README.md) for more info.
+ */
+static int8_t get_accel_gyro_data(uint8_t len,
+                                  struct bmi160_sensor_data *accel,
+                                  struct bmi160_sensor_data *gyro,
+                                  const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t idx = 0;
+    uint8_t data_array[15] = { 0 };
+    uint8_t time_0 = 0;
+    uint16_t time_1 = 0;
+    uint32_t time_2 = 0;
+    uint8_t lsb;
+    uint8_t msb;
+    int16_t msblsb;
+
+    /* read both accel and gyro sensor data
+     * along with time if requested */
+    rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Gyro Data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        gyro->x = msblsb; /* gyro X axis data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        gyro->y = msblsb; /* gyro Y axis data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        gyro->z = msblsb; /* gyro Z axis data */
+        /* Accel Data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->x = (int16_t)msblsb; /* accel X axis data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->y = (int16_t)msblsb; /* accel Y axis data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->z = (int16_t)msblsb; /* accel Z axis data */
+        if (len == 3)
+        {
+            time_0 = data_array[idx++];
+            time_1 = (uint16_t)(data_array[idx++] << 8);
+            time_2 = (uint32_t)(data_array[idx++] << 16);
+            accel->sensortime = (uint32_t)(time_2 | time_1 | time_0);
+            gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0);
+        }
+        else
+        {
+            accel->sensortime = 0;
+            gyro->sensortime = 0;
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_COM_FAIL;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the any-motion interrupt for accel.
+ */
+static int8_t enable_accel_any_motion_int(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                          struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable any motion x, any motion y, any motion z
+     * in Int Enable 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        if (any_motion_int_cfg->anymotion_en == BMI160_ENABLE)
+        {
+            temp = data & ~BMI160_ANY_MOTION_X_INT_EN_MASK;
+
+            /* Adding Any_motion x axis */
+            data = temp | (any_motion_int_cfg->anymotion_x & BMI160_ANY_MOTION_X_INT_EN_MASK);
+            temp = data & ~BMI160_ANY_MOTION_Y_INT_EN_MASK;
+
+            /* Adding Any_motion y axis */
+            data = temp | ((any_motion_int_cfg->anymotion_y << 1) & BMI160_ANY_MOTION_Y_INT_EN_MASK);
+            temp = data & ~BMI160_ANY_MOTION_Z_INT_EN_MASK;
+
+            /* Adding Any_motion z axis */
+            data = temp | ((any_motion_int_cfg->anymotion_z << 2) & BMI160_ANY_MOTION_Z_INT_EN_MASK);
+
+            /* any-motion feature selected*/
+            dev->any_sig_sel = BMI160_ANY_MOTION_ENABLED;
+        }
+        else
+        {
+            data = data & ~BMI160_ANY_MOTION_ALL_INT_EN_MASK;
+
+            /* neither any-motion feature nor sig-motion selected */
+            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
+        }
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API disable the sig-motion interrupt.
+ */
+static int8_t disable_sig_motion_int(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Disabling Significant motion interrupt if enabled */
+    rslt = bmi160_get_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = (data & BMI160_SIG_MOTION_SEL_MASK);
+        if (temp)
+        {
+            temp = data & ~BMI160_SIG_MOTION_SEL_MASK;
+            data = temp;
+
+            /* Write data to register */
+            rslt = bmi160_set_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g,
+ *  Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins.
+ */
+static int8_t map_feature_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data[3] = { 0, 0, 0 };
+    uint8_t temp[3] = { 0, 0, 0 };
+
+    rslt = bmi160_get_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp[0] = data[0] & ~int_mask_lookup_table[int_config->int_type];
+        temp[2] = data[2] & ~int_mask_lookup_table[int_config->int_type];
+        switch (int_config->int_channel)
+        {
+            case BMI160_INT_CHANNEL_NONE:
+                data[0] = temp[0];
+                data[2] = temp[2];
+                break;
+            case BMI160_INT_CHANNEL_1:
+                data[0] = temp[0] | int_mask_lookup_table[int_config->int_type];
+                data[2] = temp[2];
+                break;
+            case BMI160_INT_CHANNEL_2:
+                data[2] = temp[2] | int_mask_lookup_table[int_config->int_type];
+                data[0] = temp[0];
+                break;
+            case BMI160_INT_CHANNEL_BOTH:
+                data[0] = temp[0] | int_mask_lookup_table[int_config->int_type];
+                data[2] = temp[2] | int_mask_lookup_table[int_config->int_type];
+                break;
+            default:
+                rslt = BMI160_E_OUT_OF_RANGE;
+        }
+        if (rslt == BMI160_OK)
+        {
+            rslt = bmi160_set_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full
+ *  and FIFO watermark interrupt.
+ */
+static int8_t map_hardware_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    rslt = bmi160_get_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~int_mask_lookup_table[int_config->int_type];
+        temp = temp & ~((uint8_t)(int_mask_lookup_table[int_config->int_type] << 4));
+        switch (int_config->int_channel)
+        {
+            case BMI160_INT_CHANNEL_NONE:
+                data = temp;
+                break;
+            case BMI160_INT_CHANNEL_1:
+                data = temp | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4);
+                break;
+            case BMI160_INT_CHANNEL_2:
+                data = temp | int_mask_lookup_table[int_config->int_type];
+                break;
+            case BMI160_INT_CHANNEL_BOTH:
+                data = temp | int_mask_lookup_table[int_config->int_type];
+                data = data | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4);
+                break;
+            default:
+                rslt = BMI160_E_OUT_OF_RANGE;
+        }
+        if (rslt == BMI160_OK)
+        {
+            rslt = bmi160_set_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for any-motion interrupt.
+ */
+static int8_t config_any_motion_src(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                    const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 1 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
+        data = temp | ((any_motion_int_cfg->anymotion_data_src << 7) & BMI160_MOTION_SRC_INT_MASK);
+
+        /* Write data to DATA 1 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the duration and threshold of
+ * any-motion interrupt.
+ */
+static int8_t config_any_dur_threshold(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                       const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+    uint8_t data_array[2] = { 0 };
+    uint8_t dur;
+
+    /* Configure Int Motion 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_MOTION_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* slope duration */
+        dur = (uint8_t)any_motion_int_cfg->anymotion_dur;
+        temp = data & ~BMI160_SLOPE_INT_DUR_MASK;
+        data = temp | (dur & BMI160_MOTION_SRC_INT_MASK);
+        data_array[0] = data;
+
+        /* add slope threshold */
+        data_array[1] = any_motion_int_cfg->anymotion_thr;
+
+        /* INT MOTION 0 and INT MOTION 1 address lie consecutively,
+         * hence writing data to respective registers at one go */
+
+        /* Writing to Int_motion 0 and
+         * Int_motion 1 Address simultaneously */
+        rslt = bmi160_set_regs(BMI160_INT_MOTION_0_ADDR, data_array, 2, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure necessary setting of any-motion interrupt.
+ */
+static int8_t config_any_motion_int_settg(const struct bmi160_int_settg *int_config,
+                                          const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                          const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Configure Interrupt pins */
+    rslt = set_intr_pin_config(int_config, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = disable_sig_motion_int(dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = map_feature_interrupt(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = config_any_motion_src(any_motion_int_cfg, dev);
+                if (rslt == BMI160_OK)
+                {
+                    rslt = config_any_dur_threshold(any_motion_int_cfg, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enable the data ready interrupt.
+ */
+static int8_t enable_data_ready_int(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable data ready interrupt in Int Enable 1 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_DATA_RDY_INT_EN_MASK;
+        data = temp | ((1 << 4) & BMI160_DATA_RDY_INT_EN_MASK);
+
+        /* Writing data to INT ENABLE 1 Address */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the no motion/slow motion interrupt.
+ */
+static int8_t enable_no_motion_int(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                   const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable no motion x, no motion y, no motion z
+     * in Int Enable 2 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        if (no_mot_int_cfg->no_motion_x == 1)
+        {
+            temp = data & ~BMI160_NO_MOTION_X_INT_EN_MASK;
+
+            /* Adding No_motion x axis */
+            data = temp | (1 & BMI160_NO_MOTION_X_INT_EN_MASK);
+        }
+        if (no_mot_int_cfg->no_motion_y == 1)
+        {
+            temp = data & ~BMI160_NO_MOTION_Y_INT_EN_MASK;
+
+            /* Adding No_motion x axis */
+            data = temp | ((1 << 1) & BMI160_NO_MOTION_Y_INT_EN_MASK);
+        }
+        if (no_mot_int_cfg->no_motion_z == 1)
+        {
+            temp = data & ~BMI160_NO_MOTION_Z_INT_EN_MASK;
+
+            /* Adding No_motion x axis */
+            data = temp | ((1 << 2) & BMI160_NO_MOTION_Z_INT_EN_MASK);
+        }
+
+        /* write data to Int Enable 2 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * no motion/slow motion interrupt.
+ */
+static int8_t config_no_motion_int_settg(const struct bmi160_int_settg *int_config,
+                                         const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                         const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Configure Interrupt pins */
+    rslt = set_intr_pin_config(int_config, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = map_feature_interrupt(int_config, dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = config_no_motion_data_src(no_mot_int_cfg, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = config_no_motion_dur_thr(no_mot_int_cfg, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of interrupt for no motion.
+ */
+static int8_t config_no_motion_data_src(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                        const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 1 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
+        data = temp | ((no_mot_int_cfg->no_motion_src << 7) & BMI160_MOTION_SRC_INT_MASK);
+
+        /* Write data to DATA 1 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the duration and threshold of
+ * no motion/slow motion interrupt along with selection of no/slow motion.
+ */
+static int8_t config_no_motion_dur_thr(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                       const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+    uint8_t temp_1 = 0;
+    uint8_t reg_addr;
+    uint8_t data_array[2] = { 0 };
+
+    /* Configuring INT_MOTION register */
+    reg_addr = BMI160_INT_MOTION_0_ADDR;
+    rslt = bmi160_get_regs(reg_addr, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_NO_MOTION_INT_DUR_MASK;
+
+        /* Adding no_motion duration */
+        data = temp | ((no_mot_int_cfg->no_motion_dur << 2) & BMI160_NO_MOTION_INT_DUR_MASK);
+
+        /* Write data to NO_MOTION 0 address */
+        rslt = bmi160_set_regs(reg_addr, &data, 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            reg_addr = BMI160_INT_MOTION_3_ADDR;
+            rslt = bmi160_get_regs(reg_addr, &data, 1, dev);
+            if (rslt == BMI160_OK)
+            {
+                temp = data & ~BMI160_NO_MOTION_SEL_BIT_MASK;
+
+                /* Adding no_motion_sel bit */
+                temp_1 = (no_mot_int_cfg->no_motion_sel & BMI160_NO_MOTION_SEL_BIT_MASK);
+                data = (temp | temp_1);
+                data_array[1] = data;
+
+                /* Adding no motion threshold */
+                data_array[0] = no_mot_int_cfg->no_motion_thres;
+                reg_addr = BMI160_INT_MOTION_2_ADDR;
+
+                /* writing data to INT_MOTION 2 and INT_MOTION 3
+                 * address simultaneously */
+                rslt = bmi160_set_regs(reg_addr, data_array, 2, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the sig-motion motion interrupt.
+ */
+static int8_t enable_sig_motion_int(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg, struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* For significant motion,enable any motion x,any motion y,
+     * any motion z in Int Enable 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        if (sig_mot_int_cfg->sig_en == BMI160_ENABLE)
+        {
+            temp = data & ~BMI160_SIG_MOTION_INT_EN_MASK;
+            data = temp | (7 & BMI160_SIG_MOTION_INT_EN_MASK);
+
+            /* sig-motion feature selected*/
+            dev->any_sig_sel = BMI160_SIG_MOTION_ENABLED;
+        }
+        else
+        {
+            data = data & ~BMI160_SIG_MOTION_INT_EN_MASK;
+
+            /* neither any-motion feature nor sig-motion selected */
+            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
+        }
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * significant motion interrupt.
+ */
+static int8_t config_sig_motion_int_settg(const struct bmi160_int_settg *int_config,
+                                          const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
+                                          const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Configure Interrupt pins */
+    rslt = set_intr_pin_config(int_config, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = map_feature_interrupt(int_config, dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = config_sig_motion_data_src(sig_mot_int_cfg, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = config_sig_dur_threshold(sig_mot_int_cfg, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for sig motion interrupt.
+ */
+static int8_t config_sig_motion_data_src(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
+                                         const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 1 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
+        data = temp | ((sig_mot_int_cfg->sig_data_src << 7) & BMI160_MOTION_SRC_INT_MASK);
+
+        /* Write data to DATA 1 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the threshold, skip and proof time of
+ * sig motion interrupt.
+ */
+static int8_t config_sig_dur_threshold(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
+                                       const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data;
+    uint8_t temp = 0;
+
+    /* Configuring INT_MOTION registers */
+
+    /* Write significant motion threshold.
+     * This threshold is same as any motion threshold */
+    data = sig_mot_int_cfg->sig_mot_thres;
+
+    /* Write data to INT_MOTION 1 address */
+    rslt = bmi160_set_regs(BMI160_INT_MOTION_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = bmi160_get_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            temp = data & ~BMI160_SIG_MOTION_SKIP_MASK;
+
+            /* adding skip time of sig_motion interrupt*/
+            data = temp | ((sig_mot_int_cfg->sig_mot_skip << 2) & BMI160_SIG_MOTION_SKIP_MASK);
+            temp = data & ~BMI160_SIG_MOTION_PROOF_MASK;
+
+            /* adding proof time of sig_motion interrupt */
+            data = temp | ((sig_mot_int_cfg->sig_mot_proof << 4) & BMI160_SIG_MOTION_PROOF_MASK);
+
+            /* configure the int_sig_mot_sel bit to select
+             * significant motion interrupt */
+            temp = data & ~BMI160_SIG_MOTION_SEL_MASK;
+            data = temp | ((sig_mot_int_cfg->sig_en << 1) & BMI160_SIG_MOTION_SEL_MASK);
+            rslt = bmi160_set_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the step detector interrupt.
+ */
+static int8_t enable_step_detect_int(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg,
+                                     const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable data ready interrupt in Int Enable 2 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_STEP_DETECT_INT_EN_MASK;
+        data = temp | ((step_detect_int_cfg->step_detector_en << 3) & BMI160_STEP_DETECT_INT_EN_MASK);
+
+        /* Writing data to INT ENABLE 2 Address */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the step detector parameter.
+ */
+static int8_t config_step_detect(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg,
+                                 const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data_array[2] = { 0 };
+
+    if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_NORMAL)
+    {
+        /* Normal mode setting */
+        data_array[0] = 0x15;
+        data_array[1] = 0x03;
+    }
+    else if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_SENSITIVE)
+    {
+        /* Sensitive mode setting */
+        data_array[0] = 0x2D;
+        data_array[1] = 0x00;
+    }
+    else if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_ROBUST)
+    {
+        /* Robust mode setting */
+        data_array[0] = 0x1D;
+        data_array[1] = 0x07;
+    }
+    else if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_USER_DEFINE)
+    {
+        /* Non recommended User defined setting */
+        /* Configuring STEP_CONFIG register */
+        rslt = bmi160_get_regs(BMI160_INT_STEP_CONFIG_0_ADDR, &data_array[0], 2, dev);
+        if (rslt == BMI160_OK)
+        {
+            temp = data_array[0] & ~BMI160_STEP_DETECT_MIN_THRES_MASK;
+
+            /* Adding min_threshold */
+            data_array[0] = temp | ((step_detect_int_cfg->min_threshold << 3) & BMI160_STEP_DETECT_MIN_THRES_MASK);
+            temp = data_array[0] & ~BMI160_STEP_DETECT_STEPTIME_MIN_MASK;
+
+            /* Adding steptime_min */
+            data_array[0] = temp | ((step_detect_int_cfg->steptime_min) & BMI160_STEP_DETECT_STEPTIME_MIN_MASK);
+            temp = data_array[1] & ~BMI160_STEP_MIN_BUF_MASK;
+
+            /* Adding steptime_min */
+            data_array[1] = temp | ((step_detect_int_cfg->step_min_buf) & BMI160_STEP_MIN_BUF_MASK);
+        }
+    }
+
+    /* Write data to STEP_CONFIG register */
+    rslt = bmi160_set_regs(BMI160_INT_STEP_CONFIG_0_ADDR, data_array, 2, dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the single/double tap interrupt.
+ */
+static int8_t enable_tap_int(const struct bmi160_int_settg *int_config,
+                             const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
+                             const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable single tap or double tap interrupt in Int Enable 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        if (int_config->int_type == BMI160_ACC_SINGLE_TAP_INT)
+        {
+            temp = data & ~BMI160_SINGLE_TAP_INT_EN_MASK;
+            data = temp | ((tap_int_cfg->tap_en << 5) & BMI160_SINGLE_TAP_INT_EN_MASK);
+        }
+        else
+        {
+            temp = data & ~BMI160_DOUBLE_TAP_INT_EN_MASK;
+            data = temp | ((tap_int_cfg->tap_en << 4) & BMI160_DOUBLE_TAP_INT_EN_MASK);
+        }
+
+        /* Write to Enable 0 Address */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * tap interrupt.
+ */
+static int8_t config_tap_int_settg(const struct bmi160_int_settg *int_config,
+                                   const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
+                                   const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Configure Interrupt pins */
+    rslt = set_intr_pin_config(int_config, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = map_feature_interrupt(int_config, dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = config_tap_data_src(tap_int_cfg, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = config_tap_param(int_config, tap_int_cfg, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for tap interrupt.
+ */
+static int8_t config_tap_data_src(const struct bmi160_acc_tap_int_cfg *tap_int_cfg, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 0 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_TAP_SRC_INT_MASK;
+        data = temp | ((tap_int_cfg->tap_data_src << 3) & BMI160_TAP_SRC_INT_MASK);
+
+        /* Write data to Data 0 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the  parameters of tap interrupt.
+ * Threshold, quite, shock, and duration.
+ */
+static int8_t config_tap_param(const struct bmi160_int_settg *int_config,
+                               const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
+                               const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data = 0;
+    uint8_t data_array[2] = { 0 };
+    uint8_t count = 0;
+    uint8_t dur, shock, quiet, thres;
+
+    /* Configure tap 0 register for tap shock,tap quiet duration
+     * in case of single tap interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_TAP_0_ADDR, data_array, 2, dev);
+    if (rslt == BMI160_OK)
+    {
+        data = data_array[count];
+        if (int_config->int_type == BMI160_ACC_DOUBLE_TAP_INT)
+        {
+            dur = (uint8_t)tap_int_cfg->tap_dur;
+            temp = (data & ~BMI160_TAP_DUR_MASK);
+
+            /* Add tap duration data in case of
+             * double tap interrupt */
+            data = temp | (dur & BMI160_TAP_DUR_MASK);
+        }
+        shock = (uint8_t)tap_int_cfg->tap_shock;
+        temp = data & ~BMI160_TAP_SHOCK_DUR_MASK;
+        data = temp | ((shock << 6) & BMI160_TAP_SHOCK_DUR_MASK);
+        quiet = (uint8_t)tap_int_cfg->tap_quiet;
+        temp = data & ~BMI160_TAP_QUIET_DUR_MASK;
+        data = temp | ((quiet << 7) & BMI160_TAP_QUIET_DUR_MASK);
+        data_array[count++] = data;
+        data = data_array[count];
+        thres = (uint8_t)tap_int_cfg->tap_thr;
+        temp = data & ~BMI160_TAP_THRES_MASK;
+        data = temp | (thres & BMI160_TAP_THRES_MASK);
+        data_array[count++] = data;
+
+        /* TAP 0 and TAP 1 address lie consecutively,
+         * hence writing data to respective registers at one go */
+
+        /* Writing to Tap 0 and Tap 1 Address simultaneously */
+        rslt = bmi160_set_regs(BMI160_INT_TAP_0_ADDR, data_array, count, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the secondary interface.
+ */
+static int8_t config_sec_if(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t if_conf = 0;
+    uint8_t cmd = BMI160_AUX_NORMAL_MODE;
+
+    /* set the aux power mode to normal*/
+    rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* 0.5ms delay - refer datasheet table 24*/
+        dev->delay_ms(1);
+        rslt = bmi160_get_regs(BMI160_IF_CONF_ADDR, &if_conf, 1, dev);
+        if_conf |= (uint8_t)(1 << 5);
+        if (rslt == BMI160_OK)
+        {
+            /*enable the secondary interface also*/
+            rslt = bmi160_set_regs(BMI160_IF_CONF_ADDR, &if_conf, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the ODR of the auxiliary sensor.
+ */
+static int8_t config_aux_odr(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t aux_odr;
+
+    rslt = bmi160_get_regs(BMI160_AUX_ODR_ADDR, &aux_odr, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        aux_odr = (uint8_t)(dev->aux_cfg.aux_odr);
+
+        /* Set the secondary interface ODR
+         * i.e polling rate of secondary sensor */
+        rslt = bmi160_set_regs(BMI160_AUX_ODR_ADDR, &aux_odr, 1, dev);
+        dev->delay_ms(BMI160_AUX_COM_DELAY);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API maps the actual burst read length set by user.
+ */
+static int8_t map_read_len(uint16_t *len, const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+
+    switch (dev->aux_cfg.aux_rd_burst_len)
+    {
+        case BMI160_AUX_READ_LEN_0:
+            *len = 1;
+            break;
+        case BMI160_AUX_READ_LEN_1:
+            *len = 2;
+            break;
+        case BMI160_AUX_READ_LEN_2:
+            *len = 6;
+            break;
+        case BMI160_AUX_READ_LEN_3:
+            *len = 8;
+            break;
+        default:
+            rslt = BMI160_E_INVALID_INPUT;
+            break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the settings of auxiliary sensor.
+ */
+static int8_t config_aux_settg(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    rslt = config_sec_if(dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Configures the auxiliary interface settings */
+        rslt = bmi160_config_aux_mode(dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API extract the read data from auxiliary sensor.
+ */
+static int8_t extract_aux_read(uint16_t map_len,
+                               uint8_t reg_addr,
+                               uint8_t *aux_data,
+                               uint16_t len,
+                               const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+    uint8_t data[8] = { 0, };
+    uint8_t read_addr = BMI160_AUX_DATA_ADDR;
+    uint8_t count = 0;
+    uint8_t read_count;
+    uint8_t read_len = (uint8_t)map_len;
+
+    for (; count < len;)
+    {
+        /* set address to read */
+        rslt = bmi160_set_regs(BMI160_AUX_IF_2_ADDR, &reg_addr, 1, dev);
+        dev->delay_ms(BMI160_AUX_COM_DELAY);
+        if (rslt == BMI160_OK)
+        {
+            rslt = bmi160_get_regs(read_addr, data, map_len, dev);
+            if (rslt == BMI160_OK)
+            {
+                read_count = 0;
+
+                /* if read len is less the burst read len
+                 * mention by user*/
+                if (len < map_len)
+                {
+                    read_len = (uint8_t)len;
+                }
+                else if ((len - count) < map_len)
+                {
+                    read_len = (uint8_t)(len - count);
+                }
+
+                for (; read_count < read_len; read_count++)
+                {
+                    aux_data[count + read_count] = data[read_count];
+                }
+                reg_addr += (uint8_t)map_len;
+                count += (uint8_t)map_len;
+            }
+            else
+            {
+                rslt = BMI160_E_COM_FAIL;
+                break;
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the orient interrupt.
+ */
+static int8_t enable_orient_int(const struct bmi160_acc_orient_int_cfg *orient_int_cfg, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable data ready interrupt in Int Enable 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_ORIENT_INT_EN_MASK;
+        data = temp | ((orient_int_cfg->orient_en << 6) & BMI160_ORIENT_INT_EN_MASK);
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the necessary setting of orientation interrupt.
+ */
+static int8_t config_orient_int_settg(const struct bmi160_acc_orient_int_cfg *orient_int_cfg,
+                                      const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+    uint8_t data_array[2] = { 0, 0 };
+
+    /* Configuring INT_ORIENT registers */
+    rslt = bmi160_get_regs(BMI160_INT_ORIENT_0_ADDR, data_array, 2, dev);
+    if (rslt == BMI160_OK)
+    {
+        data = data_array[0];
+        temp = data & ~BMI160_ORIENT_MODE_MASK;
+
+        /* Adding Orientation mode */
+        data = temp | ((orient_int_cfg->orient_mode) & BMI160_ORIENT_MODE_MASK);
+        temp = data & ~BMI160_ORIENT_BLOCK_MASK;
+
+        /* Adding Orientation blocking */
+        data = temp | ((orient_int_cfg->orient_blocking << 2) & BMI160_ORIENT_BLOCK_MASK);
+        temp = data & ~BMI160_ORIENT_HYST_MASK;
+
+        /* Adding Orientation hysteresis */
+        data = temp | ((orient_int_cfg->orient_hyst << 4) & BMI160_ORIENT_HYST_MASK);
+        data_array[0] = data;
+        data = data_array[1];
+        temp = data & ~BMI160_ORIENT_THETA_MASK;
+
+        /* Adding Orientation threshold */
+        data = temp | ((orient_int_cfg->orient_theta) & BMI160_ORIENT_THETA_MASK);
+        temp = data & ~BMI160_ORIENT_UD_ENABLE;
+
+        /* Adding Orient_ud_en */
+        data = temp | ((orient_int_cfg->orient_ud_en << 6) & BMI160_ORIENT_UD_ENABLE);
+        temp = data & ~BMI160_AXES_EN_MASK;
+
+        /* Adding axes_en */
+        data = temp | ((orient_int_cfg->axes_ex << 7) & BMI160_AXES_EN_MASK);
+        data_array[1] = data;
+
+        /* Writing data to INT_ORIENT 0 and INT_ORIENT 1
+         * registers simultaneously */
+        rslt = bmi160_set_regs(BMI160_INT_ORIENT_0_ADDR, data_array, 2, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the flat interrupt.
+ */
+static int8_t enable_flat_int(const struct bmi160_acc_flat_detect_int_cfg *flat_int, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable flat interrupt in Int Enable 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_FLAT_INT_EN_MASK;
+        data = temp | ((flat_int->flat_en << 7) & BMI160_FLAT_INT_EN_MASK);
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the necessary setting of flat interrupt.
+ */
+static int8_t config_flat_int_settg(const struct bmi160_acc_flat_detect_int_cfg *flat_int, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+    uint8_t data_array[2] = { 0, 0 };
+
+    /* Configuring INT_FLAT register */
+    rslt = bmi160_get_regs(BMI160_INT_FLAT_0_ADDR, data_array, 2, dev);
+    if (rslt == BMI160_OK)
+    {
+        data = data_array[0];
+        temp = data & ~BMI160_FLAT_THRES_MASK;
+
+        /* Adding flat theta */
+        data = temp | ((flat_int->flat_theta) & BMI160_FLAT_THRES_MASK);
+        data_array[0] = data;
+        data = data_array[1];
+        temp = data & ~BMI160_FLAT_HOLD_TIME_MASK;
+
+        /* Adding flat hold time */
+        data = temp | ((flat_int->flat_hold_time << 4) & BMI160_FLAT_HOLD_TIME_MASK);
+        temp = data & ~BMI160_FLAT_HYST_MASK;
+
+        /* Adding flat hysteresis */
+        data = temp | ((flat_int->flat_hy) & BMI160_FLAT_HYST_MASK);
+        data_array[1] = data;
+
+        /* Writing data to INT_FLAT 0 and INT_FLAT 1
+         * registers simultaneously */
+        rslt = bmi160_set_regs(BMI160_INT_FLAT_0_ADDR, data_array, 2, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the Low-g interrupt.
+ */
+static int8_t enable_low_g_int(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable low-g interrupt in Int Enable 1 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_LOW_G_INT_EN_MASK;
+        data = temp | ((low_g_int->low_en << 3) & BMI160_LOW_G_INT_EN_MASK);
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for low-g interrupt.
+ */
+static int8_t config_low_g_data_src(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 0 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_LOW_HIGH_SRC_INT_MASK;
+        data = temp | ((low_g_int->low_data_src << 7) & BMI160_LOW_HIGH_SRC_INT_MASK);
+
+        /* Write data to Data 0 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the necessary setting of low-g interrupt.
+ */
+static int8_t config_low_g_int_settg(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data_array[3] = { 0, 0, 0 };
+
+    /* Configuring INT_LOWHIGH register for low-g interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_LOWHIGH_2_ADDR, &data_array[2], 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data_array[2] & ~BMI160_LOW_G_HYST_MASK;
+
+        /* Adding low-g hysteresis */
+        data_array[2] = temp | (low_g_int->low_hyst & BMI160_LOW_G_HYST_MASK);
+        temp = data_array[2] & ~BMI160_LOW_G_LOW_MODE_MASK;
+
+        /* Adding low-mode */
+        data_array[2] = temp | ((low_g_int->low_mode << 2) & BMI160_LOW_G_LOW_MODE_MASK);
+
+        /* Adding low-g threshold */
+        data_array[1] = low_g_int->low_thres;
+
+        /* Adding low-g interrupt delay */
+        data_array[0] = low_g_int->low_dur;
+
+        /* Writing data to INT_LOWHIGH 0,1,2 registers simultaneously*/
+        rslt = bmi160_set_regs(BMI160_INT_LOWHIGH_0_ADDR, data_array, 3, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the high-g interrupt.
+ */
+static int8_t enable_high_g_int(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable low-g interrupt in Int Enable 1 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Adding high-g X-axis */
+        temp = data & ~BMI160_HIGH_G_X_INT_EN_MASK;
+        data = temp | (high_g_int_cfg->high_g_x & BMI160_HIGH_G_X_INT_EN_MASK);
+
+        /* Adding high-g Y-axis */
+        temp = data & ~BMI160_HIGH_G_Y_INT_EN_MASK;
+        data = temp | ((high_g_int_cfg->high_g_y << 1) & BMI160_HIGH_G_Y_INT_EN_MASK);
+
+        /* Adding high-g Z-axis */
+        temp = data & ~BMI160_HIGH_G_Z_INT_EN_MASK;
+        data = temp | ((high_g_int_cfg->high_g_z << 2) & BMI160_HIGH_G_Z_INT_EN_MASK);
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for high-g interrupt.
+ */
+static int8_t config_high_g_data_src(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg,
+                                     const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 0 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_LOW_HIGH_SRC_INT_MASK;
+        data = temp | ((high_g_int_cfg->high_data_src << 7) & BMI160_LOW_HIGH_SRC_INT_MASK);
+
+        /* Write data to Data 0 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the necessary setting of high-g interrupt.
+ */
+static int8_t config_high_g_int_settg(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg,
+                                      const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data_array[3] = { 0, 0, 0 };
+
+    rslt = bmi160_get_regs(BMI160_INT_LOWHIGH_2_ADDR, &data_array[0], 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data_array[0] & ~BMI160_HIGH_G_HYST_MASK;
+
+        /* Adding high-g hysteresis */
+        data_array[0] = temp | ((high_g_int_cfg->high_hy << 6) & BMI160_HIGH_G_HYST_MASK);
+
+        /* Adding high-g duration */
+        data_array[1] = high_g_int_cfg->high_dur;
+
+        /* Adding high-g threshold */
+        data_array[2] = high_g_int_cfg->high_thres;
+        rslt = bmi160_set_regs(BMI160_INT_LOWHIGH_2_ADDR, data_array, 3, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the behavioural setting of interrupt pin.
+ */
+static int8_t config_int_out_ctrl(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data = 0;
+
+    /* Configuration of output interrupt signals on pins INT1 and INT2 are
+     * done in BMI160_INT_OUT_CTRL_ADDR register*/
+    rslt = bmi160_get_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* updating the interrupt pin structure to local structure */
+        const struct bmi160_int_pin_settg *intr_pin_sett = &(int_config->int_pin_settg);
+
+        /* Configuring channel 1 */
+        if (int_config->int_channel == BMI160_INT_CHANNEL_1)
+        {
+            /* Output enable */
+            temp = data & ~BMI160_INT1_OUTPUT_EN_MASK;
+            data = temp | ((intr_pin_sett->output_en << 3) & BMI160_INT1_OUTPUT_EN_MASK);
+
+            /* Output mode */
+            temp = data & ~BMI160_INT1_OUTPUT_MODE_MASK;
+            data = temp | ((intr_pin_sett->output_mode << 2) & BMI160_INT1_OUTPUT_MODE_MASK);
+
+            /* Output type */
+            temp = data & ~BMI160_INT1_OUTPUT_TYPE_MASK;
+            data = temp | ((intr_pin_sett->output_type << 1) & BMI160_INT1_OUTPUT_TYPE_MASK);
+
+            /* edge control */
+            temp = data & ~BMI160_INT1_EDGE_CTRL_MASK;
+            data = temp | ((intr_pin_sett->edge_ctrl) & BMI160_INT1_EDGE_CTRL_MASK);
+        }
+        else
+        {
+            /* Configuring channel 2 */
+            /* Output enable */
+            temp = data & ~BMI160_INT2_OUTPUT_EN_MASK;
+            data = temp | ((intr_pin_sett->output_en << 7) & BMI160_INT2_OUTPUT_EN_MASK);
+
+            /* Output mode */
+            temp = data & ~BMI160_INT2_OUTPUT_MODE_MASK;
+            data = temp | ((intr_pin_sett->output_mode << 6) & BMI160_INT2_OUTPUT_MODE_MASK);
+
+            /* Output type */
+            temp = data & ~BMI160_INT2_OUTPUT_TYPE_MASK;
+            data = temp | ((intr_pin_sett->output_type << 5) & BMI160_INT2_OUTPUT_TYPE_MASK);
+
+            /* edge control */
+            temp = data & ~BMI160_INT2_EDGE_CTRL_MASK;
+            data = temp | ((intr_pin_sett->edge_ctrl << 4) & BMI160_INT2_EDGE_CTRL_MASK);
+        }
+        rslt = bmi160_set_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the mode(input enable, latch or non-latch) of interrupt pin.
+ */
+static int8_t config_int_latch(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data = 0;
+
+    /* Configuration of latch on pins INT1 and INT2 are done in
+     * BMI160_INT_LATCH_ADDR register*/
+    rslt = bmi160_get_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* updating the interrupt pin structure to local structure */
+        const struct bmi160_int_pin_settg *intr_pin_sett = &(int_config->int_pin_settg);
+        if (int_config->int_channel == BMI160_INT_CHANNEL_1)
+        {
+            /* Configuring channel 1 */
+            /* Input enable */
+            temp = data & ~BMI160_INT1_INPUT_EN_MASK;
+            data = temp | ((intr_pin_sett->input_en << 4) & BMI160_INT1_INPUT_EN_MASK);
+        }
+        else
+        {
+            /* Configuring channel 2 */
+            /* Input enable */
+            temp = data & ~BMI160_INT2_INPUT_EN_MASK;
+            data = temp | ((intr_pin_sett->input_en << 5) & BMI160_INT2_INPUT_EN_MASK);
+        }
+
+        /* In case of latch interrupt,update the latch duration */
+
+        /* Latching holds the interrupt for the amount of latch
+         * duration time */
+        temp = data & ~BMI160_INT_LATCH_MASK;
+        data = temp | (intr_pin_sett->latch_dur & BMI160_INT_LATCH_MASK);
+
+        /* OUT_CTRL_INT and LATCH_INT address lie consecutively,
+         * hence writing data to respective registers at one go */
+        rslt = bmi160_set_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs the self test for accelerometer of BMI160
+ */
+static int8_t perform_accel_self_test(struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    struct bmi160_sensor_data accel_pos, accel_neg;
+
+    /* Enable Gyro self test bit */
+    rslt = enable_accel_self_test(dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Perform accel self test with positive excitation */
+        rslt = accel_self_test_positive_excitation(&accel_pos, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Perform accel self test with negative excitation */
+            rslt = accel_self_test_negative_excitation(&accel_neg, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* Validate the self test result */
+                rslt = validate_accel_self_test(&accel_pos, &accel_neg);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables to perform the accel self test by setting proper
+ * configurations to facilitate accel self test
+ */
+static int8_t enable_accel_self_test(struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Set the Accel power mode as normal mode */
+    dev->accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
+
+    /* Set the sensor range configuration as 8G */
+    dev->accel_cfg.range = BMI160_ACCEL_RANGE_8G;
+    rslt = bmi160_set_sens_conf(dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Accel configurations are set to facilitate self test
+         * acc_odr - 1600Hz ; acc_bwp = 2 ; acc_us = 0 */
+        reg_data = BMI160_ACCEL_SELF_TEST_CONFIG;
+        rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, &reg_data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs accel self test with positive excitation
+ */
+static int8_t accel_self_test_positive_excitation(struct bmi160_sensor_data *accel_pos, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Enable accel self test with positive self-test excitation
+     * and with amplitude of deflection set as high */
+    reg_data = BMI160_ACCEL_SELF_TEST_POSITIVE_EN;
+    rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Read the data after a delay of 50ms - refer datasheet  2.8.1 accel self test*/
+        dev->delay_ms(BMI160_ACCEL_SELF_TEST_DELAY);
+        rslt = bmi160_get_sensor_data(BMI160_ACCEL_ONLY, accel_pos, NULL, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs accel self test with negative excitation
+ */
+static int8_t accel_self_test_negative_excitation(struct bmi160_sensor_data *accel_neg, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Enable accel self test with negative self-test excitation
+     * and with amplitude of deflection set as high */
+    reg_data = BMI160_ACCEL_SELF_TEST_NEGATIVE_EN;
+    rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Read the data after a delay of 50ms */
+        dev->delay_ms(BMI160_ACCEL_SELF_TEST_DELAY);
+        rslt = bmi160_get_sensor_data(BMI160_ACCEL_ONLY, accel_neg, NULL, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API validates the accel self test results
+ */
+static int8_t validate_accel_self_test(const struct bmi160_sensor_data *accel_pos,
+                                       const struct bmi160_sensor_data *accel_neg)
+{
+    int8_t rslt;
+
+    /* Validate the results of self test */
+    if (((accel_neg->x - accel_pos->x) > BMI160_ACCEL_SELF_TEST_LIMIT) &&
+        ((accel_neg->y - accel_pos->y) > BMI160_ACCEL_SELF_TEST_LIMIT) &&
+        ((accel_neg->z - accel_pos->z) > BMI160_ACCEL_SELF_TEST_LIMIT))
+    {
+        /* Self test pass condition */
+        rslt = BMI160_OK;
+    }
+    else
+    {
+        rslt = BMI160_W_ACCEl_SELF_TEST_FAIL;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs the self test for gyroscope of BMI160
+ */
+static int8_t perform_gyro_self_test(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Enable Gyro self test bit */
+    rslt = enable_gyro_self_test(dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Validate the gyro self test a delay of 50ms */
+        dev->delay_ms(50);
+
+        /* Validate the gyro self test results */
+        rslt = validate_gyro_self_test(dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the self test bit to trigger self test for Gyro
+ */
+static int8_t enable_gyro_self_test(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Enable the Gyro self test bit to trigger the self test */
+    rslt = bmi160_get_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        reg_data = BMI160_SET_BITS(reg_data, BMI160_GYRO_SELF_TEST, 1);
+        rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Delay to enable gyro self test */
+            dev->delay_ms(15);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API validates the self test results of Gyro
+ */
+static int8_t validate_gyro_self_test(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Validate the Gyro self test result */
+    rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+
+        reg_data = BMI160_GET_BITS(reg_data, BMI160_GYRO_SELF_TEST_STATUS);
+        if (reg_data == BMI160_ENABLE)
+        {
+            /* Gyro self test success case */
+            rslt = BMI160_OK;
+        }
+        else
+        {
+            rslt = BMI160_W_GYRO_SELF_TEST_FAIL;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API sets FIFO full interrupt of the sensor.This interrupt
+ *  occurs when the FIFO is full and the next full data sample would cause
+ *  a FIFO overflow, which may delete the old samples.
+ */
+static int8_t set_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->delay_ms == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /*enable the fifo full interrupt */
+        rslt = enable_fifo_full_int(int_config, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = map_hardware_interrupt(int_config, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This enable the FIFO full interrupt engine.
+ */
+static int8_t enable_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        data = BMI160_SET_BITS(data, BMI160_FIFO_FULL_INT, int_config->fifo_full_int_en);
+
+        /* Writing data to INT ENABLE 1 Address */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API sets FIFO watermark interrupt of the sensor.The FIFO
+ *  watermark interrupt is fired, when the FIFO fill level is above a fifo
+ *  watermark.
+ */
+static int8_t set_fifo_watermark_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+
+    if ((dev == NULL) || (dev->delay_ms == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Enable fifo-watermark interrupt in Int Enable 1 register */
+        rslt = enable_fifo_wtm_int(int_config, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = map_hardware_interrupt(int_config, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This enable the FIFO watermark interrupt engine.
+ */
+static int8_t enable_fifo_wtm_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        data = BMI160_SET_BITS(data, BMI160_FIFO_WTM_INT, int_config->fifo_wtm_int_en);
+
+        /* Writing data to INT ENABLE 1 Address */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to reset the FIFO related configurations
+ *  in the fifo_frame structure.
+ */
+static void reset_fifo_data_structure(const struct bmi160_dev *dev)
+{
+    /*Prepare for next FIFO read by resetting FIFO's
+     * internal data structures*/
+    dev->fifo->accel_byte_start_idx = 0;
+    dev->fifo->gyro_byte_start_idx = 0;
+    dev->fifo->aux_byte_start_idx = 0;
+    dev->fifo->sensor_time = 0;
+    dev->fifo->skipped_frame_count = 0;
+}
+
+/*!
+ *  @brief This API is used to read fifo_byte_counter value (i.e)
+ *  current fill-level in Fifo buffer.
+ */
+static int8_t get_fifo_byte_counter(uint16_t *bytes_to_read, struct bmi160_dev const *dev)
+{
+    int8_t rslt = 0;
+    uint8_t data[2];
+    uint8_t addr = BMI160_FIFO_LENGTH_ADDR;
+
+    rslt |= bmi160_get_regs(addr, data, 2, dev);
+    data[1] = data[1] & BMI160_FIFO_BYTE_COUNTER_MASK;
+
+    /* Available data in FIFO is stored in bytes_to_read*/
+    *bytes_to_read = (((uint16_t)data[1] << 8) | ((uint16_t)data[0]));
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to compute the number of bytes of accel FIFO data
+ *  which is to be parsed in header-less mode
+ */
+static void get_accel_len_to_parse(uint16_t *data_index,
+                                   uint16_t *data_read_length,
+                                   const uint8_t *acc_frame_count,
+                                   const struct bmi160_dev *dev)
+{
+    /* Data start index */
+    *data_index = dev->fifo->accel_byte_start_idx;
+    if (dev->fifo->fifo_data_enable == BMI160_FIFO_A_ENABLE)
+    {
+        *data_read_length = (*acc_frame_count) * BMI160_FIFO_A_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_G_A_ENABLE)
+    {
+        *data_read_length = (*acc_frame_count) * BMI160_FIFO_GA_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_A_ENABLE)
+    {
+        *data_read_length = (*acc_frame_count) * BMI160_FIFO_MA_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE)
+    {
+        *data_read_length = (*acc_frame_count) * BMI160_FIFO_MGA_LENGTH;
+    }
+    else
+    {
+        /* When accel is not enabled ,there will be no accel data.
+         * so we update the data index as complete */
+        *data_index = dev->fifo->length;
+    }
+    if (*data_read_length > dev->fifo->length)
+    {
+        /* Handling the case where more data is requested
+         * than that is available*/
+        *data_read_length = dev->fifo->length;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed.
+ */
+static void unpack_accel_frame(struct bmi160_sensor_data *acc,
+                               uint16_t *idx,
+                               uint8_t *acc_idx,
+                               uint8_t frame_info,
+                               const struct bmi160_dev *dev)
+{
+    switch (frame_info)
+    {
+        case BMI160_FIFO_HEAD_A:
+        case BMI160_FIFO_A_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_A_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /*Unpack the data array into the structure instance "acc" */
+            unpack_accel_data(&acc[*acc_idx], *idx, dev);
+
+            /*Move the data index*/
+            *idx = *idx + BMI160_FIFO_A_LENGTH;
+            (*acc_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_G_A:
+        case BMI160_FIFO_G_A_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_GA_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /*Unpack the data array into structure instance "acc"*/
+            unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_G_LENGTH, dev);
+
+            /*Move the data index*/
+            *idx = *idx + BMI160_FIFO_GA_LENGTH;
+            (*acc_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_M_A:
+        case BMI160_FIFO_M_A_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_MA_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /*Unpack the data array into structure instance "acc"*/
+            unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
+
+            /*Move the data index*/
+            *idx = *idx + BMI160_FIFO_MA_LENGTH;
+            (*acc_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_M_G_A:
+        case BMI160_FIFO_M_G_A_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /*Unpack the data array into structure instance "acc"*/
+            unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_MG_LENGTH, dev);
+
+            /*Move the data index*/
+            *idx = *idx + BMI160_FIFO_MGA_LENGTH;
+            (*acc_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_M:
+        case BMI160_FIFO_M_ENABLE:
+            (*idx) = (*idx) + BMI160_FIFO_M_LENGTH;
+            break;
+        case BMI160_FIFO_HEAD_G:
+        case BMI160_FIFO_G_ENABLE:
+            (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
+            break;
+        case BMI160_FIFO_HEAD_M_G:
+        case BMI160_FIFO_M_G_ENABLE:
+            (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
+            break;
+        default:
+            break;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
+ */
+static void unpack_accel_data(struct bmi160_sensor_data *accel_data,
+                              uint16_t data_start_index,
+                              const struct bmi160_dev *dev)
+{
+    uint16_t data_lsb;
+    uint16_t data_msb;
+
+    /* Accel raw x data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    accel_data->x = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Accel raw y data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    accel_data->y = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Accel raw z data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    accel_data->z = (int16_t)((data_msb << 8) | data_lsb);
+}
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data in header mode.
+ */
+static void extract_accel_header_mode(struct bmi160_sensor_data *accel_data,
+                                      uint8_t *accel_length,
+                                      const struct bmi160_dev *dev)
+{
+    uint8_t frame_header = 0;
+    uint16_t data_index;
+    uint8_t accel_index = 0;
+
+    for (data_index = dev->fifo->accel_byte_start_idx; data_index < dev->fifo->length;)
+    {
+        /* extracting Frame header */
+        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
+
+        /*Index is moved to next byte where the data is starting*/
+        data_index++;
+        switch (frame_header)
+        {
+            /* Accel frame */
+            case BMI160_FIFO_HEAD_A:
+            case BMI160_FIFO_HEAD_M_A:
+            case BMI160_FIFO_HEAD_G_A:
+            case BMI160_FIFO_HEAD_M_G_A:
+                unpack_accel_frame(accel_data, &data_index, &accel_index, frame_header, dev);
+                break;
+            case BMI160_FIFO_HEAD_M:
+                move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
+                break;
+            case BMI160_FIFO_HEAD_G:
+                move_next_frame(&data_index, BMI160_FIFO_G_LENGTH, dev);
+                break;
+            case BMI160_FIFO_HEAD_M_G:
+                move_next_frame(&data_index, BMI160_FIFO_MG_LENGTH, dev);
+                break;
+
+            /* Sensor time frame */
+            case BMI160_FIFO_HEAD_SENSOR_TIME:
+                unpack_sensortime_frame(&data_index, dev);
+                break;
+
+            /* Skip frame */
+            case BMI160_FIFO_HEAD_SKIP_FRAME:
+                unpack_skipped_frame(&data_index, dev);
+                break;
+
+            /* Input config frame */
+            case BMI160_FIFO_HEAD_INPUT_CONFIG:
+                move_next_frame(&data_index, 1, dev);
+                break;
+            case BMI160_FIFO_HEAD_OVER_READ:
+
+                /* Update the data index as complete in case of Over read */
+                data_index = dev->fifo->length;
+                break;
+            default:
+                break;
+        }
+        if (*accel_length == accel_index)
+        {
+            /* Number of frames to read completed */
+            break;
+        }
+    }
+
+    /*Update number of accel data read*/
+    *accel_length = accel_index;
+
+    /*Update the accel frame index*/
+    dev->fifo->accel_byte_start_idx = data_index;
+}
+
+/*!
+ *  @brief This API computes the number of bytes of gyro FIFO data
+ *  which is to be parsed in header-less mode
+ */
+static void get_gyro_len_to_parse(uint16_t *data_index,
+                                  uint16_t *data_read_length,
+                                  const uint8_t *gyro_frame_count,
+                                  const struct bmi160_dev *dev)
+{
+    /* Data start index */
+    *data_index = dev->fifo->gyro_byte_start_idx;
+    if (dev->fifo->fifo_data_enable == BMI160_FIFO_G_ENABLE)
+    {
+        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_G_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_G_A_ENABLE)
+    {
+        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_GA_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_ENABLE)
+    {
+        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_MG_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE)
+    {
+        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_MGA_LENGTH;
+    }
+    else
+    {
+        /* When gyro is not enabled ,there will be no gyro data.
+         * so we update the data index as complete */
+        *data_index = dev->fifo->length;
+    }
+    if (*data_read_length > dev->fifo->length)
+    {
+        /* Handling the case where more data is requested
+         * than that is available*/
+        *data_read_length = dev->fifo->length;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the gyroscope's data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed.
+ */
+static void unpack_gyro_frame(struct bmi160_sensor_data *gyro,
+                              uint16_t *idx,
+                              uint8_t *gyro_idx,
+                              uint8_t frame_info,
+                              const struct bmi160_dev *dev)
+{
+    switch (frame_info)
+    {
+        case BMI160_FIFO_HEAD_G:
+        case BMI160_FIFO_G_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_G_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /*Unpack the data array into structure instance "gyro"*/
+            unpack_gyro_data(&gyro[*gyro_idx], *idx, dev);
+
+            /*Move the data index*/
+            (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
+            (*gyro_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_G_A:
+        case BMI160_FIFO_G_A_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_GA_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /* Unpack the data array into structure instance "gyro" */
+            unpack_gyro_data(&gyro[*gyro_idx], *idx, dev);
+
+            /* Move the data index */
+            *idx = *idx + BMI160_FIFO_GA_LENGTH;
+            (*gyro_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_M_G_A:
+        case BMI160_FIFO_M_G_A_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /*Unpack the data array into structure instance "gyro"*/
+            unpack_gyro_data(&gyro[*gyro_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
+
+            /*Move the data index*/
+            *idx = *idx + BMI160_FIFO_MGA_LENGTH;
+            (*gyro_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_M_A:
+        case BMI160_FIFO_M_A_ENABLE:
+
+            /* Move the data index */
+            *idx = *idx + BMI160_FIFO_MA_LENGTH;
+            break;
+        case BMI160_FIFO_HEAD_M:
+        case BMI160_FIFO_M_ENABLE:
+            (*idx) = (*idx) + BMI160_FIFO_M_LENGTH;
+            break;
+        case BMI160_FIFO_HEAD_M_G:
+        case BMI160_FIFO_M_G_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_MG_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /*Unpack the data array into structure instance "gyro"*/
+            unpack_gyro_data(&gyro[*gyro_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
+
+            /*Move the data index*/
+            (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
+            (*gyro_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_A:
+        case BMI160_FIFO_A_ENABLE:
+
+            /*Move the data index*/
+            *idx = *idx + BMI160_FIFO_A_LENGTH;
+            break;
+        default:
+            break;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the gyro data from the
+ *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
+ */
+static void unpack_gyro_data(struct bmi160_sensor_data *gyro_data,
+                             uint16_t data_start_index,
+                             const struct bmi160_dev *dev)
+{
+    uint16_t data_lsb;
+    uint16_t data_msb;
+
+    /* Gyro raw x data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    gyro_data->x = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Gyro raw y data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    gyro_data->y = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Gyro raw z data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    gyro_data->z = (int16_t)((data_msb << 8) | data_lsb);
+}
+
+/*!
+ *  @brief This API is used to parse the gyro data from the
+ *  FIFO data in header mode.
+ */
+static void extract_gyro_header_mode(struct bmi160_sensor_data *gyro_data,
+                                     uint8_t *gyro_length,
+                                     const struct bmi160_dev *dev)
+{
+    uint8_t frame_header = 0;
+    uint16_t data_index;
+    uint8_t gyro_index = 0;
+
+    for (data_index = dev->fifo->gyro_byte_start_idx; data_index < dev->fifo->length;)
+    {
+        /* extracting Frame header */
+        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
+
+        /*Index is moved to next byte where the data is starting*/
+        data_index++;
+        switch (frame_header)
+        {
+            /* GYRO frame */
+            case BMI160_FIFO_HEAD_G:
+            case BMI160_FIFO_HEAD_G_A:
+            case BMI160_FIFO_HEAD_M_G:
+            case BMI160_FIFO_HEAD_M_G_A:
+                unpack_gyro_frame(gyro_data, &data_index, &gyro_index, frame_header, dev);
+                break;
+            case BMI160_FIFO_HEAD_A:
+                move_next_frame(&data_index, BMI160_FIFO_A_LENGTH, dev);
+                break;
+            case BMI160_FIFO_HEAD_M:
+                move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
+                break;
+            case BMI160_FIFO_HEAD_M_A:
+                move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
+                break;
+
+            /* Sensor time frame */
+            case BMI160_FIFO_HEAD_SENSOR_TIME:
+                unpack_sensortime_frame(&data_index, dev);
+                break;
+
+            /* Skip frame */
+            case BMI160_FIFO_HEAD_SKIP_FRAME:
+                unpack_skipped_frame(&data_index, dev);
+                break;
+
+            /* Input config frame */
+            case BMI160_FIFO_HEAD_INPUT_CONFIG:
+                move_next_frame(&data_index, 1, dev);
+                break;
+            case BMI160_FIFO_HEAD_OVER_READ:
+
+                /* Update the data index as complete in case of over read */
+                data_index = dev->fifo->length;
+                break;
+            default:
+                break;
+        }
+        if (*gyro_length == gyro_index)
+        {
+            /*Number of frames to read completed*/
+            break;
+        }
+    }
+
+    /*Update number of gyro data read*/
+    *gyro_length = gyro_index;
+
+    /*Update the gyro frame index*/
+    dev->fifo->gyro_byte_start_idx = data_index;
+}
+
+/*!
+ *  @brief This API computes the number of bytes of aux FIFO data
+ *  which is to be parsed in header-less mode
+ */
+static void get_aux_len_to_parse(uint16_t *data_index,
+                                 uint16_t *data_read_length,
+                                 const uint8_t *aux_frame_count,
+                                 const struct bmi160_dev *dev)
+{
+    /* Data start index */
+    *data_index = dev->fifo->gyro_byte_start_idx;
+    if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_ENABLE)
+    {
+        *data_read_length = (*aux_frame_count) * BMI160_FIFO_M_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_A_ENABLE)
+    {
+        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MA_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_ENABLE)
+    {
+        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MG_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE)
+    {
+        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MGA_LENGTH;
+    }
+    else
+    {
+        /* When aux is not enabled ,there will be no aux data.
+         * so we update the data index as complete */
+        *data_index = dev->fifo->length;
+    }
+    if (*data_read_length > dev->fifo->length)
+    {
+        /* Handling the case where more data is requested
+         * than that is available */
+        *data_read_length = dev->fifo->length;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the aux's data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed
+ */
+static void unpack_aux_frame(struct bmi160_aux_data *aux_data,
+                             uint16_t *idx,
+                             uint8_t *aux_index,
+                             uint8_t frame_info,
+                             const struct bmi160_dev *dev)
+{
+    switch (frame_info)
+    {
+        case BMI160_FIFO_HEAD_M:
+        case BMI160_FIFO_M_ENABLE:
+
+            /* Partial read, then skip the data */
+            if ((*idx + BMI160_FIFO_M_LENGTH) > dev->fifo->length)
+            {
+                /* Update the data index as complete */
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /* Unpack the data array into structure instance */
+            unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+
+            /* Move the data index */
+            *idx = *idx + BMI160_FIFO_M_LENGTH;
+            (*aux_index)++;
+            break;
+        case BMI160_FIFO_HEAD_M_A:
+        case BMI160_FIFO_M_A_ENABLE:
+
+            /* Partial read, then skip the data */
+            if ((*idx + BMI160_FIFO_MA_LENGTH) > dev->fifo->length)
+            {
+                /* Update the data index as complete */
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /* Unpack the data array into structure instance */
+            unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+
+            /* Move the data index */
+            *idx = *idx + BMI160_FIFO_MA_LENGTH;
+            (*aux_index)++;
+            break;
+        case BMI160_FIFO_HEAD_M_G:
+        case BMI160_FIFO_M_G_ENABLE:
+
+            /* Partial read, then skip the data */
+            if ((*idx + BMI160_FIFO_MG_LENGTH) > dev->fifo->length)
+            {
+                /* Update the data index as complete */
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /* Unpack the data array into structure instance */
+            unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+
+            /* Move the data index */
+            (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
+            (*aux_index)++;
+            break;
+        case BMI160_FIFO_HEAD_M_G_A:
+        case BMI160_FIFO_M_G_A_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length)
+            {
+                /* Update the data index as complete */
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /* Unpack the data array into structure instance */
+            unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+
+            /*Move the data index*/
+            *idx = *idx + BMI160_FIFO_MGA_LENGTH;
+            (*aux_index)++;
+            break;
+        case BMI160_FIFO_HEAD_G:
+        case BMI160_FIFO_G_ENABLE:
+
+            /* Move the data index */
+            (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
+            break;
+        case BMI160_FIFO_HEAD_G_A:
+        case BMI160_FIFO_G_A_ENABLE:
+
+            /* Move the data index */
+            *idx = *idx + BMI160_FIFO_GA_LENGTH;
+            break;
+        case BMI160_FIFO_HEAD_A:
+        case BMI160_FIFO_A_ENABLE:
+
+            /* Move the data index */
+            *idx = *idx + BMI160_FIFO_A_LENGTH;
+            break;
+        default:
+            break;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data and store it in the instance of the structure bmi160_aux_data.
+ */
+static void unpack_aux_data(struct bmi160_aux_data *aux_data, uint16_t data_start_index, const struct bmi160_dev *dev)
+{
+    /* Aux data bytes */
+    aux_data->data[0] = dev->fifo->data[data_start_index++];
+    aux_data->data[1] = dev->fifo->data[data_start_index++];
+    aux_data->data[2] = dev->fifo->data[data_start_index++];
+    aux_data->data[3] = dev->fifo->data[data_start_index++];
+    aux_data->data[4] = dev->fifo->data[data_start_index++];
+    aux_data->data[5] = dev->fifo->data[data_start_index++];
+    aux_data->data[6] = dev->fifo->data[data_start_index++];
+    aux_data->data[7] = dev->fifo->data[data_start_index++];
+}
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data in header mode.
+ */
+static void extract_aux_header_mode(struct bmi160_aux_data *aux_data, uint8_t *aux_length, const struct bmi160_dev *dev)
+{
+    uint8_t frame_header = 0;
+    uint16_t data_index;
+    uint8_t aux_index = 0;
+
+    for (data_index = dev->fifo->aux_byte_start_idx; data_index < dev->fifo->length;)
+    {
+        /* extracting Frame header */
+        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
+
+        /*Index is moved to next byte where the data is starting*/
+        data_index++;
+        switch (frame_header)
+        {
+            /* Aux frame */
+            case BMI160_FIFO_HEAD_M:
+            case BMI160_FIFO_HEAD_M_A:
+            case BMI160_FIFO_HEAD_M_G:
+            case BMI160_FIFO_HEAD_M_G_A:
+                unpack_aux_frame(aux_data, &data_index, &aux_index, frame_header, dev);
+                break;
+            case BMI160_FIFO_HEAD_G:
+                move_next_frame(&data_index, BMI160_FIFO_G_LENGTH, dev);
+                break;
+            case BMI160_FIFO_HEAD_G_A:
+                move_next_frame(&data_index, BMI160_FIFO_GA_LENGTH, dev);
+                break;
+            case BMI160_FIFO_HEAD_A:
+                move_next_frame(&data_index, BMI160_FIFO_A_LENGTH, dev);
+                break;
+
+            /* Sensor time frame */
+            case BMI160_FIFO_HEAD_SENSOR_TIME:
+                unpack_sensortime_frame(&data_index, dev);
+                break;
+
+            /* Skip frame */
+            case BMI160_FIFO_HEAD_SKIP_FRAME:
+                unpack_skipped_frame(&data_index, dev);
+                break;
+
+            /* Input config frame */
+            case BMI160_FIFO_HEAD_INPUT_CONFIG:
+                move_next_frame(&data_index, 1, dev);
+                break;
+            case BMI160_FIFO_HEAD_OVER_READ:
+
+                /* Update the data index as complete in case
+                 * of over read */
+                data_index = dev->fifo->length;
+                break;
+            default:
+
+                /* Update the data index as complete in case of
+                 * getting other headers like 0x00 */
+                data_index = dev->fifo->length;
+                break;
+        }
+        if (*aux_length == aux_index)
+        {
+            /*Number of frames to read completed*/
+            break;
+        }
+    }
+
+    /* Update number of aux data read */
+    *aux_length = aux_index;
+
+    /* Update the aux frame index */
+    dev->fifo->aux_byte_start_idx = data_index;
+}
+
+/*!
+ *  @brief This API checks the presence of non-valid frames in the read fifo data.
+ */
+static void check_frame_validity(uint16_t *data_index, const struct bmi160_dev *dev)
+{
+    if ((*data_index + 2) < dev->fifo->length)
+    {
+        /* Check if FIFO is empty */
+        if ((dev->fifo->data[*data_index] == FIFO_CONFIG_MSB_CHECK) &&
+            (dev->fifo->data[*data_index + 1] == FIFO_CONFIG_LSB_CHECK))
+        {
+            /*Update the data index as complete*/
+            *data_index = dev->fifo->length;
+        }
+    }
+}
+
+/*!
+ *  @brief This API is used to move the data index ahead of the
+ *  current_frame_length parameter when unnecessary FIFO data appears while
+ *  extracting the user specified data.
+ */
+static void move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi160_dev *dev)
+{
+    /*Partial read, then move the data index to last data*/
+    if ((*data_index + current_frame_length) > dev->fifo->length)
+    {
+        /*Update the data index as complete*/
+        *data_index = dev->fifo->length;
+    }
+    else
+    {
+        /*Move the data index to next frame*/
+        *data_index = *data_index + current_frame_length;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse and store the sensor time from the
+ *  FIFO data in the structure instance dev.
+ */
+static void unpack_sensortime_frame(uint16_t *data_index, const struct bmi160_dev *dev)
+{
+    uint32_t sensor_time_byte3 = 0;
+    uint16_t sensor_time_byte2 = 0;
+    uint8_t sensor_time_byte1 = 0;
+
+    /*Partial read, then move the data index to last data*/
+    if ((*data_index + BMI160_SENSOR_TIME_LENGTH) > dev->fifo->length)
+    {
+        /*Update the data index as complete*/
+        *data_index = dev->fifo->length;
+    }
+    else
+    {
+        sensor_time_byte3 = dev->fifo->data[(*data_index) + BMI160_SENSOR_TIME_MSB_BYTE] << 16;
+        sensor_time_byte2 = dev->fifo->data[(*data_index) + BMI160_SENSOR_TIME_XLSB_BYTE] << 8;
+        sensor_time_byte1 = dev->fifo->data[(*data_index)];
+
+        /* Sensor time */
+        dev->fifo->sensor_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
+        *data_index = (*data_index) + BMI160_SENSOR_TIME_LENGTH;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse and store the skipped_frame_count from
+ *  the FIFO data in the structure instance dev.
+ */
+static void unpack_skipped_frame(uint16_t *data_index, const struct bmi160_dev *dev)
+{
+    /*Partial read, then move the data index to last data*/
+    if (*data_index >= dev->fifo->length)
+    {
+        /*Update the data index as complete*/
+        *data_index = dev->fifo->length;
+    }
+    else
+    {
+        dev->fifo->skipped_frame_count = dev->fifo->data[*data_index];
+
+        /*Move the data index*/
+        *data_index = (*data_index) + 1;
+    }
+}
+
+/*!
+ *  @brief This API is used to get the FOC status from the sensor
+ */
+static int8_t get_foc_status(uint8_t *foc_status, struct bmi160_dev const *dev)
+{
+    int8_t rslt;
+    uint8_t data;
+
+    /* Read the FOC status from sensor */
+    rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Get the foc_status bit */
+        *foc_status = BMI160_GET_BITS(data, BMI160_FOC_STATUS);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to configure the offset enable bits in the sensor
+ */
+static int8_t configure_offset_enable(const struct bmi160_foc_conf *foc_conf, struct bmi160_dev const *dev)
+{
+    int8_t rslt;
+    uint8_t data;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Read the FOC config from the sensor */
+        rslt = bmi160_get_regs(BMI160_OFFSET_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Set the offset enable/disable for gyro */
+            data = BMI160_SET_BITS(data, BMI160_GYRO_OFFSET_EN, foc_conf->gyro_off_en);
+
+            /* Set the offset enable/disable for accel */
+            data = BMI160_SET_BITS(data, BMI160_ACCEL_OFFSET_EN, foc_conf->acc_off_en);
+
+            /* Set the offset config in the sensor */
+            rslt = bmi160_set_regs(BMI160_OFFSET_CONF_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+static int8_t trigger_foc(struct bmi160_offsets *offset, struct bmi160_dev const *dev)
+{
+    int8_t rslt;
+    uint8_t foc_status;
+    uint8_t cmd = BMI160_START_FOC_CMD;
+    uint8_t timeout = 0;
+    uint8_t data_array[20];
+
+    /* Start the FOC process */
+    rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Check the FOC status*/
+        rslt = get_foc_status(&foc_status, dev);
+        if ((rslt != BMI160_OK) || (foc_status != BMI160_ENABLE))
+        {
+            while ((foc_status != BMI160_ENABLE) && (timeout < 11))
+            {
+                /* Maximum time of 250ms is given in 10
+                 * steps of 25ms each - 250ms refer datasheet 2.9.1 */
+                dev->delay_ms(25);
+
+                /* Check the FOC status*/
+                rslt = get_foc_status(&foc_status, dev);
+                timeout++;
+            }
+            if ((rslt == BMI160_OK) && (foc_status == BMI160_ENABLE))
+            {
+                /* Get offset values from sensor */
+                rslt = bmi160_get_offsets(offset, dev);
+            }
+            else
+            {
+                /* FOC failure case */
+                rslt = BMI160_FOC_FAILURE;
+            }
+        }
+        if (rslt == BMI160_OK)
+        {
+            /* Read registers 0x04-0x17 */
+            rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 20, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/** @}*/

bmi160.h

@@ -1,693 +1,683 @@
-/**
- * Copyright (C) 2018 - 2019 Bosch Sensortec GmbH
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- *
- * Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- *
- * Neither the name of the copyright holder nor the names of the
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
- * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
- * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
- * OR CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
- * OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
- * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
- * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
- *
- * The information provided is believed to be accurate and reliable.
- * The copyright holder assumes no responsibility
- * for the consequences of use
- * of such information nor for any infringement of patents or
- * other rights of third parties which may result from its use.
- * No license is granted by implication or otherwise under any patent or
- * patent rights of the copyright holder.
- *
- * @file    bmi160.h
- * @date    13 Mar 2019
- * @version 3.7.7
- * @brief
- *
- */
-
-/*!
- * @defgroup bmi160
- * @brief
- * @{*/
-
-#ifndef BMI160_H_
-#define BMI160_H_
-
-/*************************** C++ guard macro *****************************/
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "bmi160_defs.h"
-#ifdef __KERNEL__
-#include <bmi160_math.h>
-#else
-#include <math.h>
-#include <string.h>
-#include <stdlib.h>
-#endif
-
-/*********************** User function prototypes ************************/
-
-/*!
- *  @brief This API is the entry point for sensor.It performs
- *  the selection of I2C/SPI read mechanism according to the
- *  selected interface and reads the chip-id of bmi160 sensor.
- *
- *  @param[in,out] dev : Structure instance of bmi160_dev
- *  @note : Refer user guide for detailed info.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success / -ve value -> Error
- */
-int8_t bmi160_init(struct bmi160_dev *dev);
-
-/*!
- * @brief This API reads the data from the given register address of sensor.
- *
- * @param[in] reg_addr  : Register address from where the data to be read
- * @param[out] data     : Pointer to data buffer to store the read data.
- * @param[in] len       : No of bytes of data to be read.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @note For most of the registers auto address increment applies, with the
- * exception of a few special registers, which trap the address. For e.g.,
- * Register address - 0x24(BMI160_FIFO_DATA_ADDR)
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
- */
-int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API writes the given data to the register address
- * of sensor.
- *
- * @param[in] reg_addr  : Register address from where the data to be written.
- * @param[in] data      : Pointer to data buffer which is to be written
- * in the sensor.
- * @param[in] len       : No of bytes of data to write..
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
- */
-int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API resets and restarts the device.
- * All register values are overwritten with default parameters.
- *
- * @param[in] dev  : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-int8_t bmi160_soft_reset(struct bmi160_dev *dev);
-
-/*!
- * @brief This API configures the power mode, range and bandwidth
- * of sensor.
- *
- * @param[in] dev    : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-int8_t bmi160_set_sens_conf(struct bmi160_dev *dev);
-
-/*!
- * @brief This API sets the power mode of the sensor.
- *
- * @param[in] dev  : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-int8_t bmi160_set_power_mode(struct bmi160_dev *dev);
-
-/*!
- * @brief This API gets the power mode of the sensor.
- *
- * @param[in] power_mode  : Power mode of the sensor
- * @param[in] dev         : Structure instance of bmi160_dev
- *
- * power_mode Macros possible values for pmu_status->aux_pmu_status :
- *  - BMI160_AUX_PMU_SUSPEND
- *  - BMI160_AUX_PMU_NORMAL
- *  - BMI160_AUX_PMU_LOW_POWER
- *
- * power_mode Macros possible values for pmu_status->gyro_pmu_status :
- *  - BMI160_GYRO_PMU_SUSPEND
- *  - BMI160_GYRO_PMU_NORMAL
- *  - BMI160_GYRO_PMU_FSU
- *
- * power_mode Macros possible values for pmu_status->accel_pmu_status :
- *  - BMI160_ACCEL_PMU_SUSPEND
- *  - BMI160_ACCEL_PMU_NORMAL
- *  - BMI160_ACCEL_PMU_LOW_POWER
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-int8_t bmi160_get_power_mode(struct bmi160_pmu_status *pmu_status, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API reads sensor data, stores it in
- * the bmi160_sensor_data structure pointer passed by the user.
- * The user can ask for accel data ,gyro data or both sensor
- * data using bmi160_select_sensor enum
- *
- * @param[in] select_sensor    : enum to choose accel,gyro or both sensor data
- * @param[out] accel    : Structure pointer to store accel data
- * @param[out] gyro     : Structure pointer to store gyro data
- * @param[in] dev       : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-int8_t bmi160_get_sensor_data(uint8_t select_sensor,
-                              struct bmi160_sensor_data *accel,
-                              struct bmi160_sensor_data *gyro,
-                              const struct bmi160_dev *dev);
-
-/*!
- * @brief This API configures the necessary interrupt based on
- *  the user settings in the bmi160_int_settg structure instance.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
- */
-int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
-
-/*!
- * @brief This API enables the step counter feature.
- *
- * @param[in] step_cnt_enable   : value to enable or disable
- * @param[in] dev       : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
- */
-int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API reads the step counter value.
- *
- * @param[in] step_val    : Pointer to store the step counter value.
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
- */
-int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API reads the mention no of byte of data from the given
- * register address of auxiliary sensor.
- *
- * @param[in] reg_addr    : Address of register to read.
- * @param[in] aux_data    : Pointer to store the read data.
- * @param[in] len     : No of bytes to read.
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
- */
-int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API writes the mention no of byte of data to the given
- * register address of auxiliary sensor.
- *
- * @param[in] reg_addr    : Address of register to write.
- * @param[in] aux_data    : Pointer to write data.
- * @param[in] len     : No of bytes to write.
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
- */
-int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
-
-/*!
- * @brief This API initialize the auxiliary sensor
- * in order to access it.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
- */
-int8_t bmi160_aux_init(const struct bmi160_dev *dev);
-
-/*!
- * @brief This API is used to setup the auxiliary sensor of bmi160 in auto mode
- * Thus enabling the auto update of 8 bytes of data from auxiliary sensor
- * to BMI160 register address 0x04 to 0x0B
- *
- * @param[in] data_addr    : Starting address of aux. sensor's data register
- *                           (BMI160 registers 0x04 to 0x0B will be updated
- *                           with 8 bytes of data from auxiliary sensor
- *                           starting from this register address.)
- * @param[in] dev      : Structure instance of bmi160_dev.
- *
- * @note : Set the value of auxiliary polling rate by setting
- *         dev->aux_cfg.aux_odr to the required value from the table
- *         before calling this API
- *
- *   dev->aux_cfg.aux_odr  |   Auxiliary ODR (Hz)
- *  -----------------------|-----------------------
- *  BMI160_AUX_ODR_0_78HZ  |        25/32
- *  BMI160_AUX_ODR_1_56HZ  |        25/16
- *  BMI160_AUX_ODR_3_12HZ  |        25/8
- *  BMI160_AUX_ODR_6_25HZ  |        25/4
- *  BMI160_AUX_ODR_12_5HZ  |        25/2
- *  BMI160_AUX_ODR_25HZ    |        25
- *  BMI160_AUX_ODR_50HZ    |        50
- *  BMI160_AUX_ODR_100HZ   |        100
- *  BMI160_AUX_ODR_200HZ   |        200
- *  BMI160_AUX_ODR_400HZ   |        400
- *  BMI160_AUX_ODR_800HZ   |        800
- *
- * @note : Other values of  dev->aux_cfg.aux_odr are reserved and not for use
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev);
-
-/*!
- * @brief This API configures the 0x4C register and settings like
- * Auxiliary sensor manual enable/ disable and aux burst read length.
- *
- * @param[in] dev    : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev);
-
-/*!
- * @brief This API is used to read the raw uncompensated auxiliary sensor
- * data of 8 bytes from BMI160 register address 0x04 to 0x0B
- *
- * @param[in] aux_data       : Pointer to user array of length 8 bytes
- *                             Ensure that the aux_data array is of
- *                             length 8 bytes
- * @param[in] dev        : Structure instance of bmi160_dev
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev);
-
-/*!
- * @brief This is used to perform self test of accel/gyro of the BMI160 sensor
- *
- * @param[in] select_sensor  : enum to choose accel or gyro for self test
- * @param[in] dev            : Structure instance of bmi160_dev
- *
- * @note self test can be performed either for accel/gyro at any instant.
- *
- *     value of select_sensor       |  Inference
- *----------------------------------|--------------------------------
- *   BMI160_ACCEL_ONLY              | Accel self test enabled
- *   BMI160_GYRO_ONLY               | Gyro self test enabled
- *   BMI160_BOTH_ACCEL_AND_GYRO     | NOT TO BE USED
- *
- * @note The return value of this API gives us the result of self test.
- *
- * @note Performing self test does soft reset of the sensor, User can
- * set the desired settings after performing the self test.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error / +ve value -> Self-test fail
- *
- *   Return value                  |   Result of self test
- * --------------------------------|---------------------------------
- *  BMI160_OK                      |  Self test success
- *  BMI160_W_GYRO_SELF_TEST_FAIL   |  Gyro self test fail
- *  BMI160_W_ACCEl_SELF_TEST_FAIL  |  Accel self test fail
- */
-int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev);
-
-/*!
- *  @brief This API reads data from the fifo buffer.
- *
- *  @note User has to allocate the FIFO buffer along with
- *  corresponding fifo length from his side before calling this API
- *  as mentioned in the readme.md
- *
- *  @note User must specify the number of bytes to read from the FIFO in
- *  dev->fifo->length , It will be updated by the number of bytes actually
- *  read from FIFO after calling this API
- *
- *  @param[in] dev     : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success / -ve value -> Error
- *
- */
-int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev);
-
-/*!
- *  @brief This API writes fifo_flush command to command register.This
- *  action clears all data in the Fifo without changing fifo configuration
- *  settings.
- *
- *  @param[in] dev     : Structure instance of bmi160_dev
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev);
-
-/*! @brief This API sets the FIFO configuration in the sensor.
- *
- *  @param[in] config : variable used to specify the FIFO
- *  configurations which are to be enabled or disabled in the sensor.
- *
- *  @note : User can set either set one or more or all FIFO configurations
- *  by ORing the below mentioned macros.
- *      config                  |   Value
- *      ------------------------|---------------------------
- *      BMI160_FIFO_TIME        |   0x02
- *      BMI160_FIFO_TAG_INT2    |   0x04
- *      BMI160_FIFO_TAG_INT1    |   0x08
- *      BMI160_FIFO_HEADER      |   0x10
- *      BMI160_FIFO_AUX         |   0x20
- *      BMI160_FIFO_ACCEL   |   0x40
- *      BMI160_FIFO_GYRO        |   0x80
- *
- *  @param[in] enable : Parameter used to enable or disable the above
- *  FIFO configuration
- *  @param[in] dev : Structure instance of bmi160_dev.
- *
- *  @return status of bus communication result
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev);
-
-/*! @brief This API is used to configure the down sampling ratios of
- *  the accel and gyro data for FIFO.Also, it configures filtered or
- *  pre-filtered data for the fifo for accel and gyro.
- *
- *  @param[in] fifo_down : variable used to specify the FIFO down
- *  configurations which are to be enabled or disabled in the sensor.
- *
- *  @note The user must select one among the following macros to
- *  select down-sampling ratio for accel
- *      config                               |   Value
- *      -------------------------------------|---------------------------
- *      BMI160_ACCEL_FIFO_DOWN_ZERO          |   0x00
- *      BMI160_ACCEL_FIFO_DOWN_ONE           |   0x10
- *      BMI160_ACCEL_FIFO_DOWN_TWO           |   0x20
- *      BMI160_ACCEL_FIFO_DOWN_THREE         |   0x30
- *      BMI160_ACCEL_FIFO_DOWN_FOUR          |   0x40
- *      BMI160_ACCEL_FIFO_DOWN_FIVE          |   0x50
- *      BMI160_ACCEL_FIFO_DOWN_SIX           |   0x60
- *      BMI160_ACCEL_FIFO_DOWN_SEVEN         |   0x70
- *
- *  @note The user must select one among the following macros to
- *  select down-sampling ratio for gyro
- *
- *      config                               |   Value
- *      -------------------------------------|---------------------------
- *      BMI160_GYRO_FIFO_DOWN_ZERO           |   0x00
- *      BMI160_GYRO_FIFO_DOWN_ONE            |   0x01
- *      BMI160_GYRO_FIFO_DOWN_TWO            |   0x02
- *      BMI160_GYRO_FIFO_DOWN_THREE          |   0x03
- *      BMI160_GYRO_FIFO_DOWN_FOUR           |   0x04
- *      BMI160_GYRO_FIFO_DOWN_FIVE           |   0x05
- *      BMI160_GYRO_FIFO_DOWN_SIX            |   0x06
- *      BMI160_GYRO_FIFO_DOWN_SEVEN          |   0x07
- *
- *  @note The user can enable filtered accel data by the following macro
- *      config                               |   Value
- *      -------------------------------------|---------------------------
- *      BMI160_ACCEL_FIFO_FILT_EN            |   0x80
- *
- *  @note The user can enable filtered gyro data by the following macro
- *      config                               |   Value
- *      -------------------------------------|---------------------------
- *      BMI160_GYRO_FIFO_FILT_EN             |   0x08
- *
- *  @note : By ORing the above mentioned macros, the user can select
- *  the required FIFO down config settings
- *
- *  @param[in] dev : Structure instance of bmi160_dev.
- *
- *  @return status of bus communication result
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API sets the FIFO watermark level in the sensor.
- *
- *  @note The FIFO watermark is issued when the FIFO fill level is
- *  equal or above the watermark level and units of watermark is 4 bytes.
- *
- *  @param[in]  fifo_wm        : Variable used to set the FIFO water mark level
- *  @param[in]  dev            : Structure instance of bmi160_dev
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API parses and extracts the accelerometer frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the "accel_data" structure instance.
- *
- *  @note The bmi160_extract_accel API should be called only after
- *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
- *
- *  @param[out] accel_data    : Structure instance of bmi160_sensor_data
- *                              where the accelerometer data in FIFO is stored.
- *  @param[in,out] accel_length  : Number of valid accelerometer frames
- *                              (x,y,z axes data) read out from fifo.
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @note accel_length is updated with the number of valid accelerometer
- *  frames extracted from fifo (1 accel frame   = 6 bytes) at the end of
- *  execution of this API.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const *dev);
-
-/*!
- *  @brief This API parses and extracts the gyro frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the "gyro_data" structure instance.
- *
- *  @note The bmi160_extract_gyro API should be called only after
- *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
- *
- *  @param[out] gyro_data    : Structure instance of bmi160_sensor_data
- *                             where the gyro data in FIFO is stored.
- *  @param[in,out] gyro_length  : Number of valid gyro frames
- *                             (x,y,z axes data) read out from fifo.
- *  @param[in] dev           : Structure instance of bmi160_dev.
- *
- *  @note gyro_length is updated with the number of valid gyro
- *  frames extracted from fifo (1 gyro frame   = 6 bytes) at the end of
- *  execution of this API.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev);
-
-/*!
- *  @brief This API parses and extracts the aux frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the bmi160_aux_data structure instance.
- *
- *  @note The bmi160_extract_aux API should be called only after
- *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
- *
- *  @param[out] aux_data    : Structure instance of bmi160_aux_data
- *                            where the aux data in FIFO is stored.
- *  @param[in,out] aux_len  : Number of valid aux frames (8bytes)
- *                            read out from FIFO.
- *  @param[in] dev          : Structure instance of bmi160_dev.
- *
- *  @note aux_len is updated with the number of valid aux
- *  frames extracted from fifo (1 aux frame = 8 bytes) at the end of
- *  execution of this API.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev);
-
-/*!
- *  @brief This API starts the FOC of accel and gyro
- *
- *  @note FOC should not be used in low-power mode of sensor
- *
- *  @note Accel FOC targets values of +1g , 0g , -1g
- *  Gyro FOC always targets value of 0 dps
- *
- *  @param[in] foc_conf    : Structure instance of bmi160_foc_conf which
- *                                   has the FOC configuration
- *  @param[in,out] offset  : Structure instance to store Offset
- *                                   values read from sensor
- *  @param[in] dev         : Structure instance of bmi160_dev.
- *
- *  @note Pre-requisites for triggering FOC in accel , Set the following,
- *   Enable the acc_off_en
- *       Ex :  foc_conf.acc_off_en = BMI160_ENABLE;
- *
- *   Set the desired target values of FOC to each axes (x,y,z) by using the
- *   following macros
- *       - BMI160_FOC_ACCEL_DISABLED
- *       - BMI160_FOC_ACCEL_POSITIVE_G
- *       - BMI160_FOC_ACCEL_NEGATIVE_G
- *       - BMI160_FOC_ACCEL_0G
- *
- *   Ex : foc_conf.foc_acc_x  = BMI160_FOC_ACCEL_0G;
- *        foc_conf.foc_acc_y  = BMI160_FOC_ACCEL_0G;
- *        foc_conf.foc_acc_z  = BMI160_FOC_ACCEL_POSITIVE_G;
- *
- *  @note Pre-requisites for triggering FOC in gyro ,
- *  Set the following parameters,
- *
- *   Ex : foc_conf.foc_gyr_en = BMI160_ENABLE;
- *        foc_conf.gyro_off_en = BMI160_ENABLE;
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- */
-int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf,
-                        struct bmi160_offsets *offset,
-                        struct bmi160_dev const *dev);
-
-/*!
- *  @brief This API reads and stores the offset values of accel and gyro
- *
- *  @param[in,out] offset : Structure instance of bmi160_offsets in which
- *                          the offset values are read and stored
- *  @param[in] dev        : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- */
-int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev);
-
-/*!
- *  @brief This API writes the offset values of accel and gyro to
- *  the sensor but these values will be reset on POR or soft reset.
- *
- *  @param[in] foc_conf    : Structure instance of bmi160_foc_conf which
- *                                   has the FOC configuration
- *  @param[in] offset      : Structure instance in which user updates offset
- *                            values which are to be written in the sensor
- *  @param[in] dev         : Structure instance of bmi160_dev.
- *
- *  @note Offsets can be set by user like offset->off_acc_x = 10;
- *  where 1LSB = 3.9mg and for gyro 1LSB = 0.061degrees/second
- *
- * @note BMI160 offset values for xyz axes of accel should be within range of
- *  BMI160_ACCEL_MIN_OFFSET (-128) to BMI160_ACCEL_MAX_OFFSET (127)
- *
- * @note BMI160 offset values for xyz axes of gyro should be within range of
- *  BMI160_GYRO_MIN_OFFSET (-512) to BMI160_GYRO_MAX_OFFSET (511)
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- */
-int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf,
-                          const struct bmi160_offsets *offset,
-                          struct bmi160_dev const *dev);
-
-/*!
- *  @brief This API writes the image registers values to NVM which is
- *  stored even after POR or soft reset
- *
- *  @param[in] dev         : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- */
-int8_t bmi160_update_nvm(struct bmi160_dev const *dev);
-
-/*!
- *  @brief This API gets the interrupt status from the sensor.
- *
- *  @param[in] int_status_sel       : Enum variable to select either individual or all the
- *  interrupt status bits.
- *  @param[in] int_status           : pointer variable to get the interrupt status
- *  from the sensor.
- *  param[in] dev                   : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- */
-int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
-                             union bmi160_int_status *int_status,
-                             struct bmi160_dev const *dev);
-
-/*************************** C++ guard macro *****************************/
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* BMI160_H_ */
-/** @}*/
+/**
+* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+*
+* BSD-3-Clause
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+*
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in the
+*    documentation and/or other materials provided with the distribution.
+*
+* 3. Neither the name of the copyright holder nor the names of its
+*    contributors may be used to endorse or promote products derived from
+*    this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+* @file bmi160.h
+* @date 10/01/2020
+* @version  3.8.1
+*
+*/
+
+/*!
+ * @defgroup bmi160
+ * @brief
+ * @{*/
+
+#ifndef BMI160_H_
+#define BMI160_H_
+
+/*************************** C++ guard macro *****************************/
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "bmi160_defs.h"
+#ifdef __KERNEL__
+#include <bmi160_math.h>
+#else
+#include <math.h>
+#include <string.h>
+#include <stdlib.h>
+#endif
+
+/*********************** User function prototypes ************************/
+
+/*!
+ *  @brief This API is the entry point for sensor.It performs
+ *  the selection of I2C/SPI read mechanism according to the
+ *  selected interface and reads the chip-id of bmi160 sensor.
+ *
+ *  @param[in,out] dev : Structure instance of bmi160_dev
+ *  @note : Refer user guide for detailed info.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_init(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API reads the data from the given register address of sensor.
+ *
+ * @param[in] reg_addr  : Register address from where the data to be read
+ * @param[out] data     : Pointer to data buffer to store the read data.
+ * @param[in] len       : No of bytes of data to be read.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @note For most of the registers auto address increment applies, with the
+ * exception of a few special registers, which trap the address. For e.g.,
+ * Register address - 0x24(BMI160_FIFO_DATA_ADDR)
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API writes the given data to the register address
+ * of sensor.
+ *
+ * @param[in] reg_addr  : Register address from where the data to be written.
+ * @param[in] data      : Pointer to data buffer which is to be written
+ * in the sensor.
+ * @param[in] len       : No of bytes of data to write..
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API resets and restarts the device.
+ * All register values are overwritten with default parameters.
+ *
+ * @param[in] dev  : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+int8_t bmi160_soft_reset(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configures the power mode, range and bandwidth
+ * of sensor.
+ *
+ * @param[in] dev    : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+int8_t bmi160_set_sens_conf(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the power mode of the sensor.
+ *
+ * @param[in] dev  : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+int8_t bmi160_set_power_mode(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API gets the power mode of the sensor.
+ *
+ * @param[in] power_mode  : Power mode of the sensor
+ * @param[in] dev         : Structure instance of bmi160_dev
+ *
+ * power_mode Macros possible values for pmu_status->aux_pmu_status :
+ *  - BMI160_AUX_PMU_SUSPEND
+ *  - BMI160_AUX_PMU_NORMAL
+ *  - BMI160_AUX_PMU_LOW_POWER
+ *
+ * power_mode Macros possible values for pmu_status->gyro_pmu_status :
+ *  - BMI160_GYRO_PMU_SUSPEND
+ *  - BMI160_GYRO_PMU_NORMAL
+ *  - BMI160_GYRO_PMU_FSU
+ *
+ * power_mode Macros possible values for pmu_status->accel_pmu_status :
+ *  - BMI160_ACCEL_PMU_SUSPEND
+ *  - BMI160_ACCEL_PMU_NORMAL
+ *  - BMI160_ACCEL_PMU_LOW_POWER
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+int8_t bmi160_get_power_mode(struct bmi160_pmu_status *pmu_status, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API reads sensor data, stores it in
+ * the bmi160_sensor_data structure pointer passed by the user.
+ * The user can ask for accel data ,gyro data or both sensor
+ * data using bmi160_select_sensor enum
+ *
+ * @param[in] select_sensor    : enum to choose accel,gyro or both sensor data
+ * @param[out] accel    : Structure pointer to store accel data
+ * @param[out] gyro     : Structure pointer to store gyro data
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+int8_t bmi160_get_sensor_data(uint8_t select_sensor,
+                              struct bmi160_sensor_data *accel,
+                              struct bmi160_sensor_data *gyro,
+                              const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configures the necessary interrupt based on
+ *  the user settings in the bmi160_int_settg structure instance.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the step counter feature.
+ *
+ * @param[in] step_cnt_enable   : value to enable or disable
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API reads the step counter value.
+ *
+ * @param[in] step_val    : Pointer to store the step counter value.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API reads the mention no of byte of data from the given
+ * register address of auxiliary sensor.
+ *
+ * @param[in] reg_addr    : Address of register to read.
+ * @param[in] aux_data    : Pointer to store the read data.
+ * @param[in] len     : No of bytes to read.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API writes the mention no of byte of data to the given
+ * register address of auxiliary sensor.
+ *
+ * @param[in] reg_addr    : Address of register to write.
+ * @param[in] aux_data    : Pointer to write data.
+ * @param[in] len     : No of bytes to write.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API initialize the auxiliary sensor
+ * in order to access it.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_aux_init(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API is used to setup the auxiliary sensor of bmi160 in auto mode
+ * Thus enabling the auto update of 8 bytes of data from auxiliary sensor
+ * to BMI160 register address 0x04 to 0x0B
+ *
+ * @param[in] data_addr    : Starting address of aux. sensor's data register
+ *                           (BMI160 registers 0x04 to 0x0B will be updated
+ *                           with 8 bytes of data from auxiliary sensor
+ *                           starting from this register address.)
+ * @param[in] dev      : Structure instance of bmi160_dev.
+ *
+ * @note : Set the value of auxiliary polling rate by setting
+ *         dev->aux_cfg.aux_odr to the required value from the table
+ *         before calling this API
+ *
+ *   dev->aux_cfg.aux_odr  |   Auxiliary ODR (Hz)
+ *  -----------------------|-----------------------
+ *  BMI160_AUX_ODR_0_78HZ  |        25/32
+ *  BMI160_AUX_ODR_1_56HZ  |        25/16
+ *  BMI160_AUX_ODR_3_12HZ  |        25/8
+ *  BMI160_AUX_ODR_6_25HZ  |        25/4
+ *  BMI160_AUX_ODR_12_5HZ  |        25/2
+ *  BMI160_AUX_ODR_25HZ    |        25
+ *  BMI160_AUX_ODR_50HZ    |        50
+ *  BMI160_AUX_ODR_100HZ   |        100
+ *  BMI160_AUX_ODR_200HZ   |        200
+ *  BMI160_AUX_ODR_400HZ   |        400
+ *  BMI160_AUX_ODR_800HZ   |        800
+ *
+ * @note : Other values of  dev->aux_cfg.aux_odr are reserved and not for use
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configures the 0x4C register and settings like
+ * Auxiliary sensor manual enable/ disable and aux burst read length.
+ *
+ * @param[in] dev    : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API is used to read the raw uncompensated auxiliary sensor
+ * data of 8 bytes from BMI160 register address 0x04 to 0x0B
+ *
+ * @param[in] aux_data       : Pointer to user array of length 8 bytes
+ *                             Ensure that the aux_data array is of
+ *                             length 8 bytes
+ * @param[in] dev        : Structure instance of bmi160_dev
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This is used to perform self test of accel/gyro of the BMI160 sensor
+ *
+ * @param[in] select_sensor  : enum to choose accel or gyro for self test
+ * @param[in] dev            : Structure instance of bmi160_dev
+ *
+ * @note self test can be performed either for accel/gyro at any instant.
+ *
+ *     value of select_sensor       |  Inference
+ *----------------------------------|--------------------------------
+ *   BMI160_ACCEL_ONLY              | Accel self test enabled
+ *   BMI160_GYRO_ONLY               | Gyro self test enabled
+ *   BMI160_BOTH_ACCEL_AND_GYRO     | NOT TO BE USED
+ *
+ * @note The return value of this API gives us the result of self test.
+ *
+ * @note Performing self test does soft reset of the sensor, User can
+ * set the desired settings after performing the self test.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error / +ve value -> Self-test fail
+ *
+ *   Return value                  |   Result of self test
+ * --------------------------------|---------------------------------
+ *  BMI160_OK                      |  Self test success
+ *  BMI160_W_GYRO_SELF_TEST_FAIL   |  Gyro self test fail
+ *  BMI160_W_ACCEl_SELF_TEST_FAIL  |  Accel self test fail
+ */
+int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API reads data from the fifo buffer.
+ *
+ *  @note User has to allocate the FIFO buffer along with
+ *  corresponding fifo length from his side before calling this API
+ *  as mentioned in the readme.md
+ *
+ *  @note User must specify the number of bytes to read from the FIFO in
+ *  dev->fifo->length , It will be updated by the number of bytes actually
+ *  read from FIFO after calling this API
+ *
+ *  @param[in] dev     : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success / -ve value -> Error
+ *
+ */
+int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API writes fifo_flush command to command register.This
+ *  action clears all data in the Fifo without changing fifo configuration
+ *  settings.
+ *
+ *  @param[in] dev     : Structure instance of bmi160_dev
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev);
+
+/*! @brief This API sets the FIFO configuration in the sensor.
+ *
+ *  @param[in] config : variable used to specify the FIFO
+ *  configurations which are to be enabled or disabled in the sensor.
+ *
+ *  @note : User can set either set one or more or all FIFO configurations
+ *  by ORing the below mentioned macros.
+ *      config                  |   Value
+ *      ------------------------|---------------------------
+ *      BMI160_FIFO_TIME        |   0x02
+ *      BMI160_FIFO_TAG_INT2    |   0x04
+ *      BMI160_FIFO_TAG_INT1    |   0x08
+ *      BMI160_FIFO_HEADER      |   0x10
+ *      BMI160_FIFO_AUX         |   0x20
+ *      BMI160_FIFO_ACCEL   |   0x40
+ *      BMI160_FIFO_GYRO        |   0x80
+ *
+ *  @param[in] enable : Parameter used to enable or disable the above
+ *  FIFO configuration
+ *  @param[in] dev : Structure instance of bmi160_dev.
+ *
+ *  @return status of bus communication result
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev);
+
+/*! @brief This API is used to configure the down sampling ratios of
+ *  the accel and gyro data for FIFO.Also, it configures filtered or
+ *  pre-filtered data for the fifo for accel and gyro.
+ *
+ *  @param[in] fifo_down : variable used to specify the FIFO down
+ *  configurations which are to be enabled or disabled in the sensor.
+ *
+ *  @note The user must select one among the following macros to
+ *  select down-sampling ratio for accel
+ *      config                               |   Value
+ *      -------------------------------------|---------------------------
+ *      BMI160_ACCEL_FIFO_DOWN_ZERO          |   0x00
+ *      BMI160_ACCEL_FIFO_DOWN_ONE           |   0x10
+ *      BMI160_ACCEL_FIFO_DOWN_TWO           |   0x20
+ *      BMI160_ACCEL_FIFO_DOWN_THREE         |   0x30
+ *      BMI160_ACCEL_FIFO_DOWN_FOUR          |   0x40
+ *      BMI160_ACCEL_FIFO_DOWN_FIVE          |   0x50
+ *      BMI160_ACCEL_FIFO_DOWN_SIX           |   0x60
+ *      BMI160_ACCEL_FIFO_DOWN_SEVEN         |   0x70
+ *
+ *  @note The user must select one among the following macros to
+ *  select down-sampling ratio for gyro
+ *
+ *      config                               |   Value
+ *      -------------------------------------|---------------------------
+ *      BMI160_GYRO_FIFO_DOWN_ZERO           |   0x00
+ *      BMI160_GYRO_FIFO_DOWN_ONE            |   0x01
+ *      BMI160_GYRO_FIFO_DOWN_TWO            |   0x02
+ *      BMI160_GYRO_FIFO_DOWN_THREE          |   0x03
+ *      BMI160_GYRO_FIFO_DOWN_FOUR           |   0x04
+ *      BMI160_GYRO_FIFO_DOWN_FIVE           |   0x05
+ *      BMI160_GYRO_FIFO_DOWN_SIX            |   0x06
+ *      BMI160_GYRO_FIFO_DOWN_SEVEN          |   0x07
+ *
+ *  @note The user can enable filtered accel data by the following macro
+ *      config                               |   Value
+ *      -------------------------------------|---------------------------
+ *      BMI160_ACCEL_FIFO_FILT_EN            |   0x80
+ *
+ *  @note The user can enable filtered gyro data by the following macro
+ *      config                               |   Value
+ *      -------------------------------------|---------------------------
+ *      BMI160_GYRO_FIFO_FILT_EN             |   0x08
+ *
+ *  @note : By ORing the above mentioned macros, the user can select
+ *  the required FIFO down config settings
+ *
+ *  @param[in] dev : Structure instance of bmi160_dev.
+ *
+ *  @return status of bus communication result
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API sets the FIFO watermark level in the sensor.
+ *
+ *  @note The FIFO watermark is issued when the FIFO fill level is
+ *  equal or above the watermark level and units of watermark is 4 bytes.
+ *
+ *  @param[in]  fifo_wm        : Variable used to set the FIFO water mark level
+ *  @param[in]  dev            : Structure instance of bmi160_dev
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API parses and extracts the accelerometer frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "accel_data" structure instance.
+ *
+ *  @note The bmi160_extract_accel API should be called only after
+ *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
+ *
+ *  @param[out] accel_data    : Structure instance of bmi160_sensor_data
+ *                              where the accelerometer data in FIFO is stored.
+ *  @param[in,out] accel_length  : Number of valid accelerometer frames
+ *                              (x,y,z axes data) read out from fifo.
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @note accel_length is updated with the number of valid accelerometer
+ *  frames extracted from fifo (1 accel frame   = 6 bytes) at the end of
+ *  execution of this API.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API parses and extracts the gyro frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "gyro_data" structure instance.
+ *
+ *  @note The bmi160_extract_gyro API should be called only after
+ *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
+ *
+ *  @param[out] gyro_data    : Structure instance of bmi160_sensor_data
+ *                             where the gyro data in FIFO is stored.
+ *  @param[in,out] gyro_length  : Number of valid gyro frames
+ *                             (x,y,z axes data) read out from fifo.
+ *  @param[in] dev           : Structure instance of bmi160_dev.
+ *
+ *  @note gyro_length is updated with the number of valid gyro
+ *  frames extracted from fifo (1 gyro frame   = 6 bytes) at the end of
+ *  execution of this API.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API parses and extracts the aux frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the bmi160_aux_data structure instance.
+ *
+ *  @note The bmi160_extract_aux API should be called only after
+ *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
+ *
+ *  @param[out] aux_data    : Structure instance of bmi160_aux_data
+ *                            where the aux data in FIFO is stored.
+ *  @param[in,out] aux_len  : Number of valid aux frames (8bytes)
+ *                            read out from FIFO.
+ *  @param[in] dev          : Structure instance of bmi160_dev.
+ *
+ *  @note aux_len is updated with the number of valid aux
+ *  frames extracted from fifo (1 aux frame = 8 bytes) at the end of
+ *  execution of this API.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API starts the FOC of accel and gyro
+ *
+ *  @note FOC should not be used in low-power mode of sensor
+ *
+ *  @note Accel FOC targets values of +1g , 0g , -1g
+ *  Gyro FOC always targets value of 0 dps
+ *
+ *  @param[in] foc_conf    : Structure instance of bmi160_foc_conf which
+ *                                   has the FOC configuration
+ *  @param[in,out] offset  : Structure instance to store Offset
+ *                                   values read from sensor
+ *  @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ *  @note Pre-requisites for triggering FOC in accel , Set the following,
+ *   Enable the acc_off_en
+ *       Ex :  foc_conf.acc_off_en = BMI160_ENABLE;
+ *
+ *   Set the desired target values of FOC to each axes (x,y,z) by using the
+ *   following macros
+ *       - BMI160_FOC_ACCEL_DISABLED
+ *       - BMI160_FOC_ACCEL_POSITIVE_G
+ *       - BMI160_FOC_ACCEL_NEGATIVE_G
+ *       - BMI160_FOC_ACCEL_0G
+ *
+ *   Ex : foc_conf.foc_acc_x  = BMI160_FOC_ACCEL_0G;
+ *        foc_conf.foc_acc_y  = BMI160_FOC_ACCEL_0G;
+ *        foc_conf.foc_acc_z  = BMI160_FOC_ACCEL_POSITIVE_G;
+ *
+ *  @note Pre-requisites for triggering FOC in gyro ,
+ *  Set the following parameters,
+ *
+ *   Ex : foc_conf.foc_gyr_en = BMI160_ENABLE;
+ *        foc_conf.gyro_off_en = BMI160_ENABLE;
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf,
+                        struct bmi160_offsets *offset,
+                        struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API reads and stores the offset values of accel and gyro
+ *
+ *  @param[in,out] offset : Structure instance of bmi160_offsets in which
+ *                          the offset values are read and stored
+ *  @param[in] dev        : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API writes the offset values of accel and gyro to
+ *  the sensor but these values will be reset on POR or soft reset.
+ *
+ *  @param[in] foc_conf    : Structure instance of bmi160_foc_conf which
+ *                                   has the FOC configuration
+ *  @param[in] offset      : Structure instance in which user updates offset
+ *                            values which are to be written in the sensor
+ *  @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ *  @note Offsets can be set by user like offset->off_acc_x = 10;
+ *  where 1LSB = 3.9mg and for gyro 1LSB = 0.061degrees/second
+ *
+ * @note BMI160 offset values for xyz axes of accel should be within range of
+ *  BMI160_ACCEL_MIN_OFFSET (-128) to BMI160_ACCEL_MAX_OFFSET (127)
+ *
+ * @note BMI160 offset values for xyz axes of gyro should be within range of
+ *  BMI160_GYRO_MIN_OFFSET (-512) to BMI160_GYRO_MAX_OFFSET (511)
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf,
+                          const struct bmi160_offsets *offset,
+                          struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API writes the image registers values to NVM which is
+ *  stored even after POR or soft reset
+ *
+ *  @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_update_nvm(struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API gets the interrupt status from the sensor.
+ *
+ *  @param[in] int_status_sel       : Enum variable to select either individual or all the
+ *  interrupt status bits.
+ *  @param[in] int_status           : pointer variable to get the interrupt status
+ *  from the sensor.
+ *  param[in] dev                   : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
+                             union bmi160_int_status *int_status,
+                             struct bmi160_dev const *dev);
+
+/*************************** C++ guard macro *****************************/
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* BMI160_H_ */
+/** @}*/

bmi160_defs.h

@@ -1,1674 +1,1675 @@
-/**
- * Copyright (C) 2018 - 2019 Bosch Sensortec GmbH
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- *
- * Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- *
- * Neither the name of the copyright holder nor the names of the
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
- * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
- * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
- * OR CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
- * OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
- * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
- * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
- *
- * The information provided is believed to be accurate and reliable.
- * The copyright holder assumes no responsibility
- * for the consequences of use
- * of such information nor for any infringement of patents or
- * other rights of third parties which may result from its use.
- * No license is granted by implication or otherwise under any patent or
- * patent rights of the copyright holder.
- *
- * @file    bmi160_defs.h
- * @date    13 Mar 2019
- * @version 3.7.7
- * @brief
- *
- */
-
-/*!
- * @defgroup bmi160_defs
- * @brief
- * @{*/
-
-#ifndef BMI160_DEFS_H_
-#define BMI160_DEFS_H_
-
-/*************************** C types headers *****************************/
-#ifdef __KERNEL__
-#include <linux/types.h>
-#include <linux/kernel.h>
-#else
-#include <stdint.h>
-#include <stddef.h>
-#endif
-
-/*************************** Common macros   *****************************/
-
-#if !defined(UINT8_C) && !defined(INT8_C)
-#define INT8_C(x)   S8_C(x)
-#define UINT8_C(x)  U8_C(x)
-#endif
-
-#if !defined(UINT16_C) && !defined(INT16_C)
-#define INT16_C(x)  S16_C(x)
-#define UINT16_C(x) U16_C(x)
-#endif
-
-#if !defined(INT32_C) && !defined(UINT32_C)
-#define INT32_C(x)  S32_C(x)
-#define UINT32_C(x) U32_C(x)
-#endif
-
-#if !defined(INT64_C) && !defined(UINT64_C)
-#define INT64_C(x)  S64_C(x)
-#define UINT64_C(x) U64_C(x)
-#endif
-
-/**@}*/
-/**\name C standard macros */
-#ifndef NULL
-#ifdef __cplusplus
-#define NULL 0
-#else
-#define NULL ((void *) 0)
-#endif
-#endif
-
-/*************************** Sensor macros   *****************************/
-/* Test for an endian machine */
-#ifndef __ORDER_LITTLE_ENDIAN__
-#define __ORDER_LITTLE_ENDIAN__ 0
-#endif
-
-#ifndef __BYTE_ORDER__
-#define __BYTE_ORDER__          __ORDER_LITTLE_ENDIAN__
-#endif
-
-#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
-#define LITTLE_ENDIAN           1
-#elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
-#define BIG_ENDIAN              1
-#else
-#error "Code does not support Endian format of the processor"
-#endif
-
-/** Mask definitions */
-#define BMI160_ACCEL_BW_MASK                 UINT8_C(0x70)
-#define BMI160_ACCEL_ODR_MASK                UINT8_C(0x0F)
-#define BMI160_ACCEL_UNDERSAMPLING_MASK      UINT8_C(0x80)
-#define BMI160_ACCEL_RANGE_MASK              UINT8_C(0x0F)
-#define BMI160_GYRO_BW_MASK                  UINT8_C(0x30)
-#define BMI160_GYRO_ODR_MASK                 UINT8_C(0x0F)
-#define BMI160_GYRO_RANGE_MSK                UINT8_C(0x07)
-
-/** Mask definitions for INT_EN registers */
-#define BMI160_ANY_MOTION_X_INT_EN_MASK      UINT8_C(0x01)
-#define BMI160_HIGH_G_X_INT_EN_MASK          UINT8_C(0x01)
-#define BMI160_NO_MOTION_X_INT_EN_MASK       UINT8_C(0x01)
-#define BMI160_ANY_MOTION_Y_INT_EN_MASK      UINT8_C(0x02)
-#define BMI160_HIGH_G_Y_INT_EN_MASK          UINT8_C(0x02)
-#define BMI160_NO_MOTION_Y_INT_EN_MASK       UINT8_C(0x02)
-#define BMI160_ANY_MOTION_Z_INT_EN_MASK      UINT8_C(0x04)
-#define BMI160_HIGH_G_Z_INT_EN_MASK          UINT8_C(0x04)
-#define BMI160_NO_MOTION_Z_INT_EN_MASK       UINT8_C(0x04)
-#define BMI160_SIG_MOTION_INT_EN_MASK        UINT8_C(0x07)
-#define BMI160_ANY_MOTION_ALL_INT_EN_MASK    UINT8_C(0x07)
-#define BMI160_STEP_DETECT_INT_EN_MASK       UINT8_C(0x08)
-#define BMI160_DOUBLE_TAP_INT_EN_MASK        UINT8_C(0x10)
-#define BMI160_SINGLE_TAP_INT_EN_MASK        UINT8_C(0x20)
-#define BMI160_FIFO_FULL_INT_EN_MASK         UINT8_C(0x20)
-#define BMI160_ORIENT_INT_EN_MASK            UINT8_C(0x40)
-#define BMI160_FIFO_WATERMARK_INT_EN_MASK    UINT8_C(0x40)
-#define BMI160_LOW_G_INT_EN_MASK             UINT8_C(0x08)
-#define BMI160_STEP_DETECT_EN_MASK           UINT8_C(0x08)
-#define BMI160_FLAT_INT_EN_MASK              UINT8_C(0x80)
-#define BMI160_DATA_RDY_INT_EN_MASK          UINT8_C(0x10)
-
-/** PMU status Macros */
-#define BMI160_AUX_PMU_SUSPEND               UINT8_C(0x00)
-#define BMI160_AUX_PMU_NORMAL                UINT8_C(0x01)
-#define BMI160_AUX_PMU_LOW_POWER             UINT8_C(0x02)
-
-#define BMI160_GYRO_PMU_SUSPEND              UINT8_C(0x00)
-#define BMI160_GYRO_PMU_NORMAL               UINT8_C(0x01)
-#define BMI160_GYRO_PMU_FSU                  UINT8_C(0x03)
-
-#define BMI160_ACCEL_PMU_SUSPEND             UINT8_C(0x00)
-#define BMI160_ACCEL_PMU_NORMAL              UINT8_C(0x01)
-#define BMI160_ACCEL_PMU_LOW_POWER           UINT8_C(0x02)
-
-/** Mask definitions for INT_OUT_CTRL register */
-#define BMI160_INT1_EDGE_CTRL_MASK           UINT8_C(0x01)
-#define BMI160_INT1_OUTPUT_MODE_MASK         UINT8_C(0x04)
-#define BMI160_INT1_OUTPUT_TYPE_MASK         UINT8_C(0x02)
-#define BMI160_INT1_OUTPUT_EN_MASK           UINT8_C(0x08)
-#define BMI160_INT2_EDGE_CTRL_MASK           UINT8_C(0x10)
-#define BMI160_INT2_OUTPUT_MODE_MASK         UINT8_C(0x40)
-#define BMI160_INT2_OUTPUT_TYPE_MASK         UINT8_C(0x20)
-#define BMI160_INT2_OUTPUT_EN_MASK           UINT8_C(0x80)
-
-/** Mask definitions for INT_LATCH register */
-#define BMI160_INT1_INPUT_EN_MASK            UINT8_C(0x10)
-#define BMI160_INT2_INPUT_EN_MASK            UINT8_C(0x20)
-#define BMI160_INT_LATCH_MASK                UINT8_C(0x0F)
-
-/** Mask definitions for INT_MAP register */
-#define BMI160_INT1_LOW_G_MASK               UINT8_C(0x01)
-#define BMI160_INT1_HIGH_G_MASK              UINT8_C(0x02)
-#define BMI160_INT1_SLOPE_MASK               UINT8_C(0x04)
-#define BMI160_INT1_NO_MOTION_MASK           UINT8_C(0x08)
-#define BMI160_INT1_DOUBLE_TAP_MASK          UINT8_C(0x10)
-#define BMI160_INT1_SINGLE_TAP_MASK          UINT8_C(0x20)
-#define BMI160_INT1_FIFO_FULL_MASK           UINT8_C(0x20)
-#define BMI160_INT1_FIFO_WM_MASK             UINT8_C(0x40)
-#define BMI160_INT1_ORIENT_MASK              UINT8_C(0x40)
-#define BMI160_INT1_FLAT_MASK                UINT8_C(0x80)
-#define BMI160_INT1_DATA_READY_MASK          UINT8_C(0x80)
-#define BMI160_INT2_LOW_G_MASK               UINT8_C(0x01)
-#define BMI160_INT1_LOW_STEP_DETECT_MASK     UINT8_C(0x01)
-#define BMI160_INT2_LOW_STEP_DETECT_MASK     UINT8_C(0x01)
-#define BMI160_INT2_HIGH_G_MASK              UINT8_C(0x02)
-#define BMI160_INT2_FIFO_FULL_MASK           UINT8_C(0x02)
-#define BMI160_INT2_FIFO_WM_MASK             UINT8_C(0x04)
-#define BMI160_INT2_SLOPE_MASK               UINT8_C(0x04)
-#define BMI160_INT2_DATA_READY_MASK          UINT8_C(0x08)
-#define BMI160_INT2_NO_MOTION_MASK           UINT8_C(0x08)
-#define BMI160_INT2_DOUBLE_TAP_MASK          UINT8_C(0x10)
-#define BMI160_INT2_SINGLE_TAP_MASK          UINT8_C(0x20)
-#define BMI160_INT2_ORIENT_MASK              UINT8_C(0x40)
-#define BMI160_INT2_FLAT_MASK                UINT8_C(0x80)
-
-/** Mask definitions for INT_DATA register */
-#define BMI160_TAP_SRC_INT_MASK              UINT8_C(0x08)
-#define BMI160_LOW_HIGH_SRC_INT_MASK         UINT8_C(0x80)
-#define BMI160_MOTION_SRC_INT_MASK           UINT8_C(0x80)
-
-/** Mask definitions for INT_MOTION register */
-#define BMI160_SLOPE_INT_DUR_MASK            UINT8_C(0x03)
-#define BMI160_NO_MOTION_INT_DUR_MASK        UINT8_C(0xFC)
-#define BMI160_NO_MOTION_SEL_BIT_MASK        UINT8_C(0x01)
-
-/** Mask definitions for INT_TAP register */
-#define BMI160_TAP_DUR_MASK                  UINT8_C(0x07)
-#define BMI160_TAP_SHOCK_DUR_MASK            UINT8_C(0x40)
-#define BMI160_TAP_QUIET_DUR_MASK            UINT8_C(0x80)
-#define BMI160_TAP_THRES_MASK                UINT8_C(0x1F)
-
-/** Mask definitions for INT_FLAT register */
-#define BMI160_FLAT_THRES_MASK               UINT8_C(0x3F)
-#define BMI160_FLAT_HOLD_TIME_MASK           UINT8_C(0x30)
-#define BMI160_FLAT_HYST_MASK                UINT8_C(0x07)
-
-/** Mask definitions for INT_LOWHIGH register */
-#define BMI160_LOW_G_HYST_MASK               UINT8_C(0x03)
-#define BMI160_LOW_G_LOW_MODE_MASK           UINT8_C(0x04)
-#define BMI160_HIGH_G_HYST_MASK              UINT8_C(0xC0)
-
-/** Mask definitions for INT_SIG_MOTION register */
-#define BMI160_SIG_MOTION_SEL_MASK           UINT8_C(0x02)
-#define BMI160_SIG_MOTION_SKIP_MASK          UINT8_C(0x0C)
-#define BMI160_SIG_MOTION_PROOF_MASK         UINT8_C(0x30)
-
-/** Mask definitions for INT_ORIENT register */
-#define BMI160_ORIENT_MODE_MASK              UINT8_C(0x03)
-#define BMI160_ORIENT_BLOCK_MASK             UINT8_C(0x0C)
-#define BMI160_ORIENT_HYST_MASK              UINT8_C(0xF0)
-#define BMI160_ORIENT_THETA_MASK             UINT8_C(0x3F)
-#define BMI160_ORIENT_UD_ENABLE              UINT8_C(0x40)
-#define BMI160_AXES_EN_MASK                  UINT8_C(0x80)
-
-/** Mask definitions for FIFO_CONFIG register */
-#define BMI160_FIFO_GYRO                     UINT8_C(0x80)
-#define BMI160_FIFO_ACCEL                    UINT8_C(0x40)
-#define BMI160_FIFO_AUX                      UINT8_C(0x20)
-#define BMI160_FIFO_TAG_INT1                 UINT8_C(0x08)
-#define BMI160_FIFO_TAG_INT2                 UINT8_C(0x04)
-#define BMI160_FIFO_TIME                     UINT8_C(0x02)
-#define BMI160_FIFO_HEADER                   UINT8_C(0x10)
-#define BMI160_FIFO_CONFIG_1_MASK            UINT8_C(0xFE)
-
-/** Mask definitions for STEP_CONF register */
-#define BMI160_STEP_COUNT_EN_BIT_MASK        UINT8_C(0x08)
-#define BMI160_STEP_DETECT_MIN_THRES_MASK    UINT8_C(0x18)
-#define BMI160_STEP_DETECT_STEPTIME_MIN_MASK UINT8_C(0x07)
-#define BMI160_STEP_MIN_BUF_MASK             UINT8_C(0x07)
-
-/** Mask definition for FIFO Header Data Tag */
-#define BMI160_FIFO_TAG_INTR_MASK            UINT8_C(0xFC)
-
-/** Fifo byte counter mask definitions */
-#define BMI160_FIFO_BYTE_COUNTER_MASK        UINT8_C(0x07)
-
-/** Enable/disable bit value */
-#define BMI160_ENABLE                        UINT8_C(0x01)
-#define BMI160_DISABLE                       UINT8_C(0x00)
-
-/** Latch Duration */
-#define BMI160_LATCH_DUR_NONE                UINT8_C(0x00)
-#define BMI160_LATCH_DUR_312_5_MICRO_SEC     UINT8_C(0x01)
-#define BMI160_LATCH_DUR_625_MICRO_SEC       UINT8_C(0x02)
-#define BMI160_LATCH_DUR_1_25_MILLI_SEC      UINT8_C(0x03)
-#define BMI160_LATCH_DUR_2_5_MILLI_SEC       UINT8_C(0x04)
-#define BMI160_LATCH_DUR_5_MILLI_SEC         UINT8_C(0x05)
-#define BMI160_LATCH_DUR_10_MILLI_SEC        UINT8_C(0x06)
-#define BMI160_LATCH_DUR_20_MILLI_SEC        UINT8_C(0x07)
-#define BMI160_LATCH_DUR_40_MILLI_SEC        UINT8_C(0x08)
-#define BMI160_LATCH_DUR_80_MILLI_SEC        UINT8_C(0x09)
-#define BMI160_LATCH_DUR_160_MILLI_SEC       UINT8_C(0x0A)
-#define BMI160_LATCH_DUR_320_MILLI_SEC       UINT8_C(0x0B)
-#define BMI160_LATCH_DUR_640_MILLI_SEC       UINT8_C(0x0C)
-#define BMI160_LATCH_DUR_1_28_SEC            UINT8_C(0x0D)
-#define BMI160_LATCH_DUR_2_56_SEC            UINT8_C(0x0E)
-#define BMI160_LATCHED                       UINT8_C(0x0F)
-
-/** BMI160 Register map */
-#define BMI160_CHIP_ID_ADDR                  UINT8_C(0x00)
-#define BMI160_ERROR_REG_ADDR                UINT8_C(0x02)
-#define BMI160_PMU_STATUS_ADDR               UINT8_C(0x03)
-#define BMI160_AUX_DATA_ADDR                 UINT8_C(0x04)
-#define BMI160_GYRO_DATA_ADDR                UINT8_C(0x0C)
-#define BMI160_ACCEL_DATA_ADDR               UINT8_C(0x12)
-#define BMI160_STATUS_ADDR                   UINT8_C(0x1B)
-#define BMI160_INT_STATUS_ADDR               UINT8_C(0x1C)
-#define BMI160_FIFO_LENGTH_ADDR              UINT8_C(0x22)
-#define BMI160_FIFO_DATA_ADDR                UINT8_C(0x24)
-#define BMI160_ACCEL_CONFIG_ADDR             UINT8_C(0x40)
-#define BMI160_ACCEL_RANGE_ADDR              UINT8_C(0x41)
-#define BMI160_GYRO_CONFIG_ADDR              UINT8_C(0x42)
-#define BMI160_GYRO_RANGE_ADDR               UINT8_C(0x43)
-#define BMI160_AUX_ODR_ADDR                  UINT8_C(0x44)
-#define BMI160_FIFO_DOWN_ADDR                UINT8_C(0x45)
-#define BMI160_FIFO_CONFIG_0_ADDR            UINT8_C(0x46)
-#define BMI160_FIFO_CONFIG_1_ADDR            UINT8_C(0x47)
-#define BMI160_AUX_IF_0_ADDR                 UINT8_C(0x4B)
-#define BMI160_AUX_IF_1_ADDR                 UINT8_C(0x4C)
-#define BMI160_AUX_IF_2_ADDR                 UINT8_C(0x4D)
-#define BMI160_AUX_IF_3_ADDR                 UINT8_C(0x4E)
-#define BMI160_AUX_IF_4_ADDR                 UINT8_C(0x4F)
-#define BMI160_INT_ENABLE_0_ADDR             UINT8_C(0x50)
-#define BMI160_INT_ENABLE_1_ADDR             UINT8_C(0x51)
-#define BMI160_INT_ENABLE_2_ADDR             UINT8_C(0x52)
-#define BMI160_INT_OUT_CTRL_ADDR             UINT8_C(0x53)
-#define BMI160_INT_LATCH_ADDR                UINT8_C(0x54)
-#define BMI160_INT_MAP_0_ADDR                UINT8_C(0x55)
-#define BMI160_INT_MAP_1_ADDR                UINT8_C(0x56)
-#define BMI160_INT_MAP_2_ADDR                UINT8_C(0x57)
-#define BMI160_INT_DATA_0_ADDR               UINT8_C(0x58)
-#define BMI160_INT_DATA_1_ADDR               UINT8_C(0x59)
-#define BMI160_INT_LOWHIGH_0_ADDR            UINT8_C(0x5A)
-#define BMI160_INT_LOWHIGH_1_ADDR            UINT8_C(0x5B)
-#define BMI160_INT_LOWHIGH_2_ADDR            UINT8_C(0x5C)
-#define BMI160_INT_LOWHIGH_3_ADDR            UINT8_C(0x5D)
-#define BMI160_INT_LOWHIGH_4_ADDR            UINT8_C(0x5E)
-#define BMI160_INT_MOTION_0_ADDR             UINT8_C(0x5F)
-#define BMI160_INT_MOTION_1_ADDR             UINT8_C(0x60)
-#define BMI160_INT_MOTION_2_ADDR             UINT8_C(0x61)
-#define BMI160_INT_MOTION_3_ADDR             UINT8_C(0x62)
-#define BMI160_INT_TAP_0_ADDR                UINT8_C(0x63)
-#define BMI160_INT_TAP_1_ADDR                UINT8_C(0x64)
-#define BMI160_INT_ORIENT_0_ADDR             UINT8_C(0x65)
-#define BMI160_INT_ORIENT_1_ADDR             UINT8_C(0x66)
-#define BMI160_INT_FLAT_0_ADDR               UINT8_C(0x67)
-#define BMI160_INT_FLAT_1_ADDR               UINT8_C(0x68)
-#define BMI160_FOC_CONF_ADDR                 UINT8_C(0x69)
-#define BMI160_CONF_ADDR                     UINT8_C(0x6A)
-
-#define BMI160_IF_CONF_ADDR                  UINT8_C(0x6B)
-#define BMI160_SELF_TEST_ADDR                UINT8_C(0x6D)
-#define BMI160_OFFSET_ADDR                   UINT8_C(0x71)
-#define BMI160_OFFSET_CONF_ADDR              UINT8_C(0x77)
-#define BMI160_INT_STEP_CNT_0_ADDR           UINT8_C(0x78)
-#define BMI160_INT_STEP_CONFIG_0_ADDR        UINT8_C(0x7A)
-#define BMI160_INT_STEP_CONFIG_1_ADDR        UINT8_C(0x7B)
-#define BMI160_COMMAND_REG_ADDR              UINT8_C(0x7E)
-#define BMI160_SPI_COMM_TEST_ADDR            UINT8_C(0x7F)
-#define BMI160_INTL_PULLUP_CONF_ADDR         UINT8_C(0x85)
-
-/** Error code definitions */
-#define BMI160_OK                            INT8_C(0)
-#define BMI160_E_NULL_PTR                    INT8_C(-1)
-#define BMI160_E_COM_FAIL                    INT8_C(-2)
-#define BMI160_E_DEV_NOT_FOUND               INT8_C(-3)
-#define BMI160_E_OUT_OF_RANGE                INT8_C(-4)
-#define BMI160_E_INVALID_INPUT               INT8_C(-5)
-#define BMI160_E_ACCEL_ODR_BW_INVALID        INT8_C(-6)
-#define BMI160_E_GYRO_ODR_BW_INVALID         INT8_C(-7)
-#define BMI160_E_LWP_PRE_FLTR_INT_INVALID    INT8_C(-8)
-#define BMI160_E_LWP_PRE_FLTR_INVALID        INT8_C(-9)
-#define BMI160_E_AUX_NOT_FOUND               INT8_C(-10)
-#define BMI160_FOC_FAILURE                   INT8_C(-11)
-
-/**\name API warning codes */
-#define BMI160_W_GYRO_SELF_TEST_FAIL         INT8_C(1)
-#define BMI160_W_ACCEl_SELF_TEST_FAIL        INT8_C(2)
-
-/** BMI160 unique chip identifier */
-#define BMI160_CHIP_ID                       UINT8_C(0xD1)
-
-/** Soft reset command */
-#define BMI160_SOFT_RESET_CMD                UINT8_C(0xb6)
-#define BMI160_SOFT_RESET_DELAY_MS           UINT8_C(1)
-
-/** Start FOC command */
-#define BMI160_START_FOC_CMD                 UINT8_C(0x03)
-
-/** NVM backup enabling command */
-#define BMI160_NVM_BACKUP_EN                 UINT8_C(0xA0)
-
-/* Delay in ms settings */
-#define BMI160_ACCEL_DELAY_MS                UINT8_C(5)
-#define BMI160_GYRO_DELAY_MS                 UINT8_C(81)
-#define BMI160_ONE_MS_DELAY                  UINT8_C(1)
-#define BMI160_AUX_COM_DELAY                 UINT8_C(10)
-#define BMI160_GYRO_SELF_TEST_DELAY          UINT8_C(20)
-#define BMI160_ACCEL_SELF_TEST_DELAY         UINT8_C(50)
-
-/** Self test configurations */
-#define BMI160_ACCEL_SELF_TEST_CONFIG        UINT8_C(0x2C)
-#define BMI160_ACCEL_SELF_TEST_POSITIVE_EN   UINT8_C(0x0D)
-#define BMI160_ACCEL_SELF_TEST_NEGATIVE_EN   UINT8_C(0x09)
-#define BMI160_ACCEL_SELF_TEST_LIMIT         UINT16_C(8192)
-
-/** Power mode settings */
-/* Accel power mode */
-#define BMI160_ACCEL_NORMAL_MODE             UINT8_C(0x11)
-#define BMI160_ACCEL_LOWPOWER_MODE           UINT8_C(0x12)
-#define BMI160_ACCEL_SUSPEND_MODE            UINT8_C(0x10)
-
-/* Gyro power mode */
-#define BMI160_GYRO_SUSPEND_MODE             UINT8_C(0x14)
-#define BMI160_GYRO_NORMAL_MODE              UINT8_C(0x15)
-#define BMI160_GYRO_FASTSTARTUP_MODE         UINT8_C(0x17)
-
-/* Aux power mode */
-#define BMI160_AUX_SUSPEND_MODE              UINT8_C(0x18)
-#define BMI160_AUX_NORMAL_MODE               UINT8_C(0x19)
-#define BMI160_AUX_LOWPOWER_MODE             UINT8_C(0x1A)
-
-/** Range settings */
-/* Accel Range */
-#define BMI160_ACCEL_RANGE_2G                UINT8_C(0x03)
-#define BMI160_ACCEL_RANGE_4G                UINT8_C(0x05)
-#define BMI160_ACCEL_RANGE_8G                UINT8_C(0x08)
-#define BMI160_ACCEL_RANGE_16G               UINT8_C(0x0C)
-
-/* Gyro Range */
-#define BMI160_GYRO_RANGE_2000_DPS           UINT8_C(0x00)
-#define BMI160_GYRO_RANGE_1000_DPS           UINT8_C(0x01)
-#define BMI160_GYRO_RANGE_500_DPS            UINT8_C(0x02)
-#define BMI160_GYRO_RANGE_250_DPS            UINT8_C(0x03)
-#define BMI160_GYRO_RANGE_125_DPS            UINT8_C(0x04)
-
-/** Bandwidth settings */
-/* Accel Bandwidth */
-#define BMI160_ACCEL_BW_OSR4_AVG1            UINT8_C(0x00)
-#define BMI160_ACCEL_BW_OSR2_AVG2            UINT8_C(0x01)
-#define BMI160_ACCEL_BW_NORMAL_AVG4          UINT8_C(0x02)
-#define BMI160_ACCEL_BW_RES_AVG8             UINT8_C(0x03)
-#define BMI160_ACCEL_BW_RES_AVG16            UINT8_C(0x04)
-#define BMI160_ACCEL_BW_RES_AVG32            UINT8_C(0x05)
-#define BMI160_ACCEL_BW_RES_AVG64            UINT8_C(0x06)
-#define BMI160_ACCEL_BW_RES_AVG128           UINT8_C(0x07)
-
-#define BMI160_GYRO_BW_OSR4_MODE             UINT8_C(0x00)
-#define BMI160_GYRO_BW_OSR2_MODE             UINT8_C(0x01)
-#define BMI160_GYRO_BW_NORMAL_MODE           UINT8_C(0x02)
-
-/* Output Data Rate settings */
-/* Accel Output data rate */
-#define BMI160_ACCEL_ODR_RESERVED            UINT8_C(0x00)
-#define BMI160_ACCEL_ODR_0_78HZ              UINT8_C(0x01)
-#define BMI160_ACCEL_ODR_1_56HZ              UINT8_C(0x02)
-#define BMI160_ACCEL_ODR_3_12HZ              UINT8_C(0x03)
-#define BMI160_ACCEL_ODR_6_25HZ              UINT8_C(0x04)
-#define BMI160_ACCEL_ODR_12_5HZ              UINT8_C(0x05)
-#define BMI160_ACCEL_ODR_25HZ                UINT8_C(0x06)
-#define BMI160_ACCEL_ODR_50HZ                UINT8_C(0x07)
-#define BMI160_ACCEL_ODR_100HZ               UINT8_C(0x08)
-#define BMI160_ACCEL_ODR_200HZ               UINT8_C(0x09)
-#define BMI160_ACCEL_ODR_400HZ               UINT8_C(0x0A)
-#define BMI160_ACCEL_ODR_800HZ               UINT8_C(0x0B)
-#define BMI160_ACCEL_ODR_1600HZ              UINT8_C(0x0C)
-#define BMI160_ACCEL_ODR_RESERVED0           UINT8_C(0x0D)
-#define BMI160_ACCEL_ODR_RESERVED1           UINT8_C(0x0E)
-#define BMI160_ACCEL_ODR_RESERVED2           UINT8_C(0x0F)
-
-/* Gyro Output data rate */
-#define BMI160_GYRO_ODR_RESERVED             UINT8_C(0x00)
-#define BMI160_GYRO_ODR_25HZ                 UINT8_C(0x06)
-#define BMI160_GYRO_ODR_50HZ                 UINT8_C(0x07)
-#define BMI160_GYRO_ODR_100HZ                UINT8_C(0x08)
-#define BMI160_GYRO_ODR_200HZ                UINT8_C(0x09)
-#define BMI160_GYRO_ODR_400HZ                UINT8_C(0x0A)
-#define BMI160_GYRO_ODR_800HZ                UINT8_C(0x0B)
-#define BMI160_GYRO_ODR_1600HZ               UINT8_C(0x0C)
-#define BMI160_GYRO_ODR_3200HZ               UINT8_C(0x0D)
-
-/* Auxiliary sensor Output data rate */
-#define BMI160_AUX_ODR_RESERVED              UINT8_C(0x00)
-#define BMI160_AUX_ODR_0_78HZ                UINT8_C(0x01)
-#define BMI160_AUX_ODR_1_56HZ                UINT8_C(0x02)
-#define BMI160_AUX_ODR_3_12HZ                UINT8_C(0x03)
-#define BMI160_AUX_ODR_6_25HZ                UINT8_C(0x04)
-#define BMI160_AUX_ODR_12_5HZ                UINT8_C(0x05)
-#define BMI160_AUX_ODR_25HZ                  UINT8_C(0x06)
-#define BMI160_AUX_ODR_50HZ                  UINT8_C(0x07)
-#define BMI160_AUX_ODR_100HZ                 UINT8_C(0x08)
-#define BMI160_AUX_ODR_200HZ                 UINT8_C(0x09)
-#define BMI160_AUX_ODR_400HZ                 UINT8_C(0x0A)
-#define BMI160_AUX_ODR_800HZ                 UINT8_C(0x0B)
-
-/* Maximum limits definition */
-#define BMI160_ACCEL_ODR_MAX                 UINT8_C(15)
-#define BMI160_ACCEL_BW_MAX                  UINT8_C(2)
-#define BMI160_ACCEL_RANGE_MAX               UINT8_C(12)
-#define BMI160_GYRO_ODR_MAX                  UINT8_C(13)
-#define BMI160_GYRO_BW_MAX                   UINT8_C(2)
-#define BMI160_GYRO_RANGE_MAX                UINT8_C(4)
-
-/** FIFO_CONFIG Definitions */
-#define BMI160_FIFO_TIME_ENABLE              UINT8_C(0x02)
-#define BMI160_FIFO_TAG_INT2_ENABLE          UINT8_C(0x04)
-#define BMI160_FIFO_TAG_INT1_ENABLE          UINT8_C(0x08)
-#define BMI160_FIFO_HEAD_ENABLE              UINT8_C(0x10)
-#define BMI160_FIFO_M_ENABLE                 UINT8_C(0x20)
-#define BMI160_FIFO_A_ENABLE                 UINT8_C(0x40)
-#define BMI160_FIFO_M_A_ENABLE               UINT8_C(0x60)
-#define BMI160_FIFO_G_ENABLE                 UINT8_C(0x80)
-#define BMI160_FIFO_M_G_ENABLE               UINT8_C(0xA0)
-#define BMI160_FIFO_G_A_ENABLE               UINT8_C(0xC0)
-#define BMI160_FIFO_M_G_A_ENABLE             UINT8_C(0xE0)
-
-/* Macro to specify the number of bytes over-read from the
- * FIFO in order to get the sensor time at the end of FIFO */
-#ifndef BMI160_FIFO_BYTES_OVERREAD
-#define BMI160_FIFO_BYTES_OVERREAD           UINT8_C(25)
-#endif
-
-/* Accel, gyro and aux. sensor length and also their combined
- * length definitions in FIFO */
-#define BMI160_FIFO_G_LENGTH                 UINT8_C(6)
-#define BMI160_FIFO_A_LENGTH                 UINT8_C(6)
-#define BMI160_FIFO_M_LENGTH                 UINT8_C(8)
-#define BMI160_FIFO_GA_LENGTH                UINT8_C(12)
-#define BMI160_FIFO_MA_LENGTH                UINT8_C(14)
-#define BMI160_FIFO_MG_LENGTH                UINT8_C(14)
-#define BMI160_FIFO_MGA_LENGTH               UINT8_C(20)
-
-/** FIFO Header Data definitions */
-#define BMI160_FIFO_HEAD_SKIP_FRAME          UINT8_C(0x40)
-#define BMI160_FIFO_HEAD_SENSOR_TIME         UINT8_C(0x44)
-#define BMI160_FIFO_HEAD_INPUT_CONFIG        UINT8_C(0x48)
-#define BMI160_FIFO_HEAD_OVER_READ           UINT8_C(0x80)
-#define BMI160_FIFO_HEAD_A                   UINT8_C(0x84)
-#define BMI160_FIFO_HEAD_G                   UINT8_C(0x88)
-#define BMI160_FIFO_HEAD_G_A                 UINT8_C(0x8C)
-#define BMI160_FIFO_HEAD_M                   UINT8_C(0x90)
-#define BMI160_FIFO_HEAD_M_A                 UINT8_C(0x94)
-#define BMI160_FIFO_HEAD_M_G                 UINT8_C(0x98)
-#define BMI160_FIFO_HEAD_M_G_A               UINT8_C(0x9C)
-
-/** FIFO sensor time length definitions */
-#define BMI160_SENSOR_TIME_LENGTH            UINT8_C(3)
-
-/** FIFO DOWN selection */
-/* Accel fifo down-sampling values*/
-#define  BMI160_ACCEL_FIFO_DOWN_ZERO         UINT8_C(0x00)
-#define  BMI160_ACCEL_FIFO_DOWN_ONE          UINT8_C(0x10)
-#define  BMI160_ACCEL_FIFO_DOWN_TWO          UINT8_C(0x20)
-#define  BMI160_ACCEL_FIFO_DOWN_THREE        UINT8_C(0x30)
-#define  BMI160_ACCEL_FIFO_DOWN_FOUR         UINT8_C(0x40)
-#define  BMI160_ACCEL_FIFO_DOWN_FIVE         UINT8_C(0x50)
-#define  BMI160_ACCEL_FIFO_DOWN_SIX          UINT8_C(0x60)
-#define  BMI160_ACCEL_FIFO_DOWN_SEVEN        UINT8_C(0x70)
-
-/* Gyro fifo down-smapling values*/
-#define  BMI160_GYRO_FIFO_DOWN_ZERO          UINT8_C(0x00)
-#define  BMI160_GYRO_FIFO_DOWN_ONE           UINT8_C(0x01)
-#define  BMI160_GYRO_FIFO_DOWN_TWO           UINT8_C(0x02)
-#define  BMI160_GYRO_FIFO_DOWN_THREE         UINT8_C(0x03)
-#define  BMI160_GYRO_FIFO_DOWN_FOUR          UINT8_C(0x04)
-#define  BMI160_GYRO_FIFO_DOWN_FIVE          UINT8_C(0x05)
-#define  BMI160_GYRO_FIFO_DOWN_SIX           UINT8_C(0x06)
-#define  BMI160_GYRO_FIFO_DOWN_SEVEN         UINT8_C(0x07)
-
-/* Accel Fifo filter enable*/
-#define  BMI160_ACCEL_FIFO_FILT_EN           UINT8_C(0x80)
-
-/* Gyro Fifo filter enable*/
-#define  BMI160_GYRO_FIFO_FILT_EN            UINT8_C(0x08)
-
-/** Definitions to check validity of FIFO frames */
-#define FIFO_CONFIG_MSB_CHECK                UINT8_C(0x80)
-#define FIFO_CONFIG_LSB_CHECK                UINT8_C(0x00)
-
-/*! BMI160 accel FOC configurations */
-#define BMI160_FOC_ACCEL_DISABLED            UINT8_C(0x00)
-#define BMI160_FOC_ACCEL_POSITIVE_G          UINT8_C(0x01)
-#define BMI160_FOC_ACCEL_NEGATIVE_G          UINT8_C(0x02)
-#define BMI160_FOC_ACCEL_0G                  UINT8_C(0x03)
-
-/** Array Parameter DefinItions */
-#define BMI160_SENSOR_TIME_LSB_BYTE          UINT8_C(0)
-#define BMI160_SENSOR_TIME_XLSB_BYTE         UINT8_C(1)
-#define BMI160_SENSOR_TIME_MSB_BYTE          UINT8_C(2)
-
-/** Interface settings */
-#define BMI160_SPI_INTF                      UINT8_C(1)
-#define BMI160_I2C_INTF                      UINT8_C(0)
-#define BMI160_SPI_RD_MASK                   UINT8_C(0x80)
-#define BMI160_SPI_WR_MASK                   UINT8_C(0x7F)
-
-/* Sensor & time select definition*/
-#define BMI160_ACCEL_SEL                     UINT8_C(0x01)
-#define BMI160_GYRO_SEL                      UINT8_C(0x02)
-#define BMI160_TIME_SEL                      UINT8_C(0x04)
-
-/* Sensor select mask*/
-#define BMI160_SEN_SEL_MASK                  UINT8_C(0x07)
-
-/* Error code mask */
-#define BMI160_ERR_REG_MASK                  UINT8_C(0x0F)
-
-/* BMI160 I2C address */
-#define BMI160_I2C_ADDR                      UINT8_C(0x68)
-
-/* BMI160 secondary IF address */
-#define BMI160_AUX_BMM150_I2C_ADDR           UINT8_C(0x10)
-
-/** BMI160 Length definitions */
-#define BMI160_ONE                           UINT8_C(1)
-#define BMI160_TWO                           UINT8_C(2)
-#define BMI160_THREE                         UINT8_C(3)
-#define BMI160_FOUR                          UINT8_C(4)
-#define BMI160_FIVE                          UINT8_C(5)
-
-/** BMI160 fifo level Margin */
-#define BMI160_FIFO_LEVEL_MARGIN             UINT8_C(16)
-
-/** BMI160 fifo flush Command */
-#define BMI160_FIFO_FLUSH_VALUE              UINT8_C(0xB0)
-
-/** BMI160 offset values for xyz axes of accel */
-#define BMI160_ACCEL_MIN_OFFSET              INT8_C(-128)
-#define BMI160_ACCEL_MAX_OFFSET              INT8_C(127)
-
-/** BMI160 offset values for xyz axes of gyro */
-#define BMI160_GYRO_MIN_OFFSET               INT16_C(-512)
-#define BMI160_GYRO_MAX_OFFSET               INT16_C(511)
-
-/** BMI160 fifo full interrupt position and mask */
-#define BMI160_FIFO_FULL_INT_POS             UINT8_C(5)
-#define BMI160_FIFO_FULL_INT_MSK             UINT8_C(0x20)
-#define BMI160_FIFO_WTM_INT_POS              UINT8_C(6)
-#define BMI160_FIFO_WTM_INT_MSK              UINT8_C(0x40)
-
-#define BMI160_FIFO_FULL_INT_PIN1_POS        UINT8_C(5)
-#define BMI160_FIFO_FULL_INT_PIN1_MSK        UINT8_C(0x20)
-#define BMI160_FIFO_FULL_INT_PIN2_POS        UINT8_C(1)
-#define BMI160_FIFO_FULL_INT_PIN2_MSK        UINT8_C(0x02)
-
-#define BMI160_FIFO_WTM_INT_PIN1_POS         UINT8_C(6)
-#define BMI160_FIFO_WTM_INT_PIN1_MSK         UINT8_C(0x40)
-#define BMI160_FIFO_WTM_INT_PIN2_POS         UINT8_C(2)
-#define BMI160_FIFO_WTM_INT_PIN2_MSK         UINT8_C(0x04)
-
-#define BMI160_MANUAL_MODE_EN_POS            UINT8_C(7)
-#define BMI160_MANUAL_MODE_EN_MSK            UINT8_C(0x80)
-#define BMI160_AUX_READ_BURST_POS            UINT8_C(0)
-#define BMI160_AUX_READ_BURST_MSK            UINT8_C(0x03)
-
-#define BMI160_GYRO_SELF_TEST_POS            UINT8_C(4)
-#define BMI160_GYRO_SELF_TEST_MSK            UINT8_C(0x10)
-#define BMI160_GYRO_SELF_TEST_STATUS_POS     UINT8_C(1)
-#define BMI160_GYRO_SELF_TEST_STATUS_MSK     UINT8_C(0x02)
-
-#define BMI160_GYRO_FOC_EN_POS               UINT8_C(6)
-#define BMI160_GYRO_FOC_EN_MSK               UINT8_C(0x40)
-
-#define BMI160_ACCEL_FOC_X_CONF_POS          UINT8_C(4)
-#define BMI160_ACCEL_FOC_X_CONF_MSK          UINT8_C(0x30)
-
-#define BMI160_ACCEL_FOC_Y_CONF_POS          UINT8_C(2)
-#define BMI160_ACCEL_FOC_Y_CONF_MSK          UINT8_C(0x0C)
-
-#define BMI160_ACCEL_FOC_Z_CONF_MSK          UINT8_C(0x03)
-
-#define BMI160_FOC_STATUS_POS                UINT8_C(3)
-#define BMI160_FOC_STATUS_MSK                UINT8_C(0x08)
-
-#define BMI160_GYRO_OFFSET_X_MSK             UINT8_C(0x03)
-
-#define BMI160_GYRO_OFFSET_Y_POS             UINT8_C(2)
-#define BMI160_GYRO_OFFSET_Y_MSK             UINT8_C(0x0C)
-
-#define BMI160_GYRO_OFFSET_Z_POS             UINT8_C(4)
-#define BMI160_GYRO_OFFSET_Z_MSK             UINT8_C(0x30)
-
-#define BMI160_GYRO_OFFSET_EN_POS            UINT8_C(7)
-#define BMI160_GYRO_OFFSET_EN_MSK            UINT8_C(0x80)
-
-#define BMI160_ACCEL_OFFSET_EN_POS           UINT8_C(6)
-#define BMI160_ACCEL_OFFSET_EN_MSK           UINT8_C(0x40)
-
-#define BMI160_GYRO_OFFSET_POS               UINT16_C(8)
-#define BMI160_GYRO_OFFSET_MSK               UINT16_C(0x0300)
-
-#define BMI160_NVM_UPDATE_POS                UINT8_C(1)
-#define BMI160_NVM_UPDATE_MSK                UINT8_C(0x02)
-
-#define BMI160_NVM_STATUS_POS                UINT8_C(4)
-#define BMI160_NVM_STATUS_MSK                UINT8_C(0x10)
-
-#define BMI160_MAG_POWER_MODE_MSK            UINT8_C(0x03)
-
-#define BMI160_ACCEL_POWER_MODE_MSK          UINT8_C(0x30)
-#define BMI160_ACCEL_POWER_MODE_POS          UINT8_C(4)
-
-#define BMI160_GYRO_POWER_MODE_MSK           UINT8_C(0x0C)
-#define BMI160_GYRO_POWER_MODE_POS           UINT8_C(2)
-
-/* BIT SLICE GET AND SET FUNCTIONS */
-#define BMI160_GET_BITS(regvar, bitname) \
-    ((regvar & bitname##_MSK) >> bitname##_POS)
-#define BMI160_SET_BITS(regvar, bitname, val) \
-    ((regvar & ~bitname##_MSK) | \
-     ((val << bitname##_POS) & bitname##_MSK))
-
-#define BMI160_SET_BITS_POS_0(reg_data, bitname, data) \
-    ((reg_data & ~(bitname##_MSK)) | \
-     (data & bitname##_MSK))
-
-#define BMI160_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
-
-/**\name UTILITY MACROS */
-#define BMI160_SET_LOW_BYTE  UINT16_C(0x00FF)
-#define BMI160_SET_HIGH_BYTE UINT16_C(0xFF00)
-
-#define BMI160_GET_LSB(var) (uint8_t)(var & BMI160_SET_LOW_BYTE)
-#define BMI160_GET_MSB(var) (uint8_t)((var & BMI160_SET_HIGH_BYTE) >> 8)
-
-/*****************************************************************************/
-/* type definitions */
-typedef int8_t (*bmi160_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len);
-typedef void (*bmi160_delay_fptr_t)(uint32_t period);
-
-/*************************** Data structures *********************************/
-struct bmi160_pmu_status
-{
-    /*! Power mode status of Accel
-     * Possible values :
-     *  - BMI160_ACCEL_PMU_SUSPEND
-     *  - BMI160_ACCEL_PMU_NORMAL
-     *  - BMI160_ACCEL_PMU_LOW_POWER
-     */
-    uint8_t accel_pmu_status;
-
-    /*! Power mode status of Gyro
-     * Possible values :
-     *  - BMI160_GYRO_PMU_SUSPEND
-     *  - BMI160_GYRO_PMU_NORMAL
-     *  - BMI160_GYRO_PMU_FSU
-     */
-    uint8_t gyro_pmu_status;
-
-    /*! Power mode status of 'Auxiliary sensor interface' whereas the actual
-     *  power mode of the aux. sensor should be configured
-     *  according to the connected sensor specifications
-     * Possible values :
-     *  - BMI160_AUX_PMU_SUSPEND
-     *  - BMI160_AUX_PMU_NORMAL
-     *  - BMI160_AUX_PMU_LOW_POWER
-     */
-    uint8_t aux_pmu_status;
-};
-
-/*!
- * @brief bmi160 interrupt status selection enum.
- */
-enum bmi160_int_status_sel {
-    BMI160_INT_STATUS_0 = 1,
-    BMI160_INT_STATUS_1 = 2,
-    BMI160_INT_STATUS_2 = 4,
-    BMI160_INT_STATUS_3 = 8,
-    BMI160_INT_STATUS_ALL = 15
-};
-
-/*!
- * @brief bmi160 interrupt status bits structure
- */
-struct bmi160_int_status_bits
-{
-#if LITTLE_ENDIAN == 1
-    uint32_t step : 1;
-    uint32_t sigmot : 1;
-    uint32_t anym : 1;
-
-    /* pmu trigger will be handled later */
-    uint32_t pmu_trigger_reserved : 1;
-    uint32_t d_tap : 1;
-    uint32_t s_tap : 1;
-    uint32_t orient : 1;
-    uint32_t flat_int : 1;
-    uint32_t reserved : 2;
-    uint32_t high_g : 1;
-    uint32_t low_g : 1;
-    uint32_t drdy : 1;
-    uint32_t ffull : 1;
-    uint32_t fwm : 1;
-    uint32_t nomo : 1;
-    uint32_t anym_first_x : 1;
-    uint32_t anym_first_y : 1;
-    uint32_t anym_first_z : 1;
-    uint32_t anym_sign : 1;
-    uint32_t tap_first_x : 1;
-    uint32_t tap_first_y : 1;
-    uint32_t tap_first_z : 1;
-    uint32_t tap_sign : 1;
-    uint32_t high_first_x : 1;
-    uint32_t high_first_y : 1;
-    uint32_t high_first_z : 1;
-    uint32_t high_sign : 1;
-    uint32_t orient_1_0 : 2;
-    uint32_t orient_2 : 1;
-    uint32_t flat : 1;
-#elif BIG_ENDIAN == 1
-    uint32_t high_first_x : 1;
-    uint32_t high_first_y : 1;
-    uint32_t high_first_z : 1;
-    uint32_t high_sign : 1;
-    uint32_t orient_1_0 : 2;
-    uint32_t orient_2 : 1;
-    uint32_t flat : 1;
-    uint32_t anym_first_x : 1;
-    uint32_t anym_first_y : 1;
-    uint32_t anym_first_z : 1;
-    uint32_t anym_sign : 1;
-    uint32_t tap_first_x : 1;
-    uint32_t tap_first_y : 1;
-    uint32_t tap_first_z : 1;
-    uint32_t tap_sign : 1;
-    uint32_t reserved : 2;
-    uint32_t high_g : 1;
-    uint32_t low_g : 1;
-    uint32_t drdy : 1;
-    uint32_t ffull : 1;
-    uint32_t fwm : 1;
-    uint32_t nomo : 1;
-    uint32_t step : 1;
-    uint32_t sigmot : 1;
-    uint32_t anym : 1;
-
-    /* pmu trigger will be handled later */
-    uint32_t pmu_trigger_reserved : 1;
-    uint32_t d_tap : 1;
-    uint32_t s_tap : 1;
-    uint32_t orient : 1;
-    uint32_t flat_int : 1;
-#endif
-};
-
-/*!
- * @brief bmi160 interrupt status structure
- */
-union bmi160_int_status
-{
-    uint8_t data[4];
-    struct bmi160_int_status_bits bit;
-};
-
-/*!
- * @brief bmi160 sensor data structure which comprises of accel data
- */
-struct bmi160_sensor_data
-{
-    /*! X-axis sensor data */
-    int16_t x;
-
-    /*! Y-axis sensor data */
-    int16_t y;
-
-    /*! Z-axis sensor data */
-    int16_t z;
-
-    /*! sensor time */
-    uint32_t sensortime;
-};
-
-/*!
- * @brief bmi160 aux data structure which comprises of 8 bytes of accel data
- */
-struct bmi160_aux_data
-{
-    /*! Auxiliary data */
-    uint8_t data[8];
-};
-
-/*!
- * @brief bmi160 FOC configuration structure
- */
-struct bmi160_foc_conf
-{
-    /*! Enabling FOC in gyro
-     * Assignable macros :
-     *  - BMI160_ENABLE
-     *  - BMI160_DISABLE
-     */
-    uint8_t foc_gyr_en;
-
-    /*! Accel FOC configurations
-     * Assignable macros :
-     *  - BMI160_FOC_ACCEL_DISABLED
-     *  - BMI160_FOC_ACCEL_POSITIVE_G
-     *  - BMI160_FOC_ACCEL_NEGATIVE_G
-     *  - BMI160_FOC_ACCEL_0G
-     */
-    uint8_t foc_acc_x;
-    uint8_t foc_acc_y;
-    uint8_t foc_acc_z;
-
-    /*! Enabling offset compensation for accel in data registers
-     * Assignable macros :
-     *  - BMI160_ENABLE
-     *  - BMI160_DISABLE
-     */
-    uint8_t acc_off_en;
-
-    /*! Enabling offset compensation for gyro in data registers
-     * Assignable macros :
-     *  - BMI160_ENABLE
-     *  - BMI160_DISABLE
-     */
-    uint8_t gyro_off_en;
-};
-
-/*!
- * @brief bmi160 accel gyro offsets
- */
-struct bmi160_offsets
-{
-    /*! Accel offset for x axis */
-    int8_t off_acc_x;
-
-    /*! Accel offset for y axis */
-    int8_t off_acc_y;
-
-    /*! Accel offset for z axis */
-    int8_t off_acc_z;
-
-    /*! Gyro offset for x axis */
-    int16_t off_gyro_x;
-
-    /*! Gyro offset for y axis */
-    int16_t off_gyro_y;
-
-    /*! Gyro offset for z axis */
-    int16_t off_gyro_z;
-};
-
-/*!
- * @brief FIFO aux. sensor data structure
- */
-struct bmi160_aux_fifo_data
-{
-    /*! The value of aux. sensor x LSB data */
-    uint8_t aux_x_lsb;
-
-    /*! The value of aux. sensor x MSB data */
-    uint8_t aux_x_msb;
-
-    /*! The value of aux. sensor y LSB data */
-    uint8_t aux_y_lsb;
-
-    /*! The value of aux. sensor y MSB data */
-    uint8_t aux_y_msb;
-
-    /*! The value of aux. sensor z LSB data */
-    uint8_t aux_z_lsb;
-
-    /*! The value of aux. sensor z MSB data */
-    uint8_t aux_z_msb;
-
-    /*! The value of aux. sensor r for BMM150 LSB data */
-    uint8_t aux_r_y2_lsb;
-
-    /*! The value of aux. sensor r for BMM150 MSB data */
-    uint8_t aux_r_y2_msb;
-};
-
-/*!
- * @brief bmi160 sensor select structure
- */
-enum bmi160_select_sensor {
-    BMI160_ACCEL_ONLY = 1,
-    BMI160_GYRO_ONLY,
-    BMI160_BOTH_ACCEL_AND_GYRO
-};
-
-/*!
- * @brief bmi160 sensor step detector mode structure
- */
-enum bmi160_step_detect_mode {
-    BMI160_STEP_DETECT_NORMAL,
-    BMI160_STEP_DETECT_SENSITIVE,
-    BMI160_STEP_DETECT_ROBUST,
-
-    /*! Non recommended User defined setting */
-    BMI160_STEP_DETECT_USER_DEFINE
-};
-
-/*!
- * @brief enum for auxiliary burst read selection
- */
-enum bm160_aux_read_len {
-    BMI160_AUX_READ_LEN_0,
-    BMI160_AUX_READ_LEN_1,
-    BMI160_AUX_READ_LEN_2,
-    BMI160_AUX_READ_LEN_3
-};
-
-/*!
- * @brief bmi160 sensor configuration structure
- */
-struct bmi160_cfg
-{
-    /*! power mode */
-    uint8_t power;
-
-    /*! output data rate */
-    uint8_t odr;
-
-    /*! range */
-    uint8_t range;
-
-    /*! bandwidth */
-    uint8_t bw;
-};
-
-/*!
- * @brief Aux sensor configuration structure
- */
-struct bmi160_aux_cfg
-{
-    /*! Aux sensor, 1 - enable 0 - disable */
-    uint8_t aux_sensor_enable : 1;
-
-    /*! Aux manual/auto mode status */
-    uint8_t manual_enable : 1;
-
-    /*! Aux read burst length */
-    uint8_t aux_rd_burst_len : 2;
-
-    /*! output data rate */
-    uint8_t aux_odr : 4;
-
-    /*! i2c addr of auxiliary sensor */
-    uint8_t aux_i2c_addr;
-};
-
-/*!
- * @brief bmi160 interrupt channel selection structure
- */
-enum bmi160_int_channel {
-    /*! Un-map both channels */
-    BMI160_INT_CHANNEL_NONE,
-
-    /*! interrupt Channel 1 */
-    BMI160_INT_CHANNEL_1,
-
-    /*! interrupt Channel 2 */
-    BMI160_INT_CHANNEL_2,
-
-    /*! Map both channels */
-    BMI160_INT_CHANNEL_BOTH
-};
-enum bmi160_int_types {
-    /*! Slope/Any-motion interrupt */
-    BMI160_ACC_ANY_MOTION_INT,
-
-    /*! Significant motion interrupt */
-    BMI160_ACC_SIG_MOTION_INT,
-
-    /*! Step detector interrupt */
-    BMI160_STEP_DETECT_INT,
-
-    /*! double tap interrupt */
-    BMI160_ACC_DOUBLE_TAP_INT,
-
-    /*! single tap interrupt */
-    BMI160_ACC_SINGLE_TAP_INT,
-
-    /*! orientation interrupt */
-    BMI160_ACC_ORIENT_INT,
-
-    /*! flat interrupt */
-    BMI160_ACC_FLAT_INT,
-
-    /*! high-g interrupt */
-    BMI160_ACC_HIGH_G_INT,
-
-    /*! low-g interrupt */
-    BMI160_ACC_LOW_G_INT,
-
-    /*! slow/no-motion interrupt */
-    BMI160_ACC_SLOW_NO_MOTION_INT,
-
-    /*! data ready interrupt  */
-    BMI160_ACC_GYRO_DATA_RDY_INT,
-
-    /*! fifo full interrupt */
-    BMI160_ACC_GYRO_FIFO_FULL_INT,
-
-    /*! fifo watermark interrupt */
-    BMI160_ACC_GYRO_FIFO_WATERMARK_INT,
-
-    /*! fifo tagging feature support */
-    BMI160_FIFO_TAG_INT_PIN
-};
-
-/*!
- * @brief bmi160 active state of any & sig motion interrupt.
- */
-enum bmi160_any_sig_motion_active_interrupt_state {
-    /*! Both any & sig motion are disabled */
-    BMI160_BOTH_ANY_SIG_MOTION_DISABLED = -1,
-
-    /*! Any-motion selected */
-    BMI160_ANY_MOTION_ENABLED,
-
-    /*! Sig-motion selected */
-    BMI160_SIG_MOTION_ENABLED
-};
-struct bmi160_acc_tap_int_cfg
-{
-#if LITTLE_ENDIAN == 1
-
-    /*! tap threshold */
-    uint16_t tap_thr : 5;
-
-    /*! tap shock */
-    uint16_t tap_shock : 1;
-
-    /*! tap quiet */
-    uint16_t tap_quiet : 1;
-
-    /*! tap duration */
-    uint16_t tap_dur : 3;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint16_t tap_data_src : 1;
-
-    /*! tap enable, 1 - enable, 0 - disable */
-    uint16_t tap_en : 1;
-#elif BIG_ENDIAN == 1
-
-    /*! tap enable, 1 - enable, 0 - disable */
-    uint16_t tap_en : 1;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint16_t tap_data_src : 1;
-
-    /*! tap duration */
-    uint16_t tap_dur : 3;
-
-    /*! tap quiet */
-    uint16_t tap_quiet : 1;
-
-    /*! tap shock */
-    uint16_t tap_shock : 1;
-
-    /*! tap threshold */
-    uint16_t tap_thr : 5;
-#endif
-};
-struct bmi160_acc_any_mot_int_cfg
-{
-#if LITTLE_ENDIAN == 1
-
-    /*! 1 any-motion enable, 0 - any-motion disable */
-    uint8_t anymotion_en : 1;
-
-    /*! slope interrupt x, 1 - enable, 0 - disable */
-    uint8_t anymotion_x : 1;
-
-    /*! slope interrupt y, 1 - enable, 0 - disable */
-    uint8_t anymotion_y : 1;
-
-    /*! slope interrupt z, 1 - enable, 0 - disable */
-    uint8_t anymotion_z : 1;
-
-    /*! slope duration */
-    uint8_t anymotion_dur : 2;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint8_t anymotion_data_src : 1;
-
-    /*! slope threshold */
-    uint8_t anymotion_thr;
-#elif BIG_ENDIAN == 1
-
-    /*! slope threshold */
-    uint8_t anymotion_thr;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint8_t anymotion_data_src : 1;
-
-    /*! slope duration */
-    uint8_t anymotion_dur : 2;
-
-    /*! slope interrupt z, 1 - enable, 0 - disable */
-    uint8_t anymotion_z : 1;
-
-    /*! slope interrupt y, 1 - enable, 0 - disable */
-    uint8_t anymotion_y : 1;
-
-    /*! slope interrupt x, 1 - enable, 0 - disable */
-    uint8_t anymotion_x : 1;
-
-    /*! 1 any-motion enable, 0 - any-motion disable */
-    uint8_t anymotion_en : 1;
-#endif
-};
-struct bmi160_acc_sig_mot_int_cfg
-{
-#if LITTLE_ENDIAN == 1
-
-    /*! skip time of sig-motion interrupt */
-    uint8_t sig_mot_skip : 2;
-
-    /*! proof time of sig-motion interrupt */
-    uint8_t sig_mot_proof : 2;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint8_t sig_data_src : 1;
-
-    /*! 1 - enable sig, 0 - disable sig & enable anymotion */
-    uint8_t sig_en : 1;
-
-    /*! sig-motion threshold */
-    uint8_t sig_mot_thres;
-#elif BIG_ENDIAN == 1
-
-    /*! sig-motion threshold */
-    uint8_t sig_mot_thres;
-
-    /*! 1 - enable sig, 0 - disable sig & enable anymotion */
-    uint8_t sig_en : 1;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint8_t sig_data_src : 1;
-
-    /*! proof time of sig-motion interrupt */
-    uint8_t sig_mot_proof : 2;
-
-    /*! skip time of sig-motion interrupt */
-    uint8_t sig_mot_skip : 2;
-#endif
-};
-struct bmi160_acc_step_detect_int_cfg
-{
-#if LITTLE_ENDIAN == 1
-
-    /*! 1- step detector enable, 0- step detector disable */
-    uint16_t step_detector_en : 1;
-
-    /*! minimum threshold */
-    uint16_t min_threshold : 2;
-
-    /*! minimal detectable step time */
-    uint16_t steptime_min : 3;
-
-    /*! enable step counter mode setting */
-    uint16_t step_detector_mode : 2;
-
-    /*! minimum step buffer size*/
-    uint16_t step_min_buf : 3;
-#elif BIG_ENDIAN == 1
-
-    /*! minimum step buffer size*/
-    uint16_t step_min_buf : 3;
-
-    /*! enable step counter mode setting */
-    uint16_t step_detector_mode : 2;
-
-    /*! minimal detectable step time */
-    uint16_t steptime_min : 3;
-
-    /*! minimum threshold */
-    uint16_t min_threshold : 2;
-
-    /*! 1- step detector enable, 0- step detector disable */
-    uint16_t step_detector_en : 1;
-#endif
-};
-struct bmi160_acc_no_motion_int_cfg
-{
-#if LITTLE_ENDIAN == 1
-
-    /*! no motion interrupt x */
-    uint16_t no_motion_x : 1;
-
-    /*! no motion interrupt y */
-    uint16_t no_motion_y : 1;
-
-    /*! no motion interrupt z */
-    uint16_t no_motion_z : 1;
-
-    /*! no motion duration */
-    uint16_t no_motion_dur : 6;
-
-    /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
-    uint16_t no_motion_sel : 1;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint16_t no_motion_src : 1;
-
-    /*! no motion threshold */
-    uint8_t no_motion_thres;
-#elif BIG_ENDIAN == 1
-
-    /*! no motion threshold */
-    uint8_t no_motion_thres;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint16_t no_motion_src : 1;
-
-    /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
-    uint16_t no_motion_sel : 1;
-
-    /*! no motion duration */
-    uint16_t no_motion_dur : 6;
-
-    /* no motion interrupt z */
-    uint16_t no_motion_z : 1;
-
-    /*! no motion interrupt y */
-    uint16_t no_motion_y : 1;
-
-    /*! no motion interrupt x */
-    uint16_t no_motion_x : 1;
-#endif
-};
-struct bmi160_acc_orient_int_cfg
-{
-#if LITTLE_ENDIAN == 1
-
-    /*! thresholds for switching between the different orientations */
-    uint16_t orient_mode : 2;
-
-    /*! blocking_mode */
-    uint16_t orient_blocking : 2;
-
-    /*! Orientation interrupt hysteresis */
-    uint16_t orient_hyst : 4;
-
-    /*! Orientation interrupt theta */
-    uint16_t orient_theta : 6;
-
-    /*! Enable/disable Orientation interrupt */
-    uint16_t orient_ud_en : 1;
-
-    /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
-    uint16_t axes_ex : 1;
-
-    /*! 1 - orient enable, 0 - orient disable */
-    uint8_t orient_en : 1;
-#elif BIG_ENDIAN == 1
-
-    /*! 1 - orient enable, 0 - orient disable */
-    uint8_t orient_en : 1;
-
-    /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
-    uint16_t axes_ex : 1;
-
-    /*! Enable/disable Orientation interrupt */
-    uint16_t orient_ud_en : 1;
-
-    /*! Orientation interrupt theta */
-    uint16_t orient_theta : 6;
-
-    /*! Orientation interrupt hysteresis */
-    uint16_t orient_hyst : 4;
-
-    /*! blocking_mode */
-    uint16_t orient_blocking : 2;
-
-    /*! thresholds for switching between the different orientations */
-    uint16_t orient_mode : 2;
-#endif
-};
-struct bmi160_acc_flat_detect_int_cfg
-{
-#if LITTLE_ENDIAN == 1
-
-    /*! flat threshold */
-    uint16_t flat_theta : 6;
-
-    /*! flat interrupt hysteresis */
-    uint16_t flat_hy : 3;
-
-    /*! delay time for which the flat value must remain stable for the
-     * flat interrupt to be generated */
-    uint16_t flat_hold_time : 2;
-
-    /*! 1 - flat enable, 0 - flat disable */
-    uint16_t flat_en : 1;
-#elif BIG_ENDIAN == 1
-
-    /*! 1 - flat enable, 0 - flat disable */
-    uint16_t flat_en : 1;
-
-    /*! delay time for which the flat value must remain stable for the
-     * flat interrupt to be generated */
-    uint16_t flat_hold_time : 2;
-
-    /*! flat interrupt hysteresis */
-    uint16_t flat_hy : 3;
-
-    /*! flat threshold */
-    uint16_t flat_theta : 6;
-#endif
-};
-struct bmi160_acc_low_g_int_cfg
-{
-#if LITTLE_ENDIAN == 1
-
-    /*! low-g interrupt trigger delay */
-    uint8_t low_dur;
-
-    /*! low-g interrupt trigger threshold */
-    uint8_t low_thres;
-
-    /*! hysteresis of low-g interrupt */
-    uint8_t low_hyst : 2;
-
-    /*! 0 - single-axis mode ,1 - axis-summing mode */
-    uint8_t low_mode : 1;
-
-    /*! data source 0- filter & 1 pre-filter */
-    uint8_t low_data_src : 1;
-
-    /*! 1 - enable low-g, 0 - disable low-g */
-    uint8_t low_en : 1;
-#elif BIG_ENDIAN == 1
-
-    /*! 1 - enable low-g, 0 - disable low-g */
-    uint8_t low_en : 1;
-
-    /*! data source 0- filter & 1 pre-filter */
-    uint8_t low_data_src : 1;
-
-    /*! 0 - single-axis mode ,1 - axis-summing mode */
-    uint8_t low_mode : 1;
-
-    /*! hysteresis of low-g interrupt */
-    uint8_t low_hyst : 2;
-
-    /*! low-g interrupt trigger threshold */
-    uint8_t low_thres;
-
-    /*! low-g interrupt trigger delay */
-    uint8_t low_dur;
-#endif
-};
-struct bmi160_acc_high_g_int_cfg
-{
-#if LITTLE_ENDIAN == 1
-
-    /*! High-g interrupt x, 1 - enable, 0 - disable */
-    uint8_t high_g_x : 1;
-
-    /*! High-g interrupt y, 1 - enable, 0 - disable */
-    uint8_t high_g_y : 1;
-
-    /*! High-g interrupt z, 1 - enable, 0 - disable */
-    uint8_t high_g_z : 1;
-
-    /*! High-g hysteresis  */
-    uint8_t high_hy : 2;
-
-    /*! data source 0- filter & 1 pre-filter */
-    uint8_t high_data_src : 1;
-
-    /*! High-g threshold */
-    uint8_t high_thres;
-
-    /*! High-g duration */
-    uint8_t high_dur;
-#elif BIG_ENDIAN == 1
-
-    /*! High-g duration */
-    uint8_t high_dur;
-
-    /*! High-g threshold */
-    uint8_t high_thres;
-
-    /*! data source 0- filter & 1 pre-filter */
-    uint8_t high_data_src : 1;
-
-    /*! High-g hysteresis  */
-    uint8_t high_hy : 2;
-
-    /*! High-g interrupt z, 1 - enable, 0 - disable */
-    uint8_t high_g_z : 1;
-
-    /*! High-g interrupt y, 1 - enable, 0 - disable */
-    uint8_t high_g_y : 1;
-
-    /*! High-g interrupt x, 1 - enable, 0 - disable */
-    uint8_t high_g_x : 1;
-#endif
-};
-struct bmi160_int_pin_settg
-{
-#if LITTLE_ENDIAN == 1
-
-    /*! To enable either INT1 or INT2 pin as output.
-     * 0- output disabled ,1- output enabled */
-    uint16_t output_en : 1;
-
-    /*! 0 - push-pull 1- open drain,only valid if output_en is set 1 */
-    uint16_t output_mode : 1;
-
-    /*! 0 - active low , 1 - active high level.
-     * if output_en is 1,this applies to interrupts,else PMU_trigger */
-    uint16_t output_type : 1;
-
-    /*! 0 - level trigger , 1 - edge trigger  */
-    uint16_t edge_ctrl : 1;
-
-    /*! To enable either INT1 or INT2 pin as input.
-     * 0 - input disabled ,1 - input enabled */
-    uint16_t input_en : 1;
-
-    /*! latch duration*/
-    uint16_t latch_dur : 4;
-#elif BIG_ENDIAN == 1
-
-    /*! latch duration*/
-    uint16_t latch_dur : 4;
-
-    /*! Latched,non-latched or temporary interrupt modes */
-    uint16_t input_en : 1;
-
-    /*! 1 - edge trigger, 0 - level trigger */
-    uint16_t edge_ctrl : 1;
-
-    /*! 0 - active low , 1 - active high level.
-     * if output_en is 1,this applies to interrupts,else PMU_trigger */
-    uint16_t output_type : 1;
-
-    /*! 0 - push-pull , 1 - open drain,only valid if output_en is set 1 */
-    uint16_t output_mode : 1;
-
-    /*! To enable either INT1 or INT2 pin as output.
-     * 0 - output disabled , 1 - output enabled */
-    uint16_t output_en : 1;
-#endif
-};
-union bmi160_int_type_cfg
-{
-    /*! Tap interrupt structure */
-    struct bmi160_acc_tap_int_cfg acc_tap_int;
-
-    /*! Slope interrupt structure */
-    struct bmi160_acc_any_mot_int_cfg acc_any_motion_int;
-
-    /*! Significant motion interrupt structure */
-    struct bmi160_acc_sig_mot_int_cfg acc_sig_motion_int;
-
-    /*! Step detector interrupt structure */
-    struct bmi160_acc_step_detect_int_cfg acc_step_detect_int;
-
-    /*! No motion interrupt structure */
-    struct bmi160_acc_no_motion_int_cfg acc_no_motion_int;
-
-    /*! Orientation interrupt structure */
-    struct bmi160_acc_orient_int_cfg acc_orient_int;
-
-    /*! Flat interrupt structure */
-    struct bmi160_acc_flat_detect_int_cfg acc_flat_int;
-
-    /*! Low-g interrupt structure */
-    struct bmi160_acc_low_g_int_cfg acc_low_g_int;
-
-    /*! High-g interrupt structure */
-    struct bmi160_acc_high_g_int_cfg acc_high_g_int;
-};
-struct bmi160_int_settg
-{
-    /*! Interrupt channel */
-    enum bmi160_int_channel int_channel;
-
-    /*! Select Interrupt */
-    enum bmi160_int_types int_type;
-
-    /*! Structure configuring Interrupt pins */
-    struct bmi160_int_pin_settg int_pin_settg;
-
-    /*! Union configures required interrupt */
-    union bmi160_int_type_cfg int_type_cfg;
-
-    /*! FIFO FULL INT 1-enable, 0-disable */
-    uint8_t fifo_full_int_en : 1;
-
-    /*! FIFO WTM INT 1-enable, 0-disable */
-    uint8_t fifo_WTM_int_en : 1;
-};
-
-/*!
- *  @brief This structure holds the information for usage of
- *  FIFO by the user.
- */
-struct bmi160_fifo_frame
-{
-    /*! Data buffer of user defined length is to be mapped here */
-    uint8_t *data;
-
-    /*! While calling the API  "bmi160_get_fifo_data" , length stores
-     *  number of bytes in FIFO to be read (specified by user as input)
-     *  and after execution of the API ,number of FIFO data bytes
-     *  available is provided as an output to user
-     */
-    uint16_t length;
-
-    /*! FIFO time enable */
-    uint8_t fifo_time_enable;
-
-    /*! Enabling of the FIFO header to stream in header mode */
-    uint8_t fifo_header_enable;
-
-    /*! Streaming of the Accelerometer, Gyroscope
-     * sensor data or both in FIFO */
-    uint8_t fifo_data_enable;
-
-    /*! Will be equal to length when no more frames are there to parse */
-    uint16_t accel_byte_start_idx;
-
-    /*! Will be equal to length when no more frames are there to parse */
-    uint16_t gyro_byte_start_idx;
-
-    /*! Will be equal to length when no more frames are there to parse */
-    uint16_t aux_byte_start_idx;
-
-    /*! Value of FIFO sensor time time */
-    uint32_t sensor_time;
-
-    /*! Value of Skipped frame counts */
-    uint8_t skipped_frame_count;
-};
-struct bmi160_dev
-{
-    /*! Chip Id */
-    uint8_t chip_id;
-
-    /*! Device Id */
-    uint8_t id;
-
-    /*! 0 - I2C , 1 - SPI Interface */
-    uint8_t interface;
-
-    /*! Hold active interrupts status for any and sig motion
-     *  0 - Any-motion enable, 1 - Sig-motion enable,
-     *  -1 neither any-motion nor sig-motion selected */
-    enum bmi160_any_sig_motion_active_interrupt_state any_sig_sel;
-
-    /*! Structure to configure Accel sensor */
-    struct bmi160_cfg accel_cfg;
-
-    /*! Structure to hold previous/old accel config parameters.
-     * This is used at driver level to prevent overwriting of same
-     * data, hence user does not change it in the code */
-    struct bmi160_cfg prev_accel_cfg;
-
-    /*! Structure to configure Gyro sensor */
-    struct bmi160_cfg gyro_cfg;
-
-    /*! Structure to hold previous/old gyro config parameters.
-     * This is used at driver level to prevent overwriting of same
-     * data, hence user does not change it in the code */
-    struct bmi160_cfg prev_gyro_cfg;
-
-    /*! Structure to configure the auxiliary sensor */
-    struct bmi160_aux_cfg aux_cfg;
-
-    /*! Structure to hold previous/old aux config parameters.
-     * This is used at driver level to prevent overwriting of same
-     * data, hence user does not change it in the code */
-    struct bmi160_aux_cfg prev_aux_cfg;
-
-    /*! FIFO related configurations */
-    struct bmi160_fifo_frame *fifo;
-
-    /*! Read function pointer */
-    bmi160_com_fptr_t read;
-
-    /*! Write function pointer */
-    bmi160_com_fptr_t write;
-
-    /*!  Delay function pointer */
-    bmi160_delay_fptr_t delay_ms;
-};
-
-#endif /* BMI160_DEFS_H_ */
+/**
+* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+*
+* BSD-3-Clause
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+*
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in the
+*    documentation and/or other materials provided with the distribution.
+*
+* 3. Neither the name of the copyright holder nor the names of its
+*    contributors may be used to endorse or promote products derived from
+*    this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+* @file bmi160_defs.h
+* @date 10/01/2020
+* @version  3.8.1
+*
+*/
+
+/*!
+ * @defgroup bmi160_defs
+ * @brief
+ * @{*/
+
+#ifndef BMI160_DEFS_H_
+#define BMI160_DEFS_H_
+
+/*************************** C types headers *****************************/
+#ifdef __KERNEL__
+#include <linux/types.h>
+#include <linux/kernel.h>
+#else
+#include <stdint.h>
+#include <stddef.h>
+#endif
+
+/*************************** Common macros   *****************************/
+
+#if !defined(UINT8_C) && !defined(INT8_C)
+#define INT8_C(x)   S8_C(x)
+#define UINT8_C(x)  U8_C(x)
+#endif
+
+#if !defined(UINT16_C) && !defined(INT16_C)
+#define INT16_C(x)  S16_C(x)
+#define UINT16_C(x) U16_C(x)
+#endif
+
+#if !defined(INT32_C) && !defined(UINT32_C)
+#define INT32_C(x)  S32_C(x)
+#define UINT32_C(x) U32_C(x)
+#endif
+
+#if !defined(INT64_C) && !defined(UINT64_C)
+#define INT64_C(x)  S64_C(x)
+#define UINT64_C(x) U64_C(x)
+#endif
+
+/**@}*/
+/**\name C standard macros */
+#ifndef NULL
+#ifdef __cplusplus
+#define NULL 0
+#else
+#define NULL ((void *) 0)
+#endif
+#endif
+
+/*************************** Sensor macros   *****************************/
+/* Test for an endian machine */
+#ifndef __ORDER_LITTLE_ENDIAN__
+#define __ORDER_LITTLE_ENDIAN__ 0
+#endif
+
+#ifndef __BYTE_ORDER__
+#define __BYTE_ORDER__          __ORDER_LITTLE_ENDIAN__
+#endif
+
+#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
+#ifndef LITTLE_ENDIAN
+#define LITTLE_ENDIAN           1
+#endif
+#elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
+#ifndef BIG_ENDIAN
+#define BIG_ENDIAN              1
+#endif
+#else
+#error "Code does not support Endian format of the processor"
+#endif
+
+/** Mask definitions */
+#define BMI160_ACCEL_BW_MASK                 UINT8_C(0x70)
+#define BMI160_ACCEL_ODR_MASK                UINT8_C(0x0F)
+#define BMI160_ACCEL_UNDERSAMPLING_MASK      UINT8_C(0x80)
+#define BMI160_ACCEL_RANGE_MASK              UINT8_C(0x0F)
+#define BMI160_GYRO_BW_MASK                  UINT8_C(0x30)
+#define BMI160_GYRO_ODR_MASK                 UINT8_C(0x0F)
+#define BMI160_GYRO_RANGE_MSK                UINT8_C(0x07)
+
+/** Mask definitions for INT_EN registers */
+#define BMI160_ANY_MOTION_X_INT_EN_MASK      UINT8_C(0x01)
+#define BMI160_HIGH_G_X_INT_EN_MASK          UINT8_C(0x01)
+#define BMI160_NO_MOTION_X_INT_EN_MASK       UINT8_C(0x01)
+#define BMI160_ANY_MOTION_Y_INT_EN_MASK      UINT8_C(0x02)
+#define BMI160_HIGH_G_Y_INT_EN_MASK          UINT8_C(0x02)
+#define BMI160_NO_MOTION_Y_INT_EN_MASK       UINT8_C(0x02)
+#define BMI160_ANY_MOTION_Z_INT_EN_MASK      UINT8_C(0x04)
+#define BMI160_HIGH_G_Z_INT_EN_MASK          UINT8_C(0x04)
+#define BMI160_NO_MOTION_Z_INT_EN_MASK       UINT8_C(0x04)
+#define BMI160_SIG_MOTION_INT_EN_MASK        UINT8_C(0x07)
+#define BMI160_ANY_MOTION_ALL_INT_EN_MASK    UINT8_C(0x07)
+#define BMI160_STEP_DETECT_INT_EN_MASK       UINT8_C(0x08)
+#define BMI160_DOUBLE_TAP_INT_EN_MASK        UINT8_C(0x10)
+#define BMI160_SINGLE_TAP_INT_EN_MASK        UINT8_C(0x20)
+#define BMI160_FIFO_FULL_INT_EN_MASK         UINT8_C(0x20)
+#define BMI160_ORIENT_INT_EN_MASK            UINT8_C(0x40)
+#define BMI160_FIFO_WATERMARK_INT_EN_MASK    UINT8_C(0x40)
+#define BMI160_LOW_G_INT_EN_MASK             UINT8_C(0x08)
+#define BMI160_STEP_DETECT_EN_MASK           UINT8_C(0x08)
+#define BMI160_FLAT_INT_EN_MASK              UINT8_C(0x80)
+#define BMI160_DATA_RDY_INT_EN_MASK          UINT8_C(0x10)
+
+/** PMU status Macros */
+#define BMI160_AUX_PMU_SUSPEND               UINT8_C(0x00)
+#define BMI160_AUX_PMU_NORMAL                UINT8_C(0x01)
+#define BMI160_AUX_PMU_LOW_POWER             UINT8_C(0x02)
+
+#define BMI160_GYRO_PMU_SUSPEND              UINT8_C(0x00)
+#define BMI160_GYRO_PMU_NORMAL               UINT8_C(0x01)
+#define BMI160_GYRO_PMU_FSU                  UINT8_C(0x03)
+
+#define BMI160_ACCEL_PMU_SUSPEND             UINT8_C(0x00)
+#define BMI160_ACCEL_PMU_NORMAL              UINT8_C(0x01)
+#define BMI160_ACCEL_PMU_LOW_POWER           UINT8_C(0x02)
+
+/** Mask definitions for INT_OUT_CTRL register */
+#define BMI160_INT1_EDGE_CTRL_MASK           UINT8_C(0x01)
+#define BMI160_INT1_OUTPUT_MODE_MASK         UINT8_C(0x04)
+#define BMI160_INT1_OUTPUT_TYPE_MASK         UINT8_C(0x02)
+#define BMI160_INT1_OUTPUT_EN_MASK           UINT8_C(0x08)
+#define BMI160_INT2_EDGE_CTRL_MASK           UINT8_C(0x10)
+#define BMI160_INT2_OUTPUT_MODE_MASK         UINT8_C(0x40)
+#define BMI160_INT2_OUTPUT_TYPE_MASK         UINT8_C(0x20)
+#define BMI160_INT2_OUTPUT_EN_MASK           UINT8_C(0x80)
+
+/** Mask definitions for INT_LATCH register */
+#define BMI160_INT1_INPUT_EN_MASK            UINT8_C(0x10)
+#define BMI160_INT2_INPUT_EN_MASK            UINT8_C(0x20)
+#define BMI160_INT_LATCH_MASK                UINT8_C(0x0F)
+
+/** Mask definitions for INT_MAP register */
+#define BMI160_INT1_LOW_G_MASK               UINT8_C(0x01)
+#define BMI160_INT1_HIGH_G_MASK              UINT8_C(0x02)
+#define BMI160_INT1_SLOPE_MASK               UINT8_C(0x04)
+#define BMI160_INT1_NO_MOTION_MASK           UINT8_C(0x08)
+#define BMI160_INT1_DOUBLE_TAP_MASK          UINT8_C(0x10)
+#define BMI160_INT1_SINGLE_TAP_MASK          UINT8_C(0x20)
+#define BMI160_INT1_FIFO_FULL_MASK           UINT8_C(0x20)
+#define BMI160_INT1_FIFO_WM_MASK             UINT8_C(0x40)
+#define BMI160_INT1_ORIENT_MASK              UINT8_C(0x40)
+#define BMI160_INT1_FLAT_MASK                UINT8_C(0x80)
+#define BMI160_INT1_DATA_READY_MASK          UINT8_C(0x80)
+#define BMI160_INT2_LOW_G_MASK               UINT8_C(0x01)
+#define BMI160_INT1_LOW_STEP_DETECT_MASK     UINT8_C(0x01)
+#define BMI160_INT2_LOW_STEP_DETECT_MASK     UINT8_C(0x01)
+#define BMI160_INT2_HIGH_G_MASK              UINT8_C(0x02)
+#define BMI160_INT2_FIFO_FULL_MASK           UINT8_C(0x02)
+#define BMI160_INT2_FIFO_WM_MASK             UINT8_C(0x04)
+#define BMI160_INT2_SLOPE_MASK               UINT8_C(0x04)
+#define BMI160_INT2_DATA_READY_MASK          UINT8_C(0x08)
+#define BMI160_INT2_NO_MOTION_MASK           UINT8_C(0x08)
+#define BMI160_INT2_DOUBLE_TAP_MASK          UINT8_C(0x10)
+#define BMI160_INT2_SINGLE_TAP_MASK          UINT8_C(0x20)
+#define BMI160_INT2_ORIENT_MASK              UINT8_C(0x40)
+#define BMI160_INT2_FLAT_MASK                UINT8_C(0x80)
+
+/** Mask definitions for INT_DATA register */
+#define BMI160_TAP_SRC_INT_MASK              UINT8_C(0x08)
+#define BMI160_LOW_HIGH_SRC_INT_MASK         UINT8_C(0x80)
+#define BMI160_MOTION_SRC_INT_MASK           UINT8_C(0x80)
+
+/** Mask definitions for INT_MOTION register */
+#define BMI160_SLOPE_INT_DUR_MASK            UINT8_C(0x03)
+#define BMI160_NO_MOTION_INT_DUR_MASK        UINT8_C(0xFC)
+#define BMI160_NO_MOTION_SEL_BIT_MASK        UINT8_C(0x01)
+
+/** Mask definitions for INT_TAP register */
+#define BMI160_TAP_DUR_MASK                  UINT8_C(0x07)
+#define BMI160_TAP_SHOCK_DUR_MASK            UINT8_C(0x40)
+#define BMI160_TAP_QUIET_DUR_MASK            UINT8_C(0x80)
+#define BMI160_TAP_THRES_MASK                UINT8_C(0x1F)
+
+/** Mask definitions for INT_FLAT register */
+#define BMI160_FLAT_THRES_MASK               UINT8_C(0x3F)
+#define BMI160_FLAT_HOLD_TIME_MASK           UINT8_C(0x30)
+#define BMI160_FLAT_HYST_MASK                UINT8_C(0x07)
+
+/** Mask definitions for INT_LOWHIGH register */
+#define BMI160_LOW_G_HYST_MASK               UINT8_C(0x03)
+#define BMI160_LOW_G_LOW_MODE_MASK           UINT8_C(0x04)
+#define BMI160_HIGH_G_HYST_MASK              UINT8_C(0xC0)
+
+/** Mask definitions for INT_SIG_MOTION register */
+#define BMI160_SIG_MOTION_SEL_MASK           UINT8_C(0x02)
+#define BMI160_SIG_MOTION_SKIP_MASK          UINT8_C(0x0C)
+#define BMI160_SIG_MOTION_PROOF_MASK         UINT8_C(0x30)
+
+/** Mask definitions for INT_ORIENT register */
+#define BMI160_ORIENT_MODE_MASK              UINT8_C(0x03)
+#define BMI160_ORIENT_BLOCK_MASK             UINT8_C(0x0C)
+#define BMI160_ORIENT_HYST_MASK              UINT8_C(0xF0)
+#define BMI160_ORIENT_THETA_MASK             UINT8_C(0x3F)
+#define BMI160_ORIENT_UD_ENABLE              UINT8_C(0x40)
+#define BMI160_AXES_EN_MASK                  UINT8_C(0x80)
+
+/** Mask definitions for FIFO_CONFIG register */
+#define BMI160_FIFO_GYRO                     UINT8_C(0x80)
+#define BMI160_FIFO_ACCEL                    UINT8_C(0x40)
+#define BMI160_FIFO_AUX                      UINT8_C(0x20)
+#define BMI160_FIFO_TAG_INT1                 UINT8_C(0x08)
+#define BMI160_FIFO_TAG_INT2                 UINT8_C(0x04)
+#define BMI160_FIFO_TIME                     UINT8_C(0x02)
+#define BMI160_FIFO_HEADER                   UINT8_C(0x10)
+#define BMI160_FIFO_CONFIG_1_MASK            UINT8_C(0xFE)
+
+/** Mask definitions for STEP_CONF register */
+#define BMI160_STEP_COUNT_EN_BIT_MASK        UINT8_C(0x08)
+#define BMI160_STEP_DETECT_MIN_THRES_MASK    UINT8_C(0x18)
+#define BMI160_STEP_DETECT_STEPTIME_MIN_MASK UINT8_C(0x07)
+#define BMI160_STEP_MIN_BUF_MASK             UINT8_C(0x07)
+
+/** Mask definition for FIFO Header Data Tag */
+#define BMI160_FIFO_TAG_INTR_MASK            UINT8_C(0xFC)
+
+/** Fifo byte counter mask definitions */
+#define BMI160_FIFO_BYTE_COUNTER_MASK        UINT8_C(0x07)
+
+/** Enable/disable bit value */
+#define BMI160_ENABLE                        UINT8_C(0x01)
+#define BMI160_DISABLE                       UINT8_C(0x00)
+
+/** Latch Duration */
+#define BMI160_LATCH_DUR_NONE                UINT8_C(0x00)
+#define BMI160_LATCH_DUR_312_5_MICRO_SEC     UINT8_C(0x01)
+#define BMI160_LATCH_DUR_625_MICRO_SEC       UINT8_C(0x02)
+#define BMI160_LATCH_DUR_1_25_MILLI_SEC      UINT8_C(0x03)
+#define BMI160_LATCH_DUR_2_5_MILLI_SEC       UINT8_C(0x04)
+#define BMI160_LATCH_DUR_5_MILLI_SEC         UINT8_C(0x05)
+#define BMI160_LATCH_DUR_10_MILLI_SEC        UINT8_C(0x06)
+#define BMI160_LATCH_DUR_20_MILLI_SEC        UINT8_C(0x07)
+#define BMI160_LATCH_DUR_40_MILLI_SEC        UINT8_C(0x08)
+#define BMI160_LATCH_DUR_80_MILLI_SEC        UINT8_C(0x09)
+#define BMI160_LATCH_DUR_160_MILLI_SEC       UINT8_C(0x0A)
+#define BMI160_LATCH_DUR_320_MILLI_SEC       UINT8_C(0x0B)
+#define BMI160_LATCH_DUR_640_MILLI_SEC       UINT8_C(0x0C)
+#define BMI160_LATCH_DUR_1_28_SEC            UINT8_C(0x0D)
+#define BMI160_LATCH_DUR_2_56_SEC            UINT8_C(0x0E)
+#define BMI160_LATCHED                       UINT8_C(0x0F)
+
+/** BMI160 Register map */
+#define BMI160_CHIP_ID_ADDR                  UINT8_C(0x00)
+#define BMI160_ERROR_REG_ADDR                UINT8_C(0x02)
+#define BMI160_PMU_STATUS_ADDR               UINT8_C(0x03)
+#define BMI160_AUX_DATA_ADDR                 UINT8_C(0x04)
+#define BMI160_GYRO_DATA_ADDR                UINT8_C(0x0C)
+#define BMI160_ACCEL_DATA_ADDR               UINT8_C(0x12)
+#define BMI160_STATUS_ADDR                   UINT8_C(0x1B)
+#define BMI160_INT_STATUS_ADDR               UINT8_C(0x1C)
+#define BMI160_FIFO_LENGTH_ADDR              UINT8_C(0x22)
+#define BMI160_FIFO_DATA_ADDR                UINT8_C(0x24)
+#define BMI160_ACCEL_CONFIG_ADDR             UINT8_C(0x40)
+#define BMI160_ACCEL_RANGE_ADDR              UINT8_C(0x41)
+#define BMI160_GYRO_CONFIG_ADDR              UINT8_C(0x42)
+#define BMI160_GYRO_RANGE_ADDR               UINT8_C(0x43)
+#define BMI160_AUX_ODR_ADDR                  UINT8_C(0x44)
+#define BMI160_FIFO_DOWN_ADDR                UINT8_C(0x45)
+#define BMI160_FIFO_CONFIG_0_ADDR            UINT8_C(0x46)
+#define BMI160_FIFO_CONFIG_1_ADDR            UINT8_C(0x47)
+#define BMI160_AUX_IF_0_ADDR                 UINT8_C(0x4B)
+#define BMI160_AUX_IF_1_ADDR                 UINT8_C(0x4C)
+#define BMI160_AUX_IF_2_ADDR                 UINT8_C(0x4D)
+#define BMI160_AUX_IF_3_ADDR                 UINT8_C(0x4E)
+#define BMI160_AUX_IF_4_ADDR                 UINT8_C(0x4F)
+#define BMI160_INT_ENABLE_0_ADDR             UINT8_C(0x50)
+#define BMI160_INT_ENABLE_1_ADDR             UINT8_C(0x51)
+#define BMI160_INT_ENABLE_2_ADDR             UINT8_C(0x52)
+#define BMI160_INT_OUT_CTRL_ADDR             UINT8_C(0x53)
+#define BMI160_INT_LATCH_ADDR                UINT8_C(0x54)
+#define BMI160_INT_MAP_0_ADDR                UINT8_C(0x55)
+#define BMI160_INT_MAP_1_ADDR                UINT8_C(0x56)
+#define BMI160_INT_MAP_2_ADDR                UINT8_C(0x57)
+#define BMI160_INT_DATA_0_ADDR               UINT8_C(0x58)
+#define BMI160_INT_DATA_1_ADDR               UINT8_C(0x59)
+#define BMI160_INT_LOWHIGH_0_ADDR            UINT8_C(0x5A)
+#define BMI160_INT_LOWHIGH_1_ADDR            UINT8_C(0x5B)
+#define BMI160_INT_LOWHIGH_2_ADDR            UINT8_C(0x5C)
+#define BMI160_INT_LOWHIGH_3_ADDR            UINT8_C(0x5D)
+#define BMI160_INT_LOWHIGH_4_ADDR            UINT8_C(0x5E)
+#define BMI160_INT_MOTION_0_ADDR             UINT8_C(0x5F)
+#define BMI160_INT_MOTION_1_ADDR             UINT8_C(0x60)
+#define BMI160_INT_MOTION_2_ADDR             UINT8_C(0x61)
+#define BMI160_INT_MOTION_3_ADDR             UINT8_C(0x62)
+#define BMI160_INT_TAP_0_ADDR                UINT8_C(0x63)
+#define BMI160_INT_TAP_1_ADDR                UINT8_C(0x64)
+#define BMI160_INT_ORIENT_0_ADDR             UINT8_C(0x65)
+#define BMI160_INT_ORIENT_1_ADDR             UINT8_C(0x66)
+#define BMI160_INT_FLAT_0_ADDR               UINT8_C(0x67)
+#define BMI160_INT_FLAT_1_ADDR               UINT8_C(0x68)
+#define BMI160_FOC_CONF_ADDR                 UINT8_C(0x69)
+#define BMI160_CONF_ADDR                     UINT8_C(0x6A)
+
+#define BMI160_IF_CONF_ADDR                  UINT8_C(0x6B)
+#define BMI160_SELF_TEST_ADDR                UINT8_C(0x6D)
+#define BMI160_OFFSET_ADDR                   UINT8_C(0x71)
+#define BMI160_OFFSET_CONF_ADDR              UINT8_C(0x77)
+#define BMI160_INT_STEP_CNT_0_ADDR           UINT8_C(0x78)
+#define BMI160_INT_STEP_CONFIG_0_ADDR        UINT8_C(0x7A)
+#define BMI160_INT_STEP_CONFIG_1_ADDR        UINT8_C(0x7B)
+#define BMI160_COMMAND_REG_ADDR              UINT8_C(0x7E)
+#define BMI160_SPI_COMM_TEST_ADDR            UINT8_C(0x7F)
+#define BMI160_INTL_PULLUP_CONF_ADDR         UINT8_C(0x85)
+
+/** Error code definitions */
+#define BMI160_OK                            INT8_C(0)
+#define BMI160_E_NULL_PTR                    INT8_C(-1)
+#define BMI160_E_COM_FAIL                    INT8_C(-2)
+#define BMI160_E_DEV_NOT_FOUND               INT8_C(-3)
+#define BMI160_E_OUT_OF_RANGE                INT8_C(-4)
+#define BMI160_E_INVALID_INPUT               INT8_C(-5)
+#define BMI160_E_ACCEL_ODR_BW_INVALID        INT8_C(-6)
+#define BMI160_E_GYRO_ODR_BW_INVALID         INT8_C(-7)
+#define BMI160_E_LWP_PRE_FLTR_INT_INVALID    INT8_C(-8)
+#define BMI160_E_LWP_PRE_FLTR_INVALID        INT8_C(-9)
+#define BMI160_E_AUX_NOT_FOUND               INT8_C(-10)
+#define BMI160_FOC_FAILURE                   INT8_C(-11)
+#define BMI160_READ_WRITE_LENGHT_INVALID     INT8_C(-12)
+
+/**\name API warning codes */
+#define BMI160_W_GYRO_SELF_TEST_FAIL         INT8_C(1)
+#define BMI160_W_ACCEl_SELF_TEST_FAIL        INT8_C(2)
+
+/** BMI160 unique chip identifier */
+#define BMI160_CHIP_ID                       UINT8_C(0xD1)
+
+/** Soft reset command */
+#define BMI160_SOFT_RESET_CMD                UINT8_C(0xb6)
+#define BMI160_SOFT_RESET_DELAY_MS           UINT8_C(1)
+
+/** Start FOC command */
+#define BMI160_START_FOC_CMD                 UINT8_C(0x03)
+
+/** NVM backup enabling command */
+#define BMI160_NVM_BACKUP_EN                 UINT8_C(0xA0)
+
+/* Delay in ms settings */
+#define BMI160_ACCEL_DELAY_MS                UINT8_C(5)
+#define BMI160_GYRO_DELAY_MS                 UINT8_C(81)
+#define BMI160_ONE_MS_DELAY                  UINT8_C(1)
+#define BMI160_AUX_COM_DELAY                 UINT8_C(10)
+#define BMI160_GYRO_SELF_TEST_DELAY          UINT8_C(20)
+#define BMI160_ACCEL_SELF_TEST_DELAY         UINT8_C(50)
+
+/** Self test configurations */
+#define BMI160_ACCEL_SELF_TEST_CONFIG        UINT8_C(0x2C)
+#define BMI160_ACCEL_SELF_TEST_POSITIVE_EN   UINT8_C(0x0D)
+#define BMI160_ACCEL_SELF_TEST_NEGATIVE_EN   UINT8_C(0x09)
+#define BMI160_ACCEL_SELF_TEST_LIMIT         UINT16_C(8192)
+
+/** Power mode settings */
+/* Accel power mode */
+#define BMI160_ACCEL_NORMAL_MODE             UINT8_C(0x11)
+#define BMI160_ACCEL_LOWPOWER_MODE           UINT8_C(0x12)
+#define BMI160_ACCEL_SUSPEND_MODE            UINT8_C(0x10)
+
+/* Gyro power mode */
+#define BMI160_GYRO_SUSPEND_MODE             UINT8_C(0x14)
+#define BMI160_GYRO_NORMAL_MODE              UINT8_C(0x15)
+#define BMI160_GYRO_FASTSTARTUP_MODE         UINT8_C(0x17)
+
+/* Aux power mode */
+#define BMI160_AUX_SUSPEND_MODE              UINT8_C(0x18)
+#define BMI160_AUX_NORMAL_MODE               UINT8_C(0x19)
+#define BMI160_AUX_LOWPOWER_MODE             UINT8_C(0x1A)
+
+/** Range settings */
+/* Accel Range */
+#define BMI160_ACCEL_RANGE_2G                UINT8_C(0x03)
+#define BMI160_ACCEL_RANGE_4G                UINT8_C(0x05)
+#define BMI160_ACCEL_RANGE_8G                UINT8_C(0x08)
+#define BMI160_ACCEL_RANGE_16G               UINT8_C(0x0C)
+
+/* Gyro Range */
+#define BMI160_GYRO_RANGE_2000_DPS           UINT8_C(0x00)
+#define BMI160_GYRO_RANGE_1000_DPS           UINT8_C(0x01)
+#define BMI160_GYRO_RANGE_500_DPS            UINT8_C(0x02)
+#define BMI160_GYRO_RANGE_250_DPS            UINT8_C(0x03)
+#define BMI160_GYRO_RANGE_125_DPS            UINT8_C(0x04)
+
+/** Bandwidth settings */
+/* Accel Bandwidth */
+#define BMI160_ACCEL_BW_OSR4_AVG1            UINT8_C(0x00)
+#define BMI160_ACCEL_BW_OSR2_AVG2            UINT8_C(0x01)
+#define BMI160_ACCEL_BW_NORMAL_AVG4          UINT8_C(0x02)
+#define BMI160_ACCEL_BW_RES_AVG8             UINT8_C(0x03)
+#define BMI160_ACCEL_BW_RES_AVG16            UINT8_C(0x04)
+#define BMI160_ACCEL_BW_RES_AVG32            UINT8_C(0x05)
+#define BMI160_ACCEL_BW_RES_AVG64            UINT8_C(0x06)
+#define BMI160_ACCEL_BW_RES_AVG128           UINT8_C(0x07)
+
+#define BMI160_GYRO_BW_OSR4_MODE             UINT8_C(0x00)
+#define BMI160_GYRO_BW_OSR2_MODE             UINT8_C(0x01)
+#define BMI160_GYRO_BW_NORMAL_MODE           UINT8_C(0x02)
+
+/* Output Data Rate settings */
+/* Accel Output data rate */
+#define BMI160_ACCEL_ODR_RESERVED            UINT8_C(0x00)
+#define BMI160_ACCEL_ODR_0_78HZ              UINT8_C(0x01)
+#define BMI160_ACCEL_ODR_1_56HZ              UINT8_C(0x02)
+#define BMI160_ACCEL_ODR_3_12HZ              UINT8_C(0x03)
+#define BMI160_ACCEL_ODR_6_25HZ              UINT8_C(0x04)
+#define BMI160_ACCEL_ODR_12_5HZ              UINT8_C(0x05)
+#define BMI160_ACCEL_ODR_25HZ                UINT8_C(0x06)
+#define BMI160_ACCEL_ODR_50HZ                UINT8_C(0x07)
+#define BMI160_ACCEL_ODR_100HZ               UINT8_C(0x08)
+#define BMI160_ACCEL_ODR_200HZ               UINT8_C(0x09)
+#define BMI160_ACCEL_ODR_400HZ               UINT8_C(0x0A)
+#define BMI160_ACCEL_ODR_800HZ               UINT8_C(0x0B)
+#define BMI160_ACCEL_ODR_1600HZ              UINT8_C(0x0C)
+#define BMI160_ACCEL_ODR_RESERVED0           UINT8_C(0x0D)
+#define BMI160_ACCEL_ODR_RESERVED1           UINT8_C(0x0E)
+#define BMI160_ACCEL_ODR_RESERVED2           UINT8_C(0x0F)
+
+/* Gyro Output data rate */
+#define BMI160_GYRO_ODR_RESERVED             UINT8_C(0x00)
+#define BMI160_GYRO_ODR_25HZ                 UINT8_C(0x06)
+#define BMI160_GYRO_ODR_50HZ                 UINT8_C(0x07)
+#define BMI160_GYRO_ODR_100HZ                UINT8_C(0x08)
+#define BMI160_GYRO_ODR_200HZ                UINT8_C(0x09)
+#define BMI160_GYRO_ODR_400HZ                UINT8_C(0x0A)
+#define BMI160_GYRO_ODR_800HZ                UINT8_C(0x0B)
+#define BMI160_GYRO_ODR_1600HZ               UINT8_C(0x0C)
+#define BMI160_GYRO_ODR_3200HZ               UINT8_C(0x0D)
+
+/* Auxiliary sensor Output data rate */
+#define BMI160_AUX_ODR_RESERVED              UINT8_C(0x00)
+#define BMI160_AUX_ODR_0_78HZ                UINT8_C(0x01)
+#define BMI160_AUX_ODR_1_56HZ                UINT8_C(0x02)
+#define BMI160_AUX_ODR_3_12HZ                UINT8_C(0x03)
+#define BMI160_AUX_ODR_6_25HZ                UINT8_C(0x04)
+#define BMI160_AUX_ODR_12_5HZ                UINT8_C(0x05)
+#define BMI160_AUX_ODR_25HZ                  UINT8_C(0x06)
+#define BMI160_AUX_ODR_50HZ                  UINT8_C(0x07)
+#define BMI160_AUX_ODR_100HZ                 UINT8_C(0x08)
+#define BMI160_AUX_ODR_200HZ                 UINT8_C(0x09)
+#define BMI160_AUX_ODR_400HZ                 UINT8_C(0x0A)
+#define BMI160_AUX_ODR_800HZ                 UINT8_C(0x0B)
+
+/* Maximum limits definition */
+#define BMI160_ACCEL_ODR_MAX                 UINT8_C(15)
+#define BMI160_ACCEL_BW_MAX                  UINT8_C(2)
+#define BMI160_ACCEL_RANGE_MAX               UINT8_C(12)
+#define BMI160_GYRO_ODR_MAX                  UINT8_C(13)
+#define BMI160_GYRO_BW_MAX                   UINT8_C(2)
+#define BMI160_GYRO_RANGE_MAX                UINT8_C(4)
+
+/** FIFO_CONFIG Definitions */
+#define BMI160_FIFO_TIME_ENABLE              UINT8_C(0x02)
+#define BMI160_FIFO_TAG_INT2_ENABLE          UINT8_C(0x04)
+#define BMI160_FIFO_TAG_INT1_ENABLE          UINT8_C(0x08)
+#define BMI160_FIFO_HEAD_ENABLE              UINT8_C(0x10)
+#define BMI160_FIFO_M_ENABLE                 UINT8_C(0x20)
+#define BMI160_FIFO_A_ENABLE                 UINT8_C(0x40)
+#define BMI160_FIFO_M_A_ENABLE               UINT8_C(0x60)
+#define BMI160_FIFO_G_ENABLE                 UINT8_C(0x80)
+#define BMI160_FIFO_M_G_ENABLE               UINT8_C(0xA0)
+#define BMI160_FIFO_G_A_ENABLE               UINT8_C(0xC0)
+#define BMI160_FIFO_M_G_A_ENABLE             UINT8_C(0xE0)
+
+/* Macro to specify the number of bytes over-read from the
+ * FIFO in order to get the sensor time at the end of FIFO */
+#ifndef BMI160_FIFO_BYTES_OVERREAD
+#define BMI160_FIFO_BYTES_OVERREAD           UINT8_C(25)
+#endif
+
+/* Accel, gyro and aux. sensor length and also their combined
+ * length definitions in FIFO */
+#define BMI160_FIFO_G_LENGTH                 UINT8_C(6)
+#define BMI160_FIFO_A_LENGTH                 UINT8_C(6)
+#define BMI160_FIFO_M_LENGTH                 UINT8_C(8)
+#define BMI160_FIFO_GA_LENGTH                UINT8_C(12)
+#define BMI160_FIFO_MA_LENGTH                UINT8_C(14)
+#define BMI160_FIFO_MG_LENGTH                UINT8_C(14)
+#define BMI160_FIFO_MGA_LENGTH               UINT8_C(20)
+
+/** FIFO Header Data definitions */
+#define BMI160_FIFO_HEAD_SKIP_FRAME          UINT8_C(0x40)
+#define BMI160_FIFO_HEAD_SENSOR_TIME         UINT8_C(0x44)
+#define BMI160_FIFO_HEAD_INPUT_CONFIG        UINT8_C(0x48)
+#define BMI160_FIFO_HEAD_OVER_READ           UINT8_C(0x80)
+#define BMI160_FIFO_HEAD_A                   UINT8_C(0x84)
+#define BMI160_FIFO_HEAD_G                   UINT8_C(0x88)
+#define BMI160_FIFO_HEAD_G_A                 UINT8_C(0x8C)
+#define BMI160_FIFO_HEAD_M                   UINT8_C(0x90)
+#define BMI160_FIFO_HEAD_M_A                 UINT8_C(0x94)
+#define BMI160_FIFO_HEAD_M_G                 UINT8_C(0x98)
+#define BMI160_FIFO_HEAD_M_G_A               UINT8_C(0x9C)
+
+/** FIFO sensor time length definitions */
+#define BMI160_SENSOR_TIME_LENGTH            UINT8_C(3)
+
+/** FIFO DOWN selection */
+/* Accel fifo down-sampling values*/
+#define  BMI160_ACCEL_FIFO_DOWN_ZERO         UINT8_C(0x00)
+#define  BMI160_ACCEL_FIFO_DOWN_ONE          UINT8_C(0x10)
+#define  BMI160_ACCEL_FIFO_DOWN_TWO          UINT8_C(0x20)
+#define  BMI160_ACCEL_FIFO_DOWN_THREE        UINT8_C(0x30)
+#define  BMI160_ACCEL_FIFO_DOWN_FOUR         UINT8_C(0x40)
+#define  BMI160_ACCEL_FIFO_DOWN_FIVE         UINT8_C(0x50)
+#define  BMI160_ACCEL_FIFO_DOWN_SIX          UINT8_C(0x60)
+#define  BMI160_ACCEL_FIFO_DOWN_SEVEN        UINT8_C(0x70)
+
+/* Gyro fifo down-smapling values*/
+#define  BMI160_GYRO_FIFO_DOWN_ZERO          UINT8_C(0x00)
+#define  BMI160_GYRO_FIFO_DOWN_ONE           UINT8_C(0x01)
+#define  BMI160_GYRO_FIFO_DOWN_TWO           UINT8_C(0x02)
+#define  BMI160_GYRO_FIFO_DOWN_THREE         UINT8_C(0x03)
+#define  BMI160_GYRO_FIFO_DOWN_FOUR          UINT8_C(0x04)
+#define  BMI160_GYRO_FIFO_DOWN_FIVE          UINT8_C(0x05)
+#define  BMI160_GYRO_FIFO_DOWN_SIX           UINT8_C(0x06)
+#define  BMI160_GYRO_FIFO_DOWN_SEVEN         UINT8_C(0x07)
+
+/* Accel Fifo filter enable*/
+#define  BMI160_ACCEL_FIFO_FILT_EN           UINT8_C(0x80)
+
+/* Gyro Fifo filter enable*/
+#define  BMI160_GYRO_FIFO_FILT_EN            UINT8_C(0x08)
+
+/** Definitions to check validity of FIFO frames */
+#define FIFO_CONFIG_MSB_CHECK                UINT8_C(0x80)
+#define FIFO_CONFIG_LSB_CHECK                UINT8_C(0x00)
+
+/*! BMI160 accel FOC configurations */
+#define BMI160_FOC_ACCEL_DISABLED            UINT8_C(0x00)
+#define BMI160_FOC_ACCEL_POSITIVE_G          UINT8_C(0x01)
+#define BMI160_FOC_ACCEL_NEGATIVE_G          UINT8_C(0x02)
+#define BMI160_FOC_ACCEL_0G                  UINT8_C(0x03)
+
+/** Array Parameter DefinItions */
+#define BMI160_SENSOR_TIME_LSB_BYTE          UINT8_C(0)
+#define BMI160_SENSOR_TIME_XLSB_BYTE         UINT8_C(1)
+#define BMI160_SENSOR_TIME_MSB_BYTE          UINT8_C(2)
+
+/** Interface settings */
+#define BMI160_SPI_INTF                      UINT8_C(1)
+#define BMI160_I2C_INTF                      UINT8_C(0)
+#define BMI160_SPI_RD_MASK                   UINT8_C(0x80)
+#define BMI160_SPI_WR_MASK                   UINT8_C(0x7F)
+
+/* Sensor & time select definition*/
+#define BMI160_ACCEL_SEL                     UINT8_C(0x01)
+#define BMI160_GYRO_SEL                      UINT8_C(0x02)
+#define BMI160_TIME_SEL                      UINT8_C(0x04)
+
+/* Sensor select mask*/
+#define BMI160_SEN_SEL_MASK                  UINT8_C(0x07)
+
+/* Error code mask */
+#define BMI160_ERR_REG_MASK                  UINT8_C(0x0F)
+
+/* BMI160 I2C address */
+#define BMI160_I2C_ADDR                      UINT8_C(0x68)
+
+/* BMI160 secondary IF address */
+#define BMI160_AUX_BMM150_I2C_ADDR           UINT8_C(0x10)
+
+/** BMI160 Length definitions */
+#define BMI160_ONE                           UINT8_C(1)
+#define BMI160_TWO                           UINT8_C(2)
+#define BMI160_THREE                         UINT8_C(3)
+#define BMI160_FOUR                          UINT8_C(4)
+#define BMI160_FIVE                          UINT8_C(5)
+
+/** BMI160 fifo level Margin */
+#define BMI160_FIFO_LEVEL_MARGIN             UINT8_C(16)
+
+/** BMI160 fifo flush Command */
+#define BMI160_FIFO_FLUSH_VALUE              UINT8_C(0xB0)
+
+/** BMI160 offset values for xyz axes of accel */
+#define BMI160_ACCEL_MIN_OFFSET              INT8_C(-128)
+#define BMI160_ACCEL_MAX_OFFSET              INT8_C(127)
+
+/** BMI160 offset values for xyz axes of gyro */
+#define BMI160_GYRO_MIN_OFFSET               INT16_C(-512)
+#define BMI160_GYRO_MAX_OFFSET               INT16_C(511)
+
+/** BMI160 fifo full interrupt position and mask */
+#define BMI160_FIFO_FULL_INT_POS             UINT8_C(5)
+#define BMI160_FIFO_FULL_INT_MSK             UINT8_C(0x20)
+#define BMI160_FIFO_WTM_INT_POS              UINT8_C(6)
+#define BMI160_FIFO_WTM_INT_MSK              UINT8_C(0x40)
+
+#define BMI160_FIFO_FULL_INT_PIN1_POS        UINT8_C(5)
+#define BMI160_FIFO_FULL_INT_PIN1_MSK        UINT8_C(0x20)
+#define BMI160_FIFO_FULL_INT_PIN2_POS        UINT8_C(1)
+#define BMI160_FIFO_FULL_INT_PIN2_MSK        UINT8_C(0x02)
+
+#define BMI160_FIFO_WTM_INT_PIN1_POS         UINT8_C(6)
+#define BMI160_FIFO_WTM_INT_PIN1_MSK         UINT8_C(0x40)
+#define BMI160_FIFO_WTM_INT_PIN2_POS         UINT8_C(2)
+#define BMI160_FIFO_WTM_INT_PIN2_MSK         UINT8_C(0x04)
+
+#define BMI160_MANUAL_MODE_EN_POS            UINT8_C(7)
+#define BMI160_MANUAL_MODE_EN_MSK            UINT8_C(0x80)
+#define BMI160_AUX_READ_BURST_POS            UINT8_C(0)
+#define BMI160_AUX_READ_BURST_MSK            UINT8_C(0x03)
+
+#define BMI160_GYRO_SELF_TEST_POS            UINT8_C(4)
+#define BMI160_GYRO_SELF_TEST_MSK            UINT8_C(0x10)
+#define BMI160_GYRO_SELF_TEST_STATUS_POS     UINT8_C(1)
+#define BMI160_GYRO_SELF_TEST_STATUS_MSK     UINT8_C(0x02)
+
+#define BMI160_GYRO_FOC_EN_POS               UINT8_C(6)
+#define BMI160_GYRO_FOC_EN_MSK               UINT8_C(0x40)
+
+#define BMI160_ACCEL_FOC_X_CONF_POS          UINT8_C(4)
+#define BMI160_ACCEL_FOC_X_CONF_MSK          UINT8_C(0x30)
+
+#define BMI160_ACCEL_FOC_Y_CONF_POS          UINT8_C(2)
+#define BMI160_ACCEL_FOC_Y_CONF_MSK          UINT8_C(0x0C)
+
+#define BMI160_ACCEL_FOC_Z_CONF_MSK          UINT8_C(0x03)
+
+#define BMI160_FOC_STATUS_POS                UINT8_C(3)
+#define BMI160_FOC_STATUS_MSK                UINT8_C(0x08)
+
+#define BMI160_GYRO_OFFSET_X_MSK             UINT8_C(0x03)
+
+#define BMI160_GYRO_OFFSET_Y_POS             UINT8_C(2)
+#define BMI160_GYRO_OFFSET_Y_MSK             UINT8_C(0x0C)
+
+#define BMI160_GYRO_OFFSET_Z_POS             UINT8_C(4)
+#define BMI160_GYRO_OFFSET_Z_MSK             UINT8_C(0x30)
+
+#define BMI160_GYRO_OFFSET_EN_POS            UINT8_C(7)
+#define BMI160_GYRO_OFFSET_EN_MSK            UINT8_C(0x80)
+
+#define BMI160_ACCEL_OFFSET_EN_POS           UINT8_C(6)
+#define BMI160_ACCEL_OFFSET_EN_MSK           UINT8_C(0x40)
+
+#define BMI160_GYRO_OFFSET_POS               UINT16_C(8)
+#define BMI160_GYRO_OFFSET_MSK               UINT16_C(0x0300)
+
+#define BMI160_NVM_UPDATE_POS                UINT8_C(1)
+#define BMI160_NVM_UPDATE_MSK                UINT8_C(0x02)
+
+#define BMI160_NVM_STATUS_POS                UINT8_C(4)
+#define BMI160_NVM_STATUS_MSK                UINT8_C(0x10)
+
+#define BMI160_MAG_POWER_MODE_MSK            UINT8_C(0x03)
+
+#define BMI160_ACCEL_POWER_MODE_MSK          UINT8_C(0x30)
+#define BMI160_ACCEL_POWER_MODE_POS          UINT8_C(4)
+
+#define BMI160_GYRO_POWER_MODE_MSK           UINT8_C(0x0C)
+#define BMI160_GYRO_POWER_MODE_POS           UINT8_C(2)
+
+/* BIT SLICE GET AND SET FUNCTIONS */
+#define BMI160_GET_BITS(regvar, bitname) \
+    ((regvar & bitname##_MSK) >> bitname##_POS)
+#define BMI160_SET_BITS(regvar, bitname, val) \
+    ((regvar & ~bitname##_MSK) | \
+     ((val << bitname##_POS) & bitname##_MSK))
+
+#define BMI160_SET_BITS_POS_0(reg_data, bitname, data) \
+    ((reg_data & ~(bitname##_MSK)) | \
+     (data & bitname##_MSK))
+
+#define BMI160_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
+
+/**\name UTILITY MACROS */
+#define BMI160_SET_LOW_BYTE  UINT16_C(0x00FF)
+#define BMI160_SET_HIGH_BYTE UINT16_C(0xFF00)
+
+#define BMI160_GET_LSB(var) (uint8_t)(var & BMI160_SET_LOW_BYTE)
+#define BMI160_GET_MSB(var) (uint8_t)((var & BMI160_SET_HIGH_BYTE) >> 8)
+
+/*****************************************************************************/
+/* type definitions */
+typedef int8_t (*bmi160_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len);
+typedef void (*bmi160_delay_fptr_t)(uint32_t period);
+
+/*************************** Data structures *********************************/
+struct bmi160_pmu_status
+{
+    /*! Power mode status of Accel
+     * Possible values :
+     *  - BMI160_ACCEL_PMU_SUSPEND
+     *  - BMI160_ACCEL_PMU_NORMAL
+     *  - BMI160_ACCEL_PMU_LOW_POWER
+     */
+    uint8_t accel_pmu_status;
+
+    /*! Power mode status of Gyro
+     * Possible values :
+     *  - BMI160_GYRO_PMU_SUSPEND
+     *  - BMI160_GYRO_PMU_NORMAL
+     *  - BMI160_GYRO_PMU_FSU
+     */
+    uint8_t gyro_pmu_status;
+
+    /*! Power mode status of 'Auxiliary sensor interface' whereas the actual
+     *  power mode of the aux. sensor should be configured
+     *  according to the connected sensor specifications
+     * Possible values :
+     *  - BMI160_AUX_PMU_SUSPEND
+     *  - BMI160_AUX_PMU_NORMAL
+     *  - BMI160_AUX_PMU_LOW_POWER
+     */
+    uint8_t aux_pmu_status;
+};
+
+/*!
+ * @brief bmi160 interrupt status selection enum.
+ */
+enum bmi160_int_status_sel {
+    BMI160_INT_STATUS_0 = 1,
+    BMI160_INT_STATUS_1 = 2,
+    BMI160_INT_STATUS_2 = 4,
+    BMI160_INT_STATUS_3 = 8,
+    BMI160_INT_STATUS_ALL = 15
+};
+
+/*!
+ * @brief bmi160 interrupt status bits structure
+ */
+struct bmi160_int_status_bits
+{
+#if LITTLE_ENDIAN == 1
+    uint32_t step : 1;
+    uint32_t sigmot : 1;
+    uint32_t anym : 1;
+
+    /* pmu trigger will be handled later */
+    uint32_t pmu_trigger_reserved : 1;
+    uint32_t d_tap : 1;
+    uint32_t s_tap : 1;
+    uint32_t orient : 1;
+    uint32_t flat_int : 1;
+    uint32_t reserved : 2;
+    uint32_t high_g : 1;
+    uint32_t low_g : 1;
+    uint32_t drdy : 1;
+    uint32_t ffull : 1;
+    uint32_t fwm : 1;
+    uint32_t nomo : 1;
+    uint32_t anym_first_x : 1;
+    uint32_t anym_first_y : 1;
+    uint32_t anym_first_z : 1;
+    uint32_t anym_sign : 1;
+    uint32_t tap_first_x : 1;
+    uint32_t tap_first_y : 1;
+    uint32_t tap_first_z : 1;
+    uint32_t tap_sign : 1;
+    uint32_t high_first_x : 1;
+    uint32_t high_first_y : 1;
+    uint32_t high_first_z : 1;
+    uint32_t high_sign : 1;
+    uint32_t orient_1_0 : 2;
+    uint32_t orient_2 : 1;
+    uint32_t flat : 1;
+#elif BIG_ENDIAN == 1
+    uint32_t high_first_x : 1;
+    uint32_t high_first_y : 1;
+    uint32_t high_first_z : 1;
+    uint32_t high_sign : 1;
+    uint32_t orient_1_0 : 2;
+    uint32_t orient_2 : 1;
+    uint32_t flat : 1;
+    uint32_t anym_first_x : 1;
+    uint32_t anym_first_y : 1;
+    uint32_t anym_first_z : 1;
+    uint32_t anym_sign : 1;
+    uint32_t tap_first_x : 1;
+    uint32_t tap_first_y : 1;
+    uint32_t tap_first_z : 1;
+    uint32_t tap_sign : 1;
+    uint32_t reserved : 2;
+    uint32_t high_g : 1;
+    uint32_t low_g : 1;
+    uint32_t drdy : 1;
+    uint32_t ffull : 1;
+    uint32_t fwm : 1;
+    uint32_t nomo : 1;
+    uint32_t step : 1;
+    uint32_t sigmot : 1;
+    uint32_t anym : 1;
+
+    /* pmu trigger will be handled later */
+    uint32_t pmu_trigger_reserved : 1;
+    uint32_t d_tap : 1;
+    uint32_t s_tap : 1;
+    uint32_t orient : 1;
+    uint32_t flat_int : 1;
+#endif
+};
+
+/*!
+ * @brief bmi160 interrupt status structure
+ */
+union bmi160_int_status
+{
+    uint8_t data[4];
+    struct bmi160_int_status_bits bit;
+};
+
+/*!
+ * @brief bmi160 sensor data structure which comprises of accel data
+ */
+struct bmi160_sensor_data
+{
+    /*! X-axis sensor data */
+    int16_t x;
+
+    /*! Y-axis sensor data */
+    int16_t y;
+
+    /*! Z-axis sensor data */
+    int16_t z;
+
+    /*! sensor time */
+    uint32_t sensortime;
+};
+
+/*!
+ * @brief bmi160 aux data structure which comprises of 8 bytes of accel data
+ */
+struct bmi160_aux_data
+{
+    /*! Auxiliary data */
+    uint8_t data[8];
+};
+
+/*!
+ * @brief bmi160 FOC configuration structure
+ */
+struct bmi160_foc_conf
+{
+    /*! Enabling FOC in gyro
+     * Assignable macros :
+     *  - BMI160_ENABLE
+     *  - BMI160_DISABLE
+     */
+    uint8_t foc_gyr_en;
+
+    /*! Accel FOC configurations
+     * Assignable macros :
+     *  - BMI160_FOC_ACCEL_DISABLED
+     *  - BMI160_FOC_ACCEL_POSITIVE_G
+     *  - BMI160_FOC_ACCEL_NEGATIVE_G
+     *  - BMI160_FOC_ACCEL_0G
+     */
+    uint8_t foc_acc_x;
+    uint8_t foc_acc_y;
+    uint8_t foc_acc_z;
+
+    /*! Enabling offset compensation for accel in data registers
+     * Assignable macros :
+     *  - BMI160_ENABLE
+     *  - BMI160_DISABLE
+     */
+    uint8_t acc_off_en;
+
+    /*! Enabling offset compensation for gyro in data registers
+     * Assignable macros :
+     *  - BMI160_ENABLE
+     *  - BMI160_DISABLE
+     */
+    uint8_t gyro_off_en;
+};
+
+/*!
+ * @brief bmi160 accel gyro offsets
+ */
+struct bmi160_offsets
+{
+    /*! Accel offset for x axis */
+    int8_t off_acc_x;
+
+    /*! Accel offset for y axis */
+    int8_t off_acc_y;
+
+    /*! Accel offset for z axis */
+    int8_t off_acc_z;
+
+    /*! Gyro offset for x axis */
+    int16_t off_gyro_x;
+
+    /*! Gyro offset for y axis */
+    int16_t off_gyro_y;
+
+    /*! Gyro offset for z axis */
+    int16_t off_gyro_z;
+};
+
+/*!
+ * @brief FIFO aux. sensor data structure
+ */
+struct bmi160_aux_fifo_data
+{
+    /*! The value of aux. sensor x LSB data */
+    uint8_t aux_x_lsb;
+
+    /*! The value of aux. sensor x MSB data */
+    uint8_t aux_x_msb;
+
+    /*! The value of aux. sensor y LSB data */
+    uint8_t aux_y_lsb;
+
+    /*! The value of aux. sensor y MSB data */
+    uint8_t aux_y_msb;
+
+    /*! The value of aux. sensor z LSB data */
+    uint8_t aux_z_lsb;
+
+    /*! The value of aux. sensor z MSB data */
+    uint8_t aux_z_msb;
+
+    /*! The value of aux. sensor r for BMM150 LSB data */
+    uint8_t aux_r_y2_lsb;
+
+    /*! The value of aux. sensor r for BMM150 MSB data */
+    uint8_t aux_r_y2_msb;
+};
+
+/*!
+ * @brief bmi160 sensor select structure
+ */
+enum bmi160_select_sensor {
+    BMI160_ACCEL_ONLY = 1,
+    BMI160_GYRO_ONLY,
+    BMI160_BOTH_ACCEL_AND_GYRO
+};
+
+/*!
+ * @brief bmi160 sensor step detector mode structure
+ */
+enum bmi160_step_detect_mode {
+    BMI160_STEP_DETECT_NORMAL,
+    BMI160_STEP_DETECT_SENSITIVE,
+    BMI160_STEP_DETECT_ROBUST,
+
+    /*! Non recommended User defined setting */
+    BMI160_STEP_DETECT_USER_DEFINE
+};
+
+/*!
+ * @brief enum for auxiliary burst read selection
+ */
+enum bm160_aux_read_len {
+    BMI160_AUX_READ_LEN_0,
+    BMI160_AUX_READ_LEN_1,
+    BMI160_AUX_READ_LEN_2,
+    BMI160_AUX_READ_LEN_3
+};
+
+/*!
+ * @brief bmi160 sensor configuration structure
+ */
+struct bmi160_cfg
+{
+    /*! power mode */
+    uint8_t power;
+
+    /*! output data rate */
+    uint8_t odr;
+
+    /*! range */
+    uint8_t range;
+
+    /*! bandwidth */
+    uint8_t bw;
+};
+
+/*!
+ * @brief Aux sensor configuration structure
+ */
+struct bmi160_aux_cfg
+{
+    /*! Aux sensor, 1 - enable 0 - disable */
+    uint8_t aux_sensor_enable : 1;
+
+    /*! Aux manual/auto mode status */
+    uint8_t manual_enable : 1;
+
+    /*! Aux read burst length */
+    uint8_t aux_rd_burst_len : 2;
+
+    /*! output data rate */
+    uint8_t aux_odr : 4;
+
+    /*! i2c addr of auxiliary sensor */
+    uint8_t aux_i2c_addr;
+};
+
+/*!
+ * @brief bmi160 interrupt channel selection structure
+ */
+enum bmi160_int_channel {
+    /*! Un-map both channels */
+    BMI160_INT_CHANNEL_NONE,
+
+    /*! interrupt Channel 1 */
+    BMI160_INT_CHANNEL_1,
+
+    /*! interrupt Channel 2 */
+    BMI160_INT_CHANNEL_2,
+
+    /*! Map both channels */
+    BMI160_INT_CHANNEL_BOTH
+};
+enum bmi160_int_types {
+    /*! Slope/Any-motion interrupt */
+    BMI160_ACC_ANY_MOTION_INT,
+
+    /*! Significant motion interrupt */
+    BMI160_ACC_SIG_MOTION_INT,
+
+    /*! Step detector interrupt */
+    BMI160_STEP_DETECT_INT,
+
+    /*! double tap interrupt */
+    BMI160_ACC_DOUBLE_TAP_INT,
+
+    /*! single tap interrupt */
+    BMI160_ACC_SINGLE_TAP_INT,
+
+    /*! orientation interrupt */
+    BMI160_ACC_ORIENT_INT,
+
+    /*! flat interrupt */
+    BMI160_ACC_FLAT_INT,
+
+    /*! high-g interrupt */
+    BMI160_ACC_HIGH_G_INT,
+
+    /*! low-g interrupt */
+    BMI160_ACC_LOW_G_INT,
+
+    /*! slow/no-motion interrupt */
+    BMI160_ACC_SLOW_NO_MOTION_INT,
+
+    /*! data ready interrupt  */
+    BMI160_ACC_GYRO_DATA_RDY_INT,
+
+    /*! fifo full interrupt */
+    BMI160_ACC_GYRO_FIFO_FULL_INT,
+
+    /*! fifo watermark interrupt */
+    BMI160_ACC_GYRO_FIFO_WATERMARK_INT,
+
+    /*! fifo tagging feature support */
+    BMI160_FIFO_TAG_INT_PIN
+};
+
+/*!
+ * @brief bmi160 active state of any & sig motion interrupt.
+ */
+enum bmi160_any_sig_motion_active_interrupt_state {
+    /*! Both any & sig motion are disabled */
+    BMI160_BOTH_ANY_SIG_MOTION_DISABLED = -1,
+
+    /*! Any-motion selected */
+    BMI160_ANY_MOTION_ENABLED,
+
+    /*! Sig-motion selected */
+    BMI160_SIG_MOTION_ENABLED
+};
+struct bmi160_acc_tap_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! tap threshold */
+    uint16_t tap_thr : 5;
+
+    /*! tap shock */
+    uint16_t tap_shock : 1;
+
+    /*! tap quiet */
+    uint16_t tap_quiet : 1;
+
+    /*! tap duration */
+    uint16_t tap_dur : 3;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint16_t tap_data_src : 1;
+
+    /*! tap enable, 1 - enable, 0 - disable */
+    uint16_t tap_en : 1;
+#elif BIG_ENDIAN == 1
+
+    /*! tap enable, 1 - enable, 0 - disable */
+    uint16_t tap_en : 1;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint16_t tap_data_src : 1;
+
+    /*! tap duration */
+    uint16_t tap_dur : 3;
+
+    /*! tap quiet */
+    uint16_t tap_quiet : 1;
+
+    /*! tap shock */
+    uint16_t tap_shock : 1;
+
+    /*! tap threshold */
+    uint16_t tap_thr : 5;
+#endif
+};
+struct bmi160_acc_any_mot_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! 1 any-motion enable, 0 - any-motion disable */
+    uint8_t anymotion_en : 1;
+
+    /*! slope interrupt x, 1 - enable, 0 - disable */
+    uint8_t anymotion_x : 1;
+
+    /*! slope interrupt y, 1 - enable, 0 - disable */
+    uint8_t anymotion_y : 1;
+
+    /*! slope interrupt z, 1 - enable, 0 - disable */
+    uint8_t anymotion_z : 1;
+
+    /*! slope duration */
+    uint8_t anymotion_dur : 2;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint8_t anymotion_data_src : 1;
+
+    /*! slope threshold */
+    uint8_t anymotion_thr;
+#elif BIG_ENDIAN == 1
+
+    /*! slope threshold */
+    uint8_t anymotion_thr;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint8_t anymotion_data_src : 1;
+
+    /*! slope duration */
+    uint8_t anymotion_dur : 2;
+
+    /*! slope interrupt z, 1 - enable, 0 - disable */
+    uint8_t anymotion_z : 1;
+
+    /*! slope interrupt y, 1 - enable, 0 - disable */
+    uint8_t anymotion_y : 1;
+
+    /*! slope interrupt x, 1 - enable, 0 - disable */
+    uint8_t anymotion_x : 1;
+
+    /*! 1 any-motion enable, 0 - any-motion disable */
+    uint8_t anymotion_en : 1;
+#endif
+};
+struct bmi160_acc_sig_mot_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! skip time of sig-motion interrupt */
+    uint8_t sig_mot_skip : 2;
+
+    /*! proof time of sig-motion interrupt */
+    uint8_t sig_mot_proof : 2;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint8_t sig_data_src : 1;
+
+    /*! 1 - enable sig, 0 - disable sig & enable anymotion */
+    uint8_t sig_en : 1;
+
+    /*! sig-motion threshold */
+    uint8_t sig_mot_thres;
+#elif BIG_ENDIAN == 1
+
+    /*! sig-motion threshold */
+    uint8_t sig_mot_thres;
+
+    /*! 1 - enable sig, 0 - disable sig & enable anymotion */
+    uint8_t sig_en : 1;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint8_t sig_data_src : 1;
+
+    /*! proof time of sig-motion interrupt */
+    uint8_t sig_mot_proof : 2;
+
+    /*! skip time of sig-motion interrupt */
+    uint8_t sig_mot_skip : 2;
+#endif
+};
+struct bmi160_acc_step_detect_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! 1- step detector enable, 0- step detector disable */
+    uint16_t step_detector_en : 1;
+
+    /*! minimum threshold */
+    uint16_t min_threshold : 2;
+
+    /*! minimal detectable step time */
+    uint16_t steptime_min : 3;
+
+    /*! enable step counter mode setting */
+    uint16_t step_detector_mode : 2;
+
+    /*! minimum step buffer size*/
+    uint16_t step_min_buf : 3;
+#elif BIG_ENDIAN == 1
+
+    /*! minimum step buffer size*/
+    uint16_t step_min_buf : 3;
+
+    /*! enable step counter mode setting */
+    uint16_t step_detector_mode : 2;
+
+    /*! minimal detectable step time */
+    uint16_t steptime_min : 3;
+
+    /*! minimum threshold */
+    uint16_t min_threshold : 2;
+
+    /*! 1- step detector enable, 0- step detector disable */
+    uint16_t step_detector_en : 1;
+#endif
+};
+struct bmi160_acc_no_motion_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! no motion interrupt x */
+    uint16_t no_motion_x : 1;
+
+    /*! no motion interrupt y */
+    uint16_t no_motion_y : 1;
+
+    /*! no motion interrupt z */
+    uint16_t no_motion_z : 1;
+
+    /*! no motion duration */
+    uint16_t no_motion_dur : 6;
+
+    /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
+    uint16_t no_motion_sel : 1;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint16_t no_motion_src : 1;
+
+    /*! no motion threshold */
+    uint8_t no_motion_thres;
+#elif BIG_ENDIAN == 1
+
+    /*! no motion threshold */
+    uint8_t no_motion_thres;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint16_t no_motion_src : 1;
+
+    /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
+    uint16_t no_motion_sel : 1;
+
+    /*! no motion duration */
+    uint16_t no_motion_dur : 6;
+
+    /* no motion interrupt z */
+    uint16_t no_motion_z : 1;
+
+    /*! no motion interrupt y */
+    uint16_t no_motion_y : 1;
+
+    /*! no motion interrupt x */
+    uint16_t no_motion_x : 1;
+#endif
+};
+struct bmi160_acc_orient_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! thresholds for switching between the different orientations */
+    uint16_t orient_mode : 2;
+
+    /*! blocking_mode */
+    uint16_t orient_blocking : 2;
+
+    /*! Orientation interrupt hysteresis */
+    uint16_t orient_hyst : 4;
+
+    /*! Orientation interrupt theta */
+    uint16_t orient_theta : 6;
+
+    /*! Enable/disable Orientation interrupt */
+    uint16_t orient_ud_en : 1;
+
+    /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
+    uint16_t axes_ex : 1;
+
+    /*! 1 - orient enable, 0 - orient disable */
+    uint8_t orient_en : 1;
+#elif BIG_ENDIAN == 1
+
+    /*! 1 - orient enable, 0 - orient disable */
+    uint8_t orient_en : 1;
+
+    /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
+    uint16_t axes_ex : 1;
+
+    /*! Enable/disable Orientation interrupt */
+    uint16_t orient_ud_en : 1;
+
+    /*! Orientation interrupt theta */
+    uint16_t orient_theta : 6;
+
+    /*! Orientation interrupt hysteresis */
+    uint16_t orient_hyst : 4;
+
+    /*! blocking_mode */
+    uint16_t orient_blocking : 2;
+
+    /*! thresholds for switching between the different orientations */
+    uint16_t orient_mode : 2;
+#endif
+};
+struct bmi160_acc_flat_detect_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! flat threshold */
+    uint16_t flat_theta : 6;
+
+    /*! flat interrupt hysteresis */
+    uint16_t flat_hy : 3;
+
+    /*! delay time for which the flat value must remain stable for the
+     * flat interrupt to be generated */
+    uint16_t flat_hold_time : 2;
+
+    /*! 1 - flat enable, 0 - flat disable */
+    uint16_t flat_en : 1;
+#elif BIG_ENDIAN == 1
+
+    /*! 1 - flat enable, 0 - flat disable */
+    uint16_t flat_en : 1;
+
+    /*! delay time for which the flat value must remain stable for the
+     * flat interrupt to be generated */
+    uint16_t flat_hold_time : 2;
+
+    /*! flat interrupt hysteresis */
+    uint16_t flat_hy : 3;
+
+    /*! flat threshold */
+    uint16_t flat_theta : 6;
+#endif
+};
+struct bmi160_acc_low_g_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! low-g interrupt trigger delay */
+    uint8_t low_dur;
+
+    /*! low-g interrupt trigger threshold */
+    uint8_t low_thres;
+
+    /*! hysteresis of low-g interrupt */
+    uint8_t low_hyst : 2;
+
+    /*! 0 - single-axis mode ,1 - axis-summing mode */
+    uint8_t low_mode : 1;
+
+    /*! data source 0- filter & 1 pre-filter */
+    uint8_t low_data_src : 1;
+
+    /*! 1 - enable low-g, 0 - disable low-g */
+    uint8_t low_en : 1;
+#elif BIG_ENDIAN == 1
+
+    /*! 1 - enable low-g, 0 - disable low-g */
+    uint8_t low_en : 1;
+
+    /*! data source 0- filter & 1 pre-filter */
+    uint8_t low_data_src : 1;
+
+    /*! 0 - single-axis mode ,1 - axis-summing mode */
+    uint8_t low_mode : 1;
+
+    /*! hysteresis of low-g interrupt */
+    uint8_t low_hyst : 2;
+
+    /*! low-g interrupt trigger threshold */
+    uint8_t low_thres;
+
+    /*! low-g interrupt trigger delay */
+    uint8_t low_dur;
+#endif
+};
+struct bmi160_acc_high_g_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! High-g interrupt x, 1 - enable, 0 - disable */
+    uint8_t high_g_x : 1;
+
+    /*! High-g interrupt y, 1 - enable, 0 - disable */
+    uint8_t high_g_y : 1;
+
+    /*! High-g interrupt z, 1 - enable, 0 - disable */
+    uint8_t high_g_z : 1;
+
+    /*! High-g hysteresis  */
+    uint8_t high_hy : 2;
+
+    /*! data source 0- filter & 1 pre-filter */
+    uint8_t high_data_src : 1;
+
+    /*! High-g threshold */
+    uint8_t high_thres;
+
+    /*! High-g duration */
+    uint8_t high_dur;
+#elif BIG_ENDIAN == 1
+
+    /*! High-g duration */
+    uint8_t high_dur;
+
+    /*! High-g threshold */
+    uint8_t high_thres;
+
+    /*! data source 0- filter & 1 pre-filter */
+    uint8_t high_data_src : 1;
+
+    /*! High-g hysteresis  */
+    uint8_t high_hy : 2;
+
+    /*! High-g interrupt z, 1 - enable, 0 - disable */
+    uint8_t high_g_z : 1;
+
+    /*! High-g interrupt y, 1 - enable, 0 - disable */
+    uint8_t high_g_y : 1;
+
+    /*! High-g interrupt x, 1 - enable, 0 - disable */
+    uint8_t high_g_x : 1;
+#endif
+};
+struct bmi160_int_pin_settg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! To enable either INT1 or INT2 pin as output.
+     * 0- output disabled ,1- output enabled */
+    uint16_t output_en : 1;
+
+    /*! 0 - push-pull 1- open drain,only valid if output_en is set 1 */
+    uint16_t output_mode : 1;
+
+    /*! 0 - active low , 1 - active high level.
+     * if output_en is 1,this applies to interrupts,else PMU_trigger */
+    uint16_t output_type : 1;
+
+    /*! 0 - level trigger , 1 - edge trigger  */
+    uint16_t edge_ctrl : 1;
+
+    /*! To enable either INT1 or INT2 pin as input.
+     * 0 - input disabled ,1 - input enabled */
+    uint16_t input_en : 1;
+
+    /*! latch duration*/
+    uint16_t latch_dur : 4;
+#elif BIG_ENDIAN == 1
+
+    /*! latch duration*/
+    uint16_t latch_dur : 4;
+
+    /*! Latched,non-latched or temporary interrupt modes */
+    uint16_t input_en : 1;
+
+    /*! 1 - edge trigger, 0 - level trigger */
+    uint16_t edge_ctrl : 1;
+
+    /*! 0 - active low , 1 - active high level.
+     * if output_en is 1,this applies to interrupts,else PMU_trigger */
+    uint16_t output_type : 1;
+
+    /*! 0 - push-pull , 1 - open drain,only valid if output_en is set 1 */
+    uint16_t output_mode : 1;
+
+    /*! To enable either INT1 or INT2 pin as output.
+     * 0 - output disabled , 1 - output enabled */
+    uint16_t output_en : 1;
+#endif
+};
+union bmi160_int_type_cfg
+{
+    /*! Tap interrupt structure */
+    struct bmi160_acc_tap_int_cfg acc_tap_int;
+
+    /*! Slope interrupt structure */
+    struct bmi160_acc_any_mot_int_cfg acc_any_motion_int;
+
+    /*! Significant motion interrupt structure */
+    struct bmi160_acc_sig_mot_int_cfg acc_sig_motion_int;
+
+    /*! Step detector interrupt structure */
+    struct bmi160_acc_step_detect_int_cfg acc_step_detect_int;
+
+    /*! No motion interrupt structure */
+    struct bmi160_acc_no_motion_int_cfg acc_no_motion_int;
+
+    /*! Orientation interrupt structure */
+    struct bmi160_acc_orient_int_cfg acc_orient_int;
+
+    /*! Flat interrupt structure */
+    struct bmi160_acc_flat_detect_int_cfg acc_flat_int;
+
+    /*! Low-g interrupt structure */
+    struct bmi160_acc_low_g_int_cfg acc_low_g_int;
+
+    /*! High-g interrupt structure */
+    struct bmi160_acc_high_g_int_cfg acc_high_g_int;
+};
+struct bmi160_int_settg
+{
+    /*! Interrupt channel */
+    enum bmi160_int_channel int_channel;
+
+    /*! Select Interrupt */
+    enum bmi160_int_types int_type;
+
+    /*! Structure configuring Interrupt pins */
+    struct bmi160_int_pin_settg int_pin_settg;
+
+    /*! Union configures required interrupt */
+    union bmi160_int_type_cfg int_type_cfg;
+
+    /*! FIFO FULL INT 1-enable, 0-disable */
+    uint8_t fifo_full_int_en : 1;
+
+    /*! FIFO WTM INT 1-enable, 0-disable */
+    uint8_t fifo_wtm_int_en : 1;
+};
+
+/*!
+ *  @brief This structure holds the information for usage of
+ *  FIFO by the user.
+ */
+struct bmi160_fifo_frame
+{
+    /*! Data buffer of user defined length is to be mapped here */
+    uint8_t *data;
+
+    /*! While calling the API  "bmi160_get_fifo_data" , length stores
+     *  number of bytes in FIFO to be read (specified by user as input)
+     *  and after execution of the API ,number of FIFO data bytes
+     *  available is provided as an output to user
+     */
+    uint16_t length;
+
+    /*! FIFO time enable */
+    uint8_t fifo_time_enable;
+
+    /*! Enabling of the FIFO header to stream in header mode */
+    uint8_t fifo_header_enable;
+
+    /*! Streaming of the Accelerometer, Gyroscope
+     * sensor data or both in FIFO */
+    uint8_t fifo_data_enable;
+
+    /*! Will be equal to length when no more frames are there to parse */
+    uint16_t accel_byte_start_idx;
+
+    /*! Will be equal to length when no more frames are there to parse */
+    uint16_t gyro_byte_start_idx;
+
+    /*! Will be equal to length when no more frames are there to parse */
+    uint16_t aux_byte_start_idx;
+
+    /*! Value of FIFO sensor time time */
+    uint32_t sensor_time;
+
+    /*! Value of Skipped frame counts */
+    uint8_t skipped_frame_count;
+};
+struct bmi160_dev
+{
+    /*! Chip Id */
+    uint8_t chip_id;
+
+    /*! Device Id */
+    uint8_t id;
+
+    /*! 0 - I2C , 1 - SPI Interface */
+    uint8_t interface;
+
+    /*! Hold active interrupts status for any and sig motion
+     *  0 - Any-motion enable, 1 - Sig-motion enable,
+     *  -1 neither any-motion nor sig-motion selected */
+    enum bmi160_any_sig_motion_active_interrupt_state any_sig_sel;
+
+    /*! Structure to configure Accel sensor */
+    struct bmi160_cfg accel_cfg;
+
+    /*! Structure to hold previous/old accel config parameters.
+     * This is used at driver level to prevent overwriting of same
+     * data, hence user does not change it in the code */
+    struct bmi160_cfg prev_accel_cfg;
+
+    /*! Structure to configure Gyro sensor */
+    struct bmi160_cfg gyro_cfg;
+
+    /*! Structure to hold previous/old gyro config parameters.
+     * This is used at driver level to prevent overwriting of same
+     * data, hence user does not change it in the code */
+    struct bmi160_cfg prev_gyro_cfg;
+
+    /*! Structure to configure the auxiliary sensor */
+    struct bmi160_aux_cfg aux_cfg;
+
+    /*! Structure to hold previous/old aux config parameters.
+     * This is used at driver level to prevent overwriting of same
+     * data, hence user does not change it in the code */
+    struct bmi160_aux_cfg prev_aux_cfg;
+
+    /*! FIFO related configurations */
+    struct bmi160_fifo_frame *fifo;
+
+    /*! Read function pointer */
+    bmi160_com_fptr_t read;
+
+    /*! Write function pointer */
+    bmi160_com_fptr_t write;
+
+    /*!  Delay function pointer */
+    bmi160_delay_fptr_t delay_ms;
+
+    /*! User set read/write length */
+    uint16_t read_write_len;
+
+    /*! For switching from I2C to SPI */
+    uint8_t dummy_byte;
+};
+
+#endif /* BMI160_DEFS_H_ */