BMI160 Sensor API latest code upload

README.md

@@ -1 +1,60 @@
-# BMI160_driver
+
+CONTENTS OF THIS FILE
+=======================
+	* Introduction
+	* Version
+	* Integration details
+	* Driver files information
+	* Supported sensor interface
+	* Copy right
+
+
+INTRODUCTION
+===============
+	- This package contains the Bosch Sensortec MEMS BMI160 sensor driver (sensor API)
+	- The sensor driver package includes bmi160.h, bmi160.c, bmi160_support.h and bmi160_support.c files
+
+VERSION
+=========
+	- Version of bmi160 sensor driver is:
+		* bmi160.c 		- V2.2.1
+		* bmi160.h 		- V2.2.1
+		* bmi160_support.c 	- V1.1.4
+		* bmi160_support.h 	- V1.1.2
+
+INTEGRATION DETAILS
+=====================
+	- Integrate bmi160.h and bmi160.c file in to your project.
+	- The bmi160_support.c and bmi160_support.h file contains only examples for API use cases, so it is not required to integrate into project.
+
+DRIVER FILES INFORMATION
+===========================
+	bmi160.h
+	-----------
+		* This header file has the register address definition, constant definitions, data type definition and supported sensor driver calls declarations.
+
+	 bmi160.c
+	------------
+		* This file contains the implementation for the sensor driver APIs.
+
+	 bmi160_support.c
+	----------------------
+		* This file shall be used as an user guidance, here you can find samples of
+    			* Initialize the sensor with I2C/SPI communication
+        				- Add your code to the SPI and/or I2C bus read and bus write functions.
+            					- Return value can be chosen by yourself
+           					- API just passes that value to your application code
+        				- Add your code to the delay function
+        				- Change I2C address accordingly in bmi160.h
+   			* Different running modes(use cases) of BMI160 
+			* Interrupt configuration
+
+SUPPORTED SENSOR INTERFACE
+====================================
+	- This BMI160 sensor driver supports SPI and I2C interfaces
+
+
+COPYRIGHT
+===========
+	- Copyright (C) 2016 - 2017 Bosch Sensortec GmbH
+

bmi160.c

@@ -0,0 +1,20791 @@
+/*
+****************************************************************************
+* Copyright (C) 2016 Bosch Sensortec GmbH
+*
+* bmi160.c
+* Date: 2016/06/27
+* Revision: 2.2.1 $
+*
+* Usage: Sensor Driver for BMI160 sensor
+*
+****************************************************************************
+* License:
+*
+* 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
+    @brief Sensor driver for BMI160 */
+
+#include "bmi160.h"
+
+struct bmi160_t *p_bmi160;
+/* Used for reading the Mag trim values for compensation*/
+struct trim_data_t mag_trim;
+/* the following variable is used for avoiding the selecting of auto mode
+when it is running in the manual mode of BMM150 Mag interface*/
+u8 bmm150_manual_auto_condition_u8_g;
+/*Power mode monitoring variable used to introduce delays after primary
+interface write in low power and suspend modes of sensor */
+u8 bmi160_power_mode_status_u8_g;
+/* FIFO data read for 1024 bytes of data */
+#ifdef FIFO_ENABLE
+static u8 v_fifo_data_u8[FIFO_FRAME];
+struct bmi160_mag_fifo_data_t mag_data;
+#endif
+/* YAMAHA-YAS532*/
+/* value of coefficient*/
+#ifdef YAS532
+static const int yas532_version_ac_coef[] = {YAS532_VERSION_AC_COEF_X,
+YAS532_VERSION_AC_COEF_Y1, YAS532_VERSION_AC_COEF_Y2};
+/* used for reading the yas532 calibration data*/
+struct yas532_t yas532_data;
+struct yas532_vector fifo_xyz_data;
+#endif
+#ifdef YAS537
+/* used for reading the yas537 calibration data*/
+struct yas537_t yas537_data;
+struct yas_vector fifo_vector_xyz;
+/*!
+ *	@brief This function is used to process the
+ *	YAMAHA YAS537 xy1y2 raw data
+ *
+ *	@param xy1y2: The value of raw xy1y2 data
+ *	@param xyz: The value of  xyz data
+ *
+ *
+ *	@return None
+ *
+ *
+ */
+static void xy1y2_to_xyz(u16 *xy1y2, s32 *xyz);
+/*!
+ *	@brief This function is used to detect whether the mag
+ *  data obtained is valid or not
+ *
+ *
+ *	@param v_cur_u16: The value of current Mag data
+ *  @param v_last_u16: The value of last Mag data
+ *
+ *
+ *	@return result of magnetic field data's validity
+ *	@retval 0 -> VALID DATA
+ *	@retval 1 -> INVALID DATA
+ *
+ *
+ */
+static BMI160_RETURN_FUNCTION_TYPE invalid_magnetic_field(
+u16 *v_cur_u16, u16 *v_last_u16);
+#endif
+#if defined AKM09911 || defined AKM09912
+/* used to read the AKM compensating data */
+struct bst_akm_sensitivity_data_t akm_asa_data;
+#endif
+struct bmi160_mag_xyz_s32_t processed_data;
+
+
+/*!
+ *	@brief
+ *	This API is used to initialize
+ *	bus read and bus write functions
+ *	assign the chip id and device address.
+ *	chip id is read in the register 0x00 bit from 0 to 7
+ *
+ *	@param bmi160 : structure pointer of bmi160 instance
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *	@note
+ *	While changing the parameter of the bmi160_t
+ *	consider the following points:
+ *	Changing the reference value of the parameter
+ *	will change the local copy or local reference
+ *	make sure your changes will not
+ *	affect the reference value of the parameter
+ *	(Better don't change the reference value of the parameter)
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_init(struct bmi160_t *bmi160)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	u8 v_pmu_data_u8 = BMI160_INIT_VALUE;
+	/* assign bmi160 pointer */
+	p_bmi160 = bmi160;
+	com_rslt =
+	p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+	BMI160_USER_CHIP_ID__REG,
+	&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	/* store the chip id which is read from the sensor */
+	p_bmi160->chip_id = v_data_u8;
+	/* To avoid gyro wakeup it is required to write 0x00 to 0x6C*/
+	com_rslt += bmi160_write_reg(BMI160_USER_PMU_TRIGGER_ADDR,
+	&v_pmu_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	return com_rslt;
+}
+/*!
+ * @brief
+ *	This API writes the data to
+ *	the given register
+ *
+ *
+ *	@param v_addr_u8 -> Address of the register
+ *	@param v_data_u8 -> The data to write to the register
+ *	@param v_len_u8 -> no of bytes to write
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_write_reg(u8 v_addr_u8,
+u8 *v_data_u8, u8 v_len_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write data from register*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->dev_addr,
+			v_addr_u8, v_data_u8, v_len_u8);
+
+			/*Accel and Gyro power mode check*/
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+	return com_rslt;
+}
+/*!
+ * @brief
+ *	This API reads the data from
+ *	the given register
+ *
+ *
+ *	@param v_addr_u8 -> Address of the register
+ *	@param v_data_u8 -> The data read from the register
+ *	@param v_len_u8 -> no of bytes to read
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_reg(u8 v_addr_u8,
+u8 *v_data_u8, u8 v_len_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* Read data from register*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			v_addr_u8, v_data_u8, v_len_u8);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to read the fatal error
+ *	from the register 0x02 bit 0
+ *	This flag will be reset only by power-on-reset and soft reset
+ *
+ *
+ *  @param v_fatal_err_u8 : The status of fatal error
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fatal_err(u8
+*v_fatal_err_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the fatal error status*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FATAL_ERR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_fatal_err_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FATAL_ERR);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to read the error code
+ *	from register 0x02 bit 1 to 4
+ *
+ *
+ *  @param v_err_code_u8 : The status of error codes
+ *  error_code  |    description
+ *  ------------|---------------
+ *	0x00	|no error
+ *	0x01	|ACC_CONF error (Accel ODR and bandwidth not compatible)
+ *	0x02	|GYR_CONF error (Gyro ODR and bandwidth not compatible)
+ *	0x03	|Under sampling mode and interrupt uses pre filtered data
+ *	0x04	|reserved
+ *	0x05	|Selected trigger-readout offset in MAG_IF is greater than
+ *		|selected ODR
+ *	0x06	|FIFO configuration error for header less mode
+ *	0x07	|Under sampling mode and pre filtered data as FIFO source
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_err_code(u8
+*v_err_code_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_ERR_CODE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_err_code_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_ERR_CODE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the i2c error code from the
+ *	Register 0x02 bit 5.
+ *	This error occurred in I2C master detected
+ *
+ *  @param v_i2c_err_code_u8 : The status of i2c fail error
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_i2c_fail_err(u8
+*v_i2c_err_code_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_I2C_FAIL_ERR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_i2c_err_code_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_I2C_FAIL_ERR);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API reads the dropped command error
+ *	from the register 0x02 bit 6
+ *
+ *
+ *  @param v_drop_cmd_err_u8 : The status of dropped command error
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_drop_cmd_err(u8
+*v_drop_cmd_err_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_DROP_CMD_ERR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_drop_cmd_err_u8 = BMI160_GET_BITSLICE(
+			v_data_u8,
+			BMI160_USER_DROP_CMD_ERR);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the Mag data ready
+ *	error interrupt
+ *	It reads from the error register 0x02 bit 7
+ *
+ *
+ *
+ *
+ *  @param v_mag_data_rdy_err_u8 : The status of Mag data ready error interrupt
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_data_rdy_err(
+u8 *v_mag_data_rdy_err_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_MAG_DATA_RDY_ERR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_mag_data_rdy_err_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_MAG_DATA_RDY_ERR);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the error status
+ *	from the error register 0x02 bit 0 to 7
+ *
+ *  @param v_mag_data_rdy_err_u8 : The status of Mag data ready interrupt
+ *  @param v_fatal_err_u8 : The status of fatal error
+ *  @param v_err_code_u8 : The status of error code
+ *  @param v_i2c_fail_err_u8 : The status of I2C fail error
+ *  @param v_drop_cmd_err_u8 : The status of drop command error
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_error_status(u8 *v_fatal_err_u8,
+u8 *v_err_code_u8, u8 *v_i2c_fail_err_u8,
+u8 *v_drop_cmd_err_u8, u8 *v_mag_data_rdy_err_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the error codes*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_ERR_STAT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			/* fatal error*/
+			*v_fatal_err_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FATAL_ERR);
+			/* user error*/
+			*v_err_code_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_ERR_CODE);
+			/* i2c fail error*/
+			*v_i2c_fail_err_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_I2C_FAIL_ERR);
+			/* drop command error*/
+			*v_drop_cmd_err_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_DROP_CMD_ERR);
+			/* Mag data ready error*/
+			*v_mag_data_rdy_err_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_MAG_DATA_RDY_ERR);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the Mag power mode from
+ *	PMU status register 0x03 bit 0 and 1
+ *
+ *  @param v_mag_power_mode_stat_u8 : The value of Mag power mode
+ *	mag_powermode    |   value
+ * ------------------|----------
+ *    SUSPEND        |   0x00
+ *    NORMAL         |   0x01
+ *   LOW POWER       |   0x02
+ *
+ *
+ * @note The power mode of Mag is set by the 0x7E command register
+ * using the function "bmi160_set_command_register()"
+ *  value    |   mode
+ *  ---------|----------------
+ *   0x18    | MAG_MODE_SUSPEND
+ *   0x19    | MAG_MODE_NORMAL
+ *   0x1A    | MAG_MODE_LOWPOWER
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_power_mode_stat(u8
+*v_mag_power_mode_stat_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_MAG_POWER_MODE_STAT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_mag_power_mode_stat_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_MAG_POWER_MODE_STAT);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the Gyro power mode from
+ *	PMU status register 0x03 bit 2 and 3
+ *
+ *  @param v_gyro_power_mode_stat_u8 :	The value of gyro power mode
+ *	gyro_powermode   |   value
+ * ------------------|----------
+ *    SUSPEND        |   0x00
+ *    NORMAL         |   0x01
+ *   FAST POWER UP   |   0x03
+ *
+ * @note The power mode of gyro is set by the 0x7E command register
+ * using the function "bmi160_set_command_register()"
+ *  value    |   mode
+ *  ---------|----------------
+ *   0x14    | GYRO_MODE_SUSPEND
+ *   0x15    | GYRO_MODE_NORMAL
+ *   0x17    | GYRO_MODE_FASTSTARTUP
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_power_mode_stat(u8
+*v_gyro_power_mode_stat_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_GYRO_POWER_MODE_STAT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_gyro_power_mode_stat_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_GYRO_POWER_MODE_STAT);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the Accel power mode from
+ *	PMU status register 0x03 bit 4 and 5
+ *
+ *
+ *  @param v_accel_power_mode_stat_u8 :	The value of Accel power mode
+ *	accel_powermode  |   value
+ * ------------------|----------
+ *    SUSPEND        |   0x00
+ *    NORMAL         |   0x01
+ *  LOW POWER        |   0x02
+ *
+ * @note The power mode of Accel is set by the 0x7E command register
+ * using the function "bmi160_set_command_register()"
+ *  value    |   mode
+ *  ---------|----------------
+ *   0x11    | ACCEL_MODE_NORMAL
+ *   0x12    | ACCEL_LOWPOWER
+ *   0x10    | ACCEL_SUSPEND
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_power_mode_stat(u8
+*v_accel_power_mode_stat_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_ACCEL_POWER_MODE_STAT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_accel_power_mode_stat_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_ACCEL_POWER_MODE_STAT);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API switches the Mag interface to normal mode
+ *	and confirm whether the mode switching is done successfully or not
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_interface_normal(void)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = BMI160_INIT_VALUE;
+	/* aim to check the result of switching Mag normal */
+	u8 v_try_times_u8 = BMI160_MAG_NORMAL_SWITCH_TIMES;
+	u8 v_mag_pmu_status_u8 = BMI160_INIT_VALUE;
+
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	com_rslt = bmi160_set_command_register(MAG_MODE_NORMAL);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	while (v_try_times_u8 != 0) {
+		com_rslt = bmi160_get_mag_power_mode_stat(&v_mag_pmu_status_u8);
+		if (v_mag_pmu_status_u8 == MAG_INTERFACE_PMU_ENABLE)
+			break;
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		v_try_times_u8--;
+	}
+	if (v_mag_pmu_status_u8 == MAG_INTERFACE_PMU_ENABLE)
+		com_rslt += SUCCESS;
+	else
+		com_rslt += E_BMI160_COMM_RES;
+
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads Mag data X values
+ *	from the register 0x04 and 0x05
+ *	@brief The Mag sensor data read from auxiliary mag
+ *
+ *  @param v_mag_x_s16 : The value of Mag x
+ *  @param v_sensor_select_u8 : Mag selection value
+ *  value    |   sensor
+ *  ---------|----------------
+ *   0       | BMM150
+ *   1       | AKM09911 or AKM09912
+ *
+ *	@note For Mag output data rate configuration use the following function
+ *	bmi160_set_mag_output_data_rate()
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_x(s16 *v_mag_x_s16,
+u8 v_sensor_select_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array contains the Mag X LSB and MSB data
+		v_data_u8[0] - LSB
+		v_data_u8[1] - MSB*/
+	u8 v_data_u8[BMI160_MAG_X_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_sensor_select_u8) {
+		case BST_BMM:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_DATA_MAG_X_LSB__REG,
+			v_data_u8, BMI160_MAG_X_DATA_LENGTH);
+			/* X axis*/
+			v_data_u8[BMI160_MAG_X_LSB_BYTE] =
+			BMI160_GET_BITSLICE(v_data_u8[BMI160_MAG_X_LSB_BYTE],
+			BMI160_USER_DATA_MAG_X_LSB);
+			*v_mag_x_s16 = (s16)
+			((((s32)((s8)v_data_u8[BMI160_MAG_X_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_05_BITS) |
+			(v_data_u8[BMI160_MAG_X_LSB_BYTE]));
+		break;
+		case BST_AKM:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_DATA_0_MAG_X_LSB__REG,
+			v_data_u8, BMI160_MAG_X_DATA_LENGTH);
+			*v_mag_x_s16 = (s16)
+			((((s32)((s8)v_data_u8[BMI160_MAG_X_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS) |
+			(v_data_u8[BMI160_MAG_X_LSB_BYTE]));
+		break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads Mag data Y values
+ *	from the register 0x06 and 0x07
+ *	@brief The Mag sensor data read from auxiliary mag
+ *
+ *  @param v_mag_y_s16 : The value of Mag y
+ *  @param v_sensor_select_u8 : Mag selection value
+ *  value    |   sensor
+ *  ---------|----------------
+ *   0       | BMM150
+ *   1       | AKM09911 or AKM09912
+ *
+ *	@note For Mag output data rate configuration use the following function
+ *	bmi160_set_mag_output_data_rate()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_y(s16 *v_mag_y_s16,
+u8 v_sensor_select_u8)
+{
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_OUT_OF_RANGE;
+	/* Array contains the Mag Y LSB and MSB data
+		v_data_u8[0] - LSB
+		v_data_u8[1] - MSB*/
+	u8 v_data_u8[BMI160_MAG_Y_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_sensor_select_u8) {
+		case BST_BMM:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_DATA_MAG_Y_LSB__REG,
+			v_data_u8, BMI160_MAG_Y_DATA_LENGTH);
+			/*Y-axis LSB value shifting*/
+			v_data_u8[BMI160_MAG_Y_LSB_BYTE] =
+			BMI160_GET_BITSLICE(v_data_u8[BMI160_MAG_Y_LSB_BYTE],
+			BMI160_USER_DATA_MAG_Y_LSB);
+			*v_mag_y_s16 = (s16)
+			((((s32)((s8)v_data_u8[BMI160_MAG_Y_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_05_BITS) |
+			(v_data_u8[BMI160_MAG_Y_LSB_BYTE]));
+		break;
+		case BST_AKM:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_DATA_2_MAG_Y_LSB__REG,
+			v_data_u8, BMI160_MAG_Y_DATA_LENGTH);
+			*v_mag_y_s16 = (s16)
+			((((s32)((s8)v_data_u8[BMI160_MAG_Y_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS) |
+			(v_data_u8[BMI160_MAG_Y_LSB_BYTE]));
+		break;
+		default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads Mag data Z values
+ *	from the register 0x08 and 0x09
+ *	@brief The Mag sensor data read from auxiliary mag
+ *
+ *  @param v_mag_z_s16 : The value of Mag z
+ *  @param v_sensor_select_u8 : Mag selection value
+ *  value    |   sensor
+ *  ---------|----------------
+ *   0       | BMM150
+ *   1       | AKM09911 or AKM09912
+ *
+ *	@note For Mag output data rate configuration use the following function
+ *	bmi160_set_mag_output_data_rate()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_z(s16 *v_mag_z_s16,
+u8 v_sensor_select_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array contains the Mag Z LSB and MSB data
+		v_data_u8[0] - LSB
+		v_data_u8[1] - MSB*/
+	u8 v_data_u8[BMI160_MAG_Z_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_sensor_select_u8) {
+		case BST_BMM:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_DATA_MAG_Z_LSB__REG,
+			v_data_u8, BMI160_MAG_Z_DATA_LENGTH);
+			/*Z-axis LSB value shifting*/
+			v_data_u8[BMI160_MAG_Z_LSB_BYTE] =
+			BMI160_GET_BITSLICE(v_data_u8[BMI160_MAG_Z_LSB_BYTE],
+			BMI160_USER_DATA_MAG_Z_LSB);
+			*v_mag_z_s16 = (s16)
+			((((s32)((s8)v_data_u8[BMI160_MAG_Z_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_07_BITS) |
+			(v_data_u8[BMI160_MAG_Z_LSB_BYTE]));
+		break;
+		case BST_AKM:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_DATA_4_MAG_Z_LSB__REG,
+			v_data_u8, BMI160_MAG_Z_DATA_LENGTH);
+			*v_mag_z_s16 = (s16)
+			((((s32)((s8)v_data_u8[BMI160_MAG_Z_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS) | (
+			v_data_u8[BMI160_MAG_Z_LSB_BYTE]));
+		break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads Mag data RHALL values
+ *	from the register 0x0A and 0x0B
+ *
+ *
+ *  @param v_mag_r_s16 : The value of BMM150 r data
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_r(s16 *v_mag_r_s16)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array contains the Mag R LSB and MSB data
+		v_data_u8[0] - LSB
+		v_data_u8[1] - MSB*/
+	u8 v_data_u8[BMI160_MAG_R_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_DATA_6_RHALL_LSB__REG,
+			v_data_u8, BMI160_MAG_R_DATA_LENGTH);
+			/*R-axis LSB value shifting*/
+			v_data_u8[BMI160_MAG_R_LSB_BYTE] =
+			BMI160_GET_BITSLICE(v_data_u8[BMI160_MAG_R_LSB_BYTE],
+			BMI160_USER_DATA_MAG_R_LSB);
+			*v_mag_r_s16 = (s16)
+			((((s32)((s8)v_data_u8[BMI160_MAG_R_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_06_BITS) |
+			(v_data_u8[BMI160_MAG_R_LSB_BYTE]));
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads Mag data X,Y,Z values
+ *	from the register 0x04 to 0x09
+ *
+ *	@brief The Mag sensor data read from auxiliary mag
+ *
+ *  @param Mag : The value of Mag xyz data
+ *  @param v_sensor_select_u8 : Mag selection value
+ *  value    |   sensor
+ *  ---------|----------------
+ *   0       | BMM150
+ *   1       | AKM09911 or AKM09912
+ *
+ *	@note For Mag output data rate configuration use the following function
+ *	@note bmi160_set_mag_output_data_rate()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_xyz(
+struct bmi160_mag_t *mag, u8 v_sensor_select_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array contains the Mag XYZ LSB and MSB data
+		v_data_u8[0] - X-LSB
+		v_data_u8[1] - X-MSB
+		v_data_u8[0] - Y-LSB
+		v_data_u8[1] - Y-MSB
+		v_data_u8[0] - Z-LSB
+		v_data_u8[1] - Z-MSB
+		*/
+	u8 v_data_u8[BMI160_MAG_XYZ_DATA_SIZE] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_sensor_select_u8) {
+		case BST_BMM:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_DATA_MAG_X_LSB__REG,
+			v_data_u8, BMI160_MAG_XYZ_DATA_LENGTH);
+			/*X-axis LSB value shifting*/
+			v_data_u8[BMI160_DATA_FRAME_MAG_X_LSB_BYTE] =
+			BMI160_GET_BITSLICE(
+			v_data_u8[BMI160_DATA_FRAME_MAG_X_LSB_BYTE],
+			BMI160_USER_DATA_MAG_X_LSB);
+			/* Data X */
+			mag->x = (s16)
+			((((s32)((s8)v_data_u8[
+			BMI160_DATA_FRAME_MAG_X_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_05_BITS) |
+			(v_data_u8[BMI160_DATA_FRAME_MAG_X_LSB_BYTE]));
+			/* Data Y */
+			/*Y-axis LSB value shifting*/
+			v_data_u8[BMI160_DATA_FRAME_MAG_Y_LSB_BYTE] =
+			BMI160_GET_BITSLICE(
+			v_data_u8[BMI160_DATA_FRAME_MAG_Y_LSB_BYTE],
+			BMI160_USER_DATA_MAG_Y_LSB);
+			mag->y = (s16)
+			((((s32)((s8)v_data_u8[
+			BMI160_DATA_FRAME_MAG_Y_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_05_BITS) |
+			(v_data_u8[BMI160_DATA_FRAME_MAG_Y_LSB_BYTE]));
+
+			/* Data Z */
+			/*Z-axis LSB value shifting*/
+			v_data_u8[BMI160_DATA_FRAME_MAG_Z_LSB_BYTE]
+			= BMI160_GET_BITSLICE(
+			v_data_u8[BMI160_DATA_FRAME_MAG_Z_LSB_BYTE],
+			BMI160_USER_DATA_MAG_Z_LSB);
+			mag->z = (s16)
+			((((s32)((s8)v_data_u8[
+			BMI160_DATA_FRAME_MAG_Z_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_07_BITS) |
+			(v_data_u8[BMI160_DATA_FRAME_MAG_Z_LSB_BYTE]));
+		break;
+		case BST_AKM:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_DATA_0_MAG_X_LSB__REG,
+			v_data_u8, BMI160_MAG_XYZ_DATA_LENGTH);
+			/* Data X */
+			mag->x = (s16)
+			((((s32)((s8)v_data_u8[
+			BMI160_DATA_FRAME_MAG_X_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS) |
+			(v_data_u8[BMI160_DATA_FRAME_MAG_X_LSB_BYTE]));
+			/* Data Y */
+			mag->y  = ((((s32)((s8)v_data_u8[
+			BMI160_DATA_FRAME_MAG_Y_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS) |
+			(v_data_u8[BMI160_DATA_FRAME_MAG_Y_LSB_BYTE]));
+			/* Data Z */
+			mag->z = (s16)
+			((((s32)((s8)v_data_u8[
+			BMI160_DATA_FRAME_MAG_Z_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS) |
+			(v_data_u8[BMI160_DATA_FRAME_MAG_Z_LSB_BYTE]));
+		break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+		}
+	}
+	return com_rslt;
+}
+ /*!*
+ *	@brief This API reads Mag data X,Y,Z,r
+ *	values from the register 0x04 to 0x0B.
+ *
+ *	@brief The Mag sensor data read from auxiliary mag.
+ *
+ *	@param Mag : The value of mag-BMM150 xyzr data.
+ *
+ *	@note For Mag data output rate configuration use the following function
+ *	@note bmi160_set_mag_output_data_rate().
+ *
+ *	@return results of bus communication function.
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_xyzr(
+struct bmi160_mag_xyzr_t *mag)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8[BMI160_MAG_XYZR_DATA_SIZE] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_DATA_MAG_X_LSB__REG,
+			v_data_u8, BMI160_MAG_XYZR_DATA_LENGTH);
+
+			/* Data X */
+			/*X-axis LSB value shifting*/
+			v_data_u8[BMI160_DATA_FRAME_MAG_X_LSB_BYTE]
+			= BMI160_GET_BITSLICE(
+			v_data_u8[BMI160_DATA_FRAME_MAG_X_LSB_BYTE],
+			BMI160_USER_DATA_MAG_X_LSB);
+			mag->x = (s16)
+			((((s32)((s8)v_data_u8[
+			BMI160_DATA_FRAME_MAG_X_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_05_BITS)
+			| (v_data_u8[BMI160_DATA_FRAME_MAG_X_LSB_BYTE]));
+			/* Data Y */
+			/*Y-axis LSB value shifting*/
+			v_data_u8[BMI160_DATA_FRAME_MAG_Y_LSB_BYTE]
+			= BMI160_GET_BITSLICE(
+			v_data_u8[BMI160_DATA_FRAME_MAG_Y_LSB_BYTE],
+			BMI160_USER_DATA_MAG_Y_LSB);
+			mag->y = (s16)
+			((((s32)((s8)v_data_u8[
+			BMI160_DATA_FRAME_MAG_Y_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_05_BITS)
+			| (v_data_u8[
+			BMI160_DATA_FRAME_MAG_Y_LSB_BYTE]));
+
+			/* Data Z */
+			/*Z-axis LSB value shifting*/
+			v_data_u8[BMI160_DATA_FRAME_MAG_Z_LSB_BYTE]
+			= BMI160_GET_BITSLICE(
+			v_data_u8[BMI160_DATA_FRAME_MAG_Z_LSB_BYTE],
+			BMI160_USER_DATA_MAG_Z_LSB);
+			mag->z = (s16)
+			((((s32)((s8)v_data_u8[
+			BMI160_DATA_FRAME_MAG_Z_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_07_BITS)
+			| (v_data_u8[BMI160_DATA_FRAME_MAG_Z_LSB_BYTE]));
+
+			/* RHall */
+			/*R-axis LSB value shifting*/
+			v_data_u8[BMI160_DATA_FRAME_MAG_R_LSB_BYTE]
+			= BMI160_GET_BITSLICE(
+			v_data_u8[BMI160_DATA_FRAME_MAG_R_LSB_BYTE],
+			BMI160_USER_DATA_MAG_R_LSB);
+			mag->r = (s16)
+			((((s32)((s8)v_data_u8[
+			BMI160_DATA_FRAME_MAG_R_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_06_BITS)
+			| (v_data_u8[BMI160_DATA_FRAME_MAG_R_LSB_BYTE]));
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads gyro data X values
+ *	from the register 0x0C and 0x0D.
+ *
+ *	@param v_gyro_x_s16 : The value of gyro x data.
+ *
+ *	@note Gyro configuration use the following functions.
+ *	@note bmi160_set_gyro_output_data_rate()
+ *	@note bmi160_set_gyro_bw()
+ *	@note bmi160_set_gyro_range()
+ *
+ *	@return results of bus communication function.
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_gyro_x(s16 *v_gyro_x_s16)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array contains the gyro X LSB and MSB data
+		v_data_u8[0] - LSB
+		v_data_u8[MSB_ONE] - MSB*/
+	u8 v_data_u8[BMI160_GYRO_X_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_DATA_8_GYRO_X_LSB__REG,
+			v_data_u8, BMI160_GYRO_DATA_LENGTH);
+
+			*v_gyro_x_s16 = (s16)
+			((((s32)((s8)v_data_u8[BMI160_GYRO_X_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (v_data_u8[BMI160_GYRO_X_LSB_BYTE]));
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads gyro data Y values
+ *	from the register 0x0E and 0x0F.
+ *
+ *	@param v_gyro_y_s16 : The value of gyro y data.
+ *
+ *	@note Gyro configuration use the following function
+ *	@note bmi160_set_gyro_output_data_rate()
+ *	@note bmi160_set_gyro_bw()
+ *	@note bmi160_set_gyro_range()
+ *
+ *	@return results of bus communication function.
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error result of communication routines
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_gyro_y(s16 *v_gyro_y_s16)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array contains the gyro Y LSB and MSB data
+		v_data_u8[LSB_ZERO] - LSB
+		v_data_u8[MSB_ONE] - MSB*/
+	u8 v_data_u8[BMI160_GYRO_Y_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read gyro y data*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_DATA_10_GYRO_Y_LSB__REG,
+			v_data_u8, BMI160_GYRO_DATA_LENGTH);
+
+			*v_gyro_y_s16 = (s16)
+			((((s32)((s8)v_data_u8[BMI160_GYRO_Y_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (v_data_u8[BMI160_GYRO_Y_LSB_BYTE]));
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads gyro data Z values
+ *	from the register 0x10 and 0x11.
+ *
+ *	@param v_gyro_z_s16 : The value of gyro z data.
+ *
+ *	@note Gyro configuration use the following functions.
+ *	@note bmi160_set_gyro_output_data_rate()
+ *	@note bmi160_set_gyro_bw()
+ *	@note bmi160_set_gyro_range()
+ *
+ *	@return results of the bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_gyro_z(s16 *v_gyro_z_s16)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array contains the gyro Z LSB and MSB data
+		v_data_u8[LSB_ZERO] - LSB
+		v_data_u8[MSB_ONE] - MSB*/
+	u8 v_data_u8[BMI160_GYRO_Z_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read gyro z data */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_DATA_12_GYRO_Z_LSB__REG,
+			v_data_u8, BMI160_GYRO_DATA_LENGTH);
+
+			*v_gyro_z_s16 = (s16)
+			((((s32)((s8)v_data_u8[BMI160_GYRO_Z_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (v_data_u8[BMI160_GYRO_Z_LSB_BYTE]));
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads gyro data X,Y,Z values
+ *	from the register 0x0C to 0x11.
+ *
+ *	@param gyro : The value of gyro xyz.
+ *
+ *	@note Gyro configuration use the following functions.
+ *	@note bmi160_set_gyro_output_data_rate()
+ *	@note bmi160_set_gyro_bw()
+ *	@note bmi160_set_gyro_range()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_gyro_xyz(struct bmi160_gyro_t *gyro)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array contains the Mag XYZ LSB and MSB data
+		v_data_u8[0] - X-LSB
+		v_data_u8[1] - X-MSB
+		v_data_u8[0] - Y-LSB
+		v_data_u8[1] - Y-MSB
+		v_data_u8[0] - Z-LSB
+		v_data_u8[1] - Z-MSB
+		*/
+	u8 v_data_u8[BMI160_GYRO_XYZ_DATA_SIZE] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the gyro xyz data*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_DATA_8_GYRO_X_LSB__REG,
+			v_data_u8, BMI160_GYRO_XYZ_DATA_LENGTH);
+
+			/* Data X */
+			gyro->x = (s16)
+			((((s32)((s8)v_data_u8[
+			BMI160_DATA_FRAME_GYRO_X_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (v_data_u8[BMI160_DATA_FRAME_GYRO_X_LSB_BYTE]));
+			/* Data Y */
+			gyro->y = (s16)
+			((((s32)((s8)v_data_u8[
+			BMI160_DATA_FRAME_GYRO_Y_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (v_data_u8[BMI160_DATA_FRAME_GYRO_Y_LSB_BYTE]));
+
+			/* Data Z */
+			gyro->z = (s16)
+			((((s32)((s8)v_data_u8[
+			BMI160_DATA_FRAME_GYRO_Z_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (v_data_u8[BMI160_DATA_FRAME_GYRO_Z_LSB_BYTE]));
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the Accel data for X axis
+ *	from the register 0x12 and 0x13.
+ *
+ *	@param v_accel_x_s16 : The value of Accel x axis.
+ *
+ *	@note For Accel configuration use the following functions.
+ *	@note bmi160_set_accel_output_data_rate()
+ *	@note bmi160_set_accel_bw()
+ *	@note bmi160_set_accel_under_sampling_parameter()
+ *	@note bmi160_set_accel_range()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_accel_x(s16 *v_accel_x_s16)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array contains the Accel X LSB and MSB data
+		v_data_u8[0] - LSB
+		v_data_u8[1] - MSB*/
+	u8 v_data_u8[BMI160_ACCEL_X_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_DATA_14_ACCEL_X_LSB__REG,
+			v_data_u8, BMI160_ACCEL_DATA_LENGTH);
+
+			*v_accel_x_s16 = (s16)
+			((((s32)((s8)v_data_u8[BMI160_ACCEL_X_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (v_data_u8[BMI160_ACCEL_X_LSB_BYTE]));
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads Accel data for Y axis
+ *	from the register 0x14 and 0x15.
+ *
+ *	@param v_accel_y_s16 : The value of Accel y axis.
+ *
+ *	@note For Accel configuration use the following functions.
+ *	@note bmi160_set_accel_output_data_rate()
+ *	@note bmi160_set_accel_bw()
+ *	@note bmi160_set_accel_under_sampling_parameter()
+ *	@note bmi160_set_accel_range()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_accel_y(s16 *v_accel_y_s16)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array contains the Accel Y LSB and MSB data
+		v_data_u8[0] - LSB
+		v_data_u8[1] - MSB*/
+	u8 v_data_u8[BMI160_ACCEL_Y_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_DATA_16_ACCEL_Y_LSB__REG,
+			v_data_u8, BMI160_ACCEL_DATA_LENGTH);
+
+			*v_accel_y_s16 = (s16)
+			((((s32)((s8)v_data_u8[BMI160_ACCEL_Y_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (v_data_u8[BMI160_ACCEL_Y_LSB_BYTE]));
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads Accel data Z values
+ *	from the register 0x16 and 0x17.
+ *
+ *	@param v_accel_z_s16 : The value of Accel z axis.
+ *
+ *	@note For Accel configuration use the following functions.
+ *	@note bmi160_set_accel_output_data_rate()
+ *	@note bmi160_set_accel_bw()
+ *	@note bmi160_set_accel_under_sampling_parameter()
+ *	@note bmi160_set_accel_range()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_accel_z(s16 *v_accel_z_s16)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array contains the Accel Z LSB and MSB data
+		a_data_u8r[LSB_ZERO] - LSB
+		a_data_u8r[MSB_ONE] - MSB*/
+	u8 a_data_u8r[BMI160_ACCEL_Z_DATA_SIZE] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_DATA_18_ACCEL_Z_LSB__REG,
+			a_data_u8r, BMI160_ACCEL_DATA_LENGTH);
+
+			*v_accel_z_s16 = (s16)
+			((((s32)((s8)a_data_u8r[BMI160_ACCEL_Z_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_ACCEL_Z_LSB_BYTE]));
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads Accel data X,Y,Z values
+ *	from the register 0x12 to 0x17.
+ *
+ *	@param Accel :The value of Accel xyz axis.
+ *
+ *	@note For Accel configuration use the following functions.
+ *	@note bmi160_set_accel_output_data_rate()
+ *	@note bmi160_set_accel_bw()
+ *	@note bmi160_set_accel_under_sampling_parameter()
+ *	@note bmi160_set_accel_range()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_accel_xyz(
+struct bmi160_accel_t *accel)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array contains the Accel XYZ LSB and MSB data
+	a_data_u8r[0] - X-LSB
+	a_data_u8r[1] - X-MSB
+	a_data_u8r[0] - Y-LSB
+	a_data_u8r[1] - Y-MSB
+	a_data_u8r[0] - Z-LSB
+	a_data_u8r[1] - Z-MSB
+	*/
+	u8 a_data_u8r[BMI160_ACCEL_XYZ_DATA_SIZE] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_DATA_14_ACCEL_X_LSB__REG,
+			a_data_u8r, BMI160_ACCEL_XYZ_DATA_LENGTH);
+
+			/* Data X */
+			accel->x = (s16)
+			((((s32)((s8)a_data_u8r[
+			BMI160_DATA_FRAME_ACCEL_X_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_DATA_FRAME_ACCEL_X_LSB_BYTE]));
+			/* Data Y */
+			accel->y = (s16)
+			((((s32)((s8)a_data_u8r[
+			BMI160_DATA_FRAME_ACCEL_Y_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_DATA_FRAME_ACCEL_Y_LSB_BYTE]));
+
+			/* Data Z */
+			accel->z = (s16)
+			((((s32)((s8)a_data_u8r[
+			BMI160_DATA_FRAME_ACCEL_Z_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_DATA_FRAME_ACCEL_Z_LSB_BYTE]));
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads sensor_time from the register
+ *	0x18 to 0x1A.
+ *
+ *	@param v_sensor_time_u32 : The value of sensor time.
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_sensor_time(u32 *v_sensor_time_u32)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array contains the sensor time it is 32 bit data
+	a_data_u8r[0] - sensor time
+	a_data_u8r[1] - sensor time
+	a_data_u8r[0] - sensor time
+	*/
+	u8 a_data_u8r[BMI160_SENSOR_TIME_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_SENSORTIME_0_SENSOR_TIME_LSB__REG,
+			a_data_u8r, BMI160_SENSOR_TIME_LENGTH);
+
+			*v_sensor_time_u32 = (u32)
+			((((u32)a_data_u8r[BMI160_SENSOR_TIME_MSB_BYTE])
+			<< BMI160_SHIFT_BIT_POSITION_BY_16_BITS)
+			|(((u32)a_data_u8r[BMI160_SENSOR_TIME_XLSB_BYTE])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_SENSOR_TIME_LSB_BYTE]));
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads sensor_time, Accel data, gyro data from the
+ *	register 0x0C to 0x1A.
+ *
+ *	@param accel_gyro_sensortime_select : to select the configuration
+ *  value    |   output
+ *  ---------|----------------
+ *   0       | Accel data and Sensor time
+ *   1       | Accel data ,Gyro data and Sensor time
+ *
+ *	@param accel_gyro_sensor_time : the value of Accel data, gyro data and
+ *	sensor time data
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_accel_gyro_sensor_time(
+	u8 accel_gyro_sensortime_select,
+struct bmi160_sensortime_accel_gyro_data *accel_gyro_sensor_time)
+{
+		u8 a_data_u8r[BMI160_GYRO_ACCEL_SENSORTIME_DATA_SIZE];
+		BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+
+		switch (accel_gyro_sensortime_select) {
+		case BMI160_ACCEL_SENSORTIME_DATA:
+			com_rslt = p_bmi160->BMI160_BURST_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_DATA_14_ACCEL_X_LSB__REG, a_data_u8r,
+			BMI160_ACCEL_SENSORTIME_DATA_SIZE);
+			/* Accel Data X */
+			accel_gyro_sensor_time->accel.x = (s16)((((s32)
+			((s8)a_data_u8r[BMI160_DATA_FRAME_ACCEL_X_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_DATA_FRAME_ACCEL_X_LSB_BYTE]));
+			/* Accel Data Y */
+			accel_gyro_sensor_time->accel.y = (s16)((((s32)
+			((s8)a_data_u8r[BMI160_DATA_FRAME_ACCEL_Y_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_DATA_FRAME_ACCEL_Y_LSB_BYTE]));
+			/* Accel Data Z */
+			accel_gyro_sensor_time->accel.z = (s16)((((s32)
+			((s8)a_data_u8r[BMI160_DATA_FRAME_ACCEL_Z_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_DATA_FRAME_ACCEL_Z_LSB_BYTE]));
+			/* Sensor time data */
+			accel_gyro_sensor_time->v_sensor_time_u32 = (u32)((
+			((u32)a_data_u8r[BMI160_DATA_FRAME_ACCEL_Z_MSB_BYTE+3])
+			<< BMI160_SHIFT_BIT_POSITION_BY_16_BITS)|
+			(((u32)a_data_u8r[BMI160_DATA_FRAME_ACCEL_Z_MSB_BYTE+2])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_DATA_FRAME_ACCEL_Z_MSB_BYTE+1]));
+			break;
+
+		case BMI160_GYRO_ACCEL_SENSORTIME_DATA:
+			com_rslt = p_bmi160->BMI160_BURST_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_DATA_8_GYRO_X_LSB__REG, a_data_u8r,
+			BMI160_GYRO_ACCEL_SENSORTIME_DATA_SIZE);
+			/* Gyro Data X */
+			accel_gyro_sensor_time->gyro.x = (s16)((((s32)((s8)
+			a_data_u8r[BMI160_DATA_FRAME_GYRO_X_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_DATA_FRAME_GYRO_X_LSB_BYTE]));
+			/* Gyro Data Y */
+			accel_gyro_sensor_time->gyro.y = (s16)((((s32)
+			((s8)a_data_u8r[BMI160_DATA_FRAME_GYRO_Y_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_DATA_FRAME_GYRO_Y_LSB_BYTE]));
+			/* Gyro Data Z */
+			accel_gyro_sensor_time->gyro.z = (s16)((((s32)
+			((s8)a_data_u8r[BMI160_DATA_FRAME_GYRO_Z_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_DATA_FRAME_GYRO_Z_LSB_BYTE]));
+			/* Accel Data X */
+			accel_gyro_sensor_time->accel.x = (s16)((((s32)
+			((s8)a_data_u8r[BMI160_DATA_FRAME_GYRO_Z_MSB_BYTE+2]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_DATA_FRAME_GYRO_Z_MSB_BYTE+1]));
+			/* Accel Data Y */
+			accel_gyro_sensor_time->accel.y = (s16)((((s32)
+			((s8)a_data_u8r[BMI160_DATA_FRAME_GYRO_Z_MSB_BYTE+4]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_DATA_FRAME_GYRO_Z_MSB_BYTE+3]));
+			/* Accel Data Z */
+			accel_gyro_sensor_time->accel.z = (s16)((((s32)
+			((s8)a_data_u8r[BMI160_DATA_FRAME_GYRO_Z_MSB_BYTE+6]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_DATA_FRAME_GYRO_Z_MSB_BYTE+5]));
+			/* Sensor time data */
+			accel_gyro_sensor_time->v_sensor_time_u32 = (u32)
+			((((u32)a_data_u8r[BMI160_DATA_FRAME_GYRO_Z_MSB_BYTE+9])
+			<< BMI160_SHIFT_BIT_POSITION_BY_16_BITS)
+			|(((u32)a_data_u8r[BMI160_DATA_FRAME_GYRO_Z_MSB_BYTE+8])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_DATA_FRAME_GYRO_Z_MSB_BYTE+7]));
+			break;
+
+		}
+	return com_rslt;
+
+}
+
+/*!
+ *	@brief This API reads the Gyro self test
+ *	status from the register 0x1B bit 1
+ *
+ *  @param v_gyro_selftest_u8 : The value of gyro self test status
+ *  value    |   status
+ *  ---------|----------------
+ *   0       | Gyro self test is running or failed
+ *   1       | Gyro self test completed successfully
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_selftest(u8
+*v_gyro_selftest_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_STAT_GYRO_SELFTEST_OK__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_gyro_selftest_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_STAT_GYRO_SELFTEST_OK);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the status of
+ *	mag manual interface operation from the register 0x1B bit 2.
+ *
+ *  @param v_mag_manual_stat_u8 : The value of Mag manual operation status
+ *  value    |   status
+ *  ---------|----------------
+ *   0       | Indicates no manual Mag
+ *   -       | interface operation is ongoing
+ *   1       | Indicates manual Mag
+ *   -       | interface operation is ongoing
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_manual_operation_stat(u8
+*v_mag_manual_stat_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read manual operation*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_STAT_MAG_MANUAL_OPERATION__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_mag_manual_stat_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_STAT_MAG_MANUAL_OPERATION);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the fast offset compensation
+ *	status from the register 0x1B bit 3
+ *
+ *
+ *  @param v_foc_rdy_u8 : The status of fast compensation
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_foc_rdy(u8
+*v_foc_rdy_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the FOC status*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_STAT_FOC_RDY__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_foc_rdy_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_STAT_FOC_RDY);
+		}
+	return com_rslt;
+}
+
+/*!
+ *	@brief This API reads the status of Mag data ready
+ *	from the register 0x1B bit 5
+ *	The status get reset when one Mag data register is read out
+ *
+ *  @param v_data_rdy_u8 : The value of Mag data ready status
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_data_rdy_mag(u8
+*v_data_rdy_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_STAT_DATA_RDY_MAG__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_data_rdy_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_STAT_DATA_RDY_MAG);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the status of gyro data ready from the
+ *	register 0x1B bit 6
+ *	The status get reset when gyro data register read out
+ *
+ *
+ *	@param v_data_rdy_u8 :	The value of gyro data ready
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_data_rdy(u8
+*v_data_rdy_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_STAT_DATA_RDY_GYRO__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_data_rdy_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_STAT_DATA_RDY_GYRO);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the status of Accel data ready from the
+ *	register 0x1B bit 7
+ *	The status get reset when Accel data register is read
+ *
+ *
+ *	@param v_data_rdy_u8 :	The value of Accel data ready status
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_data_rdy(u8
+*v_data_rdy_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/*reads the status of Accel data ready*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_STAT_DATA_RDY_ACCEL__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_data_rdy_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_STAT_DATA_RDY_ACCEL);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the step detector interrupt status
+ *	from the register 0x1C bit 0
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the single tab interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt
+ *	signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_step_intr_u8 : The status of step detector interrupt
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_step_intr(u8
+*v_step_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_0_STEP_INTR__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_step_intr_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_0_STEP_INTR);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the
+ *	significant motion interrupt status
+ *	from the register 0x1C bit 1
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the single tab interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt
+ *	signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *
+ *  @param v_significant_intr_u8 : The status of step
+ *	motion interrupt
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_significant_intr(u8
+*v_significant_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_0_SIGNIFICANT_INTR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_significant_intr_u8  = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_0_SIGNIFICANT_INTR);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API reads the any motion interrupt status
+ *	from the register 0x1C bit 2
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the single tab interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt
+ *	signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *  @param v_any_motion_intr_u8 : The status of any-motion interrupt
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_any_motion_intr(u8
+*v_any_motion_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_0_ANY_MOTION__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_any_motion_intr_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_0_ANY_MOTION);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the power mode trigger interrupt status
+ *	from the register 0x1C bit 3
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the single tab interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt
+ *	signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *
+ *  @param v_pmu_trigger_intr_u8 : The status of power mode trigger interrupt
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_pmu_trigger_intr(u8
+*v_pmu_trigger_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_0_PMU_TRIGGER__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_pmu_trigger_intr_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_0_PMU_TRIGGER);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the double tab status
+ *	from the register 0x1C bit 4
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the single tab interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt
+ *	signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_double_tap_intr_u8 :The status of double tab interrupt
+ *
+ *	@note Double tap interrupt can be configured by the following functions
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_double_tap()
+ *	@note AXIS MAPPING
+ *	@note bmi160_get_stat2_tap_first_x()
+ *	@note bmi160_get_stat2_tap_first_y()
+ *	@note bmi160_get_stat2_tap_first_z()
+ *	@note DURATION
+ *	@note bmi160_set_intr_tap_durn()
+ *	@note THRESHOLD
+ *	@note bmi160_set_intr_tap_thres()
+ *	@note TAP QUIET
+ *	@note bmi160_set_intr_tap_quiet()
+ *	@note TAP SHOCK
+ *	@note bmi160_set_intr_tap_shock()
+ *	@note TAP SOURCE
+ *	@note bmi160_set_intr_tap_source()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_double_tap_intr(u8
+*v_double_tap_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_0_DOUBLE_TAP_INTR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_double_tap_intr_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_0_DOUBLE_TAP_INTR);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the single tab status
+ *	from the register 0x1C bit 5
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the single tab interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt
+ *	signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_single_tap_intr_u8 :The status of single tap interrupt
+ *
+ *	@note Single tap interrupt can be configured by the following functions
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_single_tap()
+ *	@note AXIS MAPPING
+ *	@note bmi160_get_stat2_tap_first_x()
+ *	@note bmi160_get_stat2_tap_first_y()
+ *	@note bmi160_get_stat2_tap_first_z()
+ *	@note DURATION
+ *	@note bmi160_set_intr_tap_durn()
+ *	@note THRESHOLD
+ *	@note bmi160_set_intr_tap_thres()
+ *	@note TAP QUIET
+ *	@note bmi160_set_intr_tap_quiet()
+ *	@note TAP SHOCK
+ *	@note bmi160_set_intr_tap_shock()
+ *	@note TAP SOURCE
+ *	@note bmi160_set_intr_tap_source()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_single_tap_intr(u8
+*v_single_tap_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_0_SINGLE_TAP_INTR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_single_tap_intr_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_0_SINGLE_TAP_INTR);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the orient status
+ *	from the register 0x1C bit 6
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the orient interrupt triggers. The
+ *	setting of INT_LATCH controls the
+ *	interrupt signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_orient_intr_u8 : The status of orient interrupt
+ *
+ *	@note For orient interrupt configuration use the following functions
+ *	@note STATUS
+ *	@note bmi160_get_stat0_orient_intr()
+ *	@note AXIS MAPPING
+ *	@note bmi160_get_stat3_orient_xy()
+ *	@note bmi160_get_stat3_orient_z()
+ *	@note bmi160_set_intr_orient_axes_enable()
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_orient()
+ *	@note INTERRUPT OUTPUT
+ *	@note bmi160_set_intr_orient_ud_enable()
+ *	@note THETA
+ *	@note bmi160_set_intr_orient_theta()
+ *	@note HYSTERESIS
+ *	@note bmi160_set_intr_orient_hyst()
+ *	@note BLOCKING
+ *	@note bmi160_set_intr_orient_blocking()
+ *	@note MODE
+ *	@note bmi160_set_intr_orient_mode()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_orient_intr(u8
+*v_orient_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_0_ORIENT__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_orient_intr_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_0_ORIENT);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the flat interrupt status
+ *	from the register 0x1C bit 7
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the flat interrupt triggers. The
+ *	setting of INT_LATCH controls the
+ *	interrupt signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_flat_intr_u8 : The status of  flat interrupt
+ *
+ *	@note For flat configuration use the following functions
+ *	@note STATS
+ *	@note bmi160_get_stat0_flat_intr()
+ *	@note bmi160_get_stat3_flat()
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_flat()
+ *	@note THETA
+ *	@note bmi160_set_intr_flat_theta()
+ *	@note HOLD TIME
+ *	@note bmi160_set_intr_flat_hold()
+ *	@note HYSTERESIS
+ *	@note bmi160_set_intr_flat_hyst()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_flat_intr(u8
+*v_flat_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_0_FLAT__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_flat_intr_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_0_FLAT);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the high_g interrupt status
+ *	from the register 0x1D bit 2
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the high g  interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt signal and hence the
+ *	respective interrupt flag will be permanently
+ *	latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_high_g_intr_u8 : The status of high_g interrupt
+ *
+ *	@note High_g interrupt configured by following functions
+ *	@note STATUS
+ *	@note bmi160_get_stat1_high_g_intr()
+ *	@note AXIS MAPPING
+ *	@note bmi160_get_stat3_high_g_first_x()
+ *	@note bmi160_get_stat3_high_g_first_y()
+ *	@note bmi160_get_stat3_high_g_first_z()
+ *	@note SIGN MAPPING
+ *	@note bmi160_get_stat3_high_g_first_sign()
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_high_g()
+  *	@note HYSTERESIS
+ *	@note bmi160_set_intr_high_g_hyst()
+ *	@note DURATION
+ *	@note bmi160_set_intr_high_g_durn()
+ *	@note THRESHOLD
+ *	@note bmi160_set_intr_high_g_thres()
+ *	@note SOURCE
+ *	@note bmi160_set_intr_low_high_source()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_high_g_intr(u8
+*v_high_g_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_1_HIGH_G_INTR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_high_g_intr_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_1_HIGH_G_INTR);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the low g interrupt status
+ *	from the register 0x1D bit 3
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the low g  interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_low_g_intr_u8 : The status of low_g interrupt
+ *
+ *	@note Low_g interrupt configured by following functions
+ *	@note STATUS
+ *	@note bmi160_get_stat1_low_g_intr()
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_low_g()
+ *	@note SOURCE
+ *	@note bmi160_set_intr_low_high_source()
+ *	@note DURATION
+ *	@note bmi160_set_intr_low_g_durn()
+ *	@note THRESHOLD
+ *	@note bmi160_set_intr_low_g_thres()
+ *	@note HYSTERESIS
+ *	@note bmi160_set_intr_low_g_hyst()
+ *	@note MODE
+ *	@note bmi160_set_intr_low_g_mode()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_low_g_intr(u8
+*v_low_g_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_1_LOW_G_INTR__REG, &v_data_u8,
+			 BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_low_g_intr_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_1_LOW_G_INTR);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads data ready interrupt status
+ *	from the register 0x1D bit 4
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the  data ready  interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_data_rdy_intr_u8 : The status of data ready interrupt
+ *
+ *	@note Data ready interrupt configured by following functions
+ *	@note STATUS
+ *	@note bmi160_get_stat1_data_rdy_intr()
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_data_rdy()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_data_rdy_intr(u8
+*v_data_rdy_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_1_DATA_RDY_INTR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_data_rdy_intr_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_1_DATA_RDY_INTR);
+		}
+	return com_rslt;
+}
+#ifdef FIFO_ENABLE
+/*!
+ *	@brief This API reads data ready FIFO full interrupt status
+ *	from the register 0x1D bit 5
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the FIFO full interrupt triggers. The
+ *	setting of INT_LATCH controls the
+ *	interrupt signal and hence the
+ *	respective interrupt flag will
+ *	be permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_fifo_full_intr_u8 : The status of FIFO full interrupt
+ *
+ *	@note FIFO full interrupt can be configured by following functions
+ *	@note bmi160_set_intr_fifo_full()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_fifo_full_intr(u8
+*v_fifo_full_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_1_FIFO_FULL_INTR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_fifo_full_intr_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_1_FIFO_FULL_INTR);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads data
+ *	ready FIFO watermark interrupt status
+ *	from the register 0x1D bit 6
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the FIFO watermark interrupt triggers. The
+ *	setting of INT_LATCH controls the
+ *	interrupt signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_fifo_wm_intr_u8 : The status of FIFO water mark interrupt
+ *
+ *	@note FIFO full interrupt can be configured by following functions
+ *	@note bmi160_set_intr_fifo_wm()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_fifo_wm_intr(u8
+*v_fifo_wm_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_1_FIFO_WM_INTR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_fifo_wm_intr_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_1_FIFO_WM_INTR);
+		}
+	return com_rslt;
+}
+#endif
+/*!
+ *	@brief This API reads data ready no motion interrupt status
+ *	from the register 0x1D bit 7
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the no motion  interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt signal and hence the
+ *	respective interrupt flag will be permanently
+ *	latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_nomotion_intr_u8 : The status of no motion interrupt
+ *
+ *	@note No motion interrupt can be configured by following function
+ *	@note STATUS
+ *	@note bmi160_get_stat1_nomotion_intr()
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_nomotion()
+ *	@note DURATION
+ *	@note bmi160_set_intr_slow_no_motion_durn()
+ *	@note THRESHOLD
+ *	@note bmi160_set_intr_slow_no_motion_thres()
+ *	@note SLOW/NO MOTION SELECT
+ *	@note bmi160_set_intr_slow_no_motion_select()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_nomotion_intr(u8
+*v_nomotion_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the no motion interrupt*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_1_NOMOTION_INTR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_nomotion_intr_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_1_NOMOTION_INTR);
+		}
+	return com_rslt;
+}
+/*!
+ *@brief This API reads the status of any motion first x
+ *	from the register 0x1E bit 0
+ *
+ *
+ *@param v_anymotion_first_x_u8 : The status of any motion first x interrupt
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by x axis
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_any_motion_first_x(u8
+*v_anymotion_first_x_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the any motion first x interrupt*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_X__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_anymotion_first_x_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_X);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the status of any motion first y interrupt
+ *	from the register 0x1E bit 1
+ *
+ *
+ *
+ *@param v_any_motion_first_y_u8 : The status of any motion first y interrupt
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_any_motion_first_y(u8
+*v_any_motion_first_y_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the any motion first y interrupt*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Y__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_any_motion_first_y_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Y);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the status of any motion first z interrupt
+ *	from the register 0x1E bit 2
+ *
+ *
+ *
+ *
+ *@param v_any_motion_first_z_u8 : The status of any motion first z interrupt
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_any_motion_first_z(u8
+*v_any_motion_first_z_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the any motion first z interrupt*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Z__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_any_motion_first_z_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Z);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the any motion sign status from the
+ *	register 0x1E bit 3
+ *
+ *
+ *
+ *
+ *  @param v_anymotion_sign_u8 : The status of any motion sign
+ *  value     |  sign
+ * -----------|-------------
+ *   0        | positive
+ *   1        | negative
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_any_motion_sign(u8
+*v_anymotion_sign_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read any motion sign interrupt status */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_2_ANY_MOTION_SIGN__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_anymotion_sign_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_2_ANY_MOTION_SIGN);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the any motion tap first x status from the
+ *	register 0x1E bit 4
+ *
+ *
+ *
+ *
+ *  @param v_tap_first_x_u8 :The status of any motion tap first x
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by x axis
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_tap_first_x(u8
+*v_tap_first_x_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read tap first x interrupt status */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_2_TAP_FIRST_X__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_tap_first_x_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_2_TAP_FIRST_X);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the tap first y interrupt status from the
+ *	register 0x1E bit 5
+ *
+ *
+ *
+ *
+ *  @param v_tap_first_y_u8 :The status of tap first y interrupt
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_tap_first_y(u8
+*v_tap_first_y_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read tap first y interrupt status */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_2_TAP_FIRST_Y__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_tap_first_y_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_2_TAP_FIRST_Y);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the tap first z interrupt status  from the
+ *	register 0x1E bit 6
+ *
+ *
+ *
+ *
+ *  @param v_tap_first_z_u8 :The status of tap first z interrupt
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by z axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_tap_first_z(u8
+*v_tap_first_z_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read tap first z interrupt status */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_2_TAP_FIRST_Z__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_tap_first_z_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_2_TAP_FIRST_Z);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the tap sign status from the
+ *	register 0x1E bit 7
+ *
+ *
+ *
+ *
+ *  @param v_tap_sign_u8 : The status of tap sign
+ *  value     |  sign
+ * -----------|-------------
+ *   0        | positive
+ *   1        | negative
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_tap_sign(u8
+*v_tap_sign_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read tap_sign interrupt status */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_2_TAP_SIGN__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_tap_sign_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_2_TAP_SIGN);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the high_g first x status from the
+ *	register 0x1F bit 0
+ *
+ *
+ *
+ *
+ *  @param v_high_g_first_x_u8 :The status of high_g first x
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by x axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_high_g_first_x(u8
+*v_high_g_first_x_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read highg_x interrupt status */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_X__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_high_g_first_x_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_X);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the high_g first y status from the
+ *	register 0x1F bit 1
+ *
+ *
+ *
+ *
+ *  @param v_high_g_first_y_u8 : The status of high_g first y
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_high_g_first_y(u8
+*v_high_g_first_y_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read highg_y interrupt status */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Y__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_high_g_first_y_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Y);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the high_g first z status from the
+ *	register 0x1F bit 3
+ *
+ *
+ *
+ *
+ *  @param v_high_g_first_z_u8 : The status of high_g first z
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by z axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_high_g_first_z(u8
+*v_high_g_first_z_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read highg_z interrupt status */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Z__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_high_g_first_z_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Z);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the high g sign status from the
+ *	register 0x1F bit 3
+ *
+ *
+ *
+ *
+ *  @param v_high_g_sign_u8 :The status of high g sign
+ *  value     |  sign
+ * -----------|-------------
+ *   0        | positive
+ *   1        | negative
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_high_g_sign(u8
+*v_high_g_sign_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read highg_sign interrupt status */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_3_HIGH_G_SIGN__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_high_g_sign_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_3_HIGH_G_SIGN);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the status of orient_xy plane
+ *	from the register 0x1F bit 4 and 5
+ *
+ *
+ *  @param v_orient_xy_u8 :The status of orient_xy plane
+ *  value     |  status
+ * -----------|-------------
+ *   0x00     | portrait upright
+ *   0x01     | portrait upside down
+ *   0x02     | landscape left
+ *   0x03     | landscape right
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_orient_xy(u8
+*v_orient_xy_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read orient plane xy interrupt status */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_3_ORIENT_XY__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_orient_xy_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_3_ORIENT_XY);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the status of orient z plane
+ *	from the register 0x1F bit 6
+ *
+ *
+ *  @param v_orient_z_u8 :The status of orient z
+ *  value     |  status
+ * -----------|-------------
+ *   0x00     | upward looking
+ *   0x01     | downward looking
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_orient_z(u8
+*v_orient_z_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read orient z plane interrupt status */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_3_ORIENT_Z__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_orient_z_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_3_ORIENT_Z);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the flat status from the register
+ *	0x1F bit 7
+ *
+ *
+ *  @param v_flat_u8 : The status of flat interrupt
+ *  value     |  status
+ * -----------|-------------
+ *   0x00     | non flat
+ *   0x01     | flat position
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_flat(u8
+*v_flat_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read flat interrupt status */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_INTR_STAT_3_FLAT__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_flat_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_STAT_3_FLAT);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the temperature of the sensor
+ *	from the register 0x21 bit 0 to 7
+ *
+ *
+ *
+ *  @param v_temp_s16 : The value of temperature
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_temp(s16
+*v_temp_s16)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array contains the temperature LSB and MSB data
+	v_data_u8[0] - LSB
+	v_data_u8[1] - MSB*/
+	u8 v_data_u8[BMI160_TEMP_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read temperature data */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_TEMP_LSB_VALUE__REG, v_data_u8,
+			BMI160_TEMP_DATA_LENGTH);
+			*v_temp_s16 =
+			(s16)(((s32)((s8) (v_data_u8[BMI160_TEMP_MSB_BYTE]) <<
+			BMI160_SHIFT_BIT_POSITION_BY_08_BITS))
+			| v_data_u8[BMI160_TEMP_LSB_BYTE]);
+		}
+	return com_rslt;
+}
+#ifdef FIFO_ENABLE
+/*!
+ *	@brief This API reads the FIFO length of the sensor
+ *	from the register 0x23 and 0x24 bit 0 to 7 and 0 to 2
+ *	@brief this byte counter is updated each time a complete frame
+ *	is read or written
+ *
+ *
+ *  @param v_fifo_length_u32 : The value of FIFO byte counter
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_fifo_length(u32 *v_fifo_length_u32)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array contains the FIFO length data
+	v_data_u8[0] - FIFO length
+	v_data_u8[1] - FIFO length*/
+	u8 a_data_u8r[BMI160_FIFO_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read FIFO length*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_BYTE_COUNTER_LSB__REG, a_data_u8r,
+			 BMI160_FIFO_DATA_LENGTH);
+
+			a_data_u8r[BMI160_FIFO_LENGTH_MSB_BYTE] =
+			BMI160_GET_BITSLICE(
+			a_data_u8r[BMI160_FIFO_LENGTH_MSB_BYTE],
+			BMI160_USER_FIFO_BYTE_COUNTER_MSB);
+
+			*v_fifo_length_u32 =
+			(u32)(((u32)((u8) (
+			a_data_u8r[BMI160_FIFO_LENGTH_MSB_BYTE]) <<
+			BMI160_SHIFT_BIT_POSITION_BY_08_BITS))
+			| a_data_u8r[BMI160_FIFO_LENGTH_LSB_BYTE]);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the FIFO data of the sensor
+ *	from the register 0x24
+ *	@brief Data format depends on the setting of register FIFO_CONFIG
+ *
+ *
+ *
+ *  @param v_fifodata_u8 : Pointer holding the FIFO data
+ *  @param v_fifo_length_u16 : The value of FIFO length maximum 1024
+ *
+ *	@note For reading FIFO data use the following functions
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_fifo_data(
+u8 *v_fifodata_u8, u16 v_fifo_length_u16)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read FIFO data*/
+			com_rslt =
+			p_bmi160->BMI160_BURST_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_DATA__REG,
+			v_fifodata_u8, v_fifo_length_u16);
+
+		}
+	return com_rslt;
+}
+#endif
+/*!
+ *	@brief This API is used to get the
+ *	Accel output data rate from the register 0x40 bit 0 to 3
+ *
+ *
+ *  @param  v_output_data_rate_u8 :The value of Accel output date rate
+ *  value |  output data rate
+ * -------|--------------------------
+ *	 0    |	BMI160_ACCEL_OUTPUT_DATA_RATE_RESERVED
+ *	 1	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_0_78HZ
+ *	 2	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_1_56HZ
+ *	 3    |	BMI160_ACCEL_OUTPUT_DATA_RATE_3_12HZ
+ *	 4    | BMI160_ACCEL_OUTPUT_DATA_RATE_6_25HZ
+ *	 5	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_12_5HZ
+ *	 6	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_25HZ
+ *	 7	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_50HZ
+ *	 8	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ
+ *	 9	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_200HZ
+ *	 10	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_400HZ
+ *	 11	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_800HZ
+ *	 12	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_1600HZ
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_output_data_rate(
+u8 *v_output_data_rate_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the Accel output data rate*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_ACCEL_CONFIG_OUTPUT_DATA_RATE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_output_data_rate_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_ACCEL_CONFIG_OUTPUT_DATA_RATE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set the
+ *	Accel output date rate from the register 0x40 bit 0 to 3
+ *
+ *
+ *  @param  v_output_data_rate_u8 :The value of Accel output date rate
+ *  value |  output data rate
+ * -------|--------------------------
+ *	 0    |	BMI160_ACCEL_OUTPUT_DATA_RATE_RESERVED
+ *	 1	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_0_78HZ
+ *	 2	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_1_56HZ
+ *	 3    |	BMI160_ACCEL_OUTPUT_DATA_RATE_3_12HZ
+ *	 4    | BMI160_ACCEL_OUTPUT_DATA_RATE_6_25HZ
+ *	 5	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_12_5HZ
+ *	 6	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_25HZ
+ *	 7	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_50HZ
+ *	 8	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ
+ *	 9	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_200HZ
+ *	 10	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_400HZ
+ *	 11	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_800HZ
+ *	 12	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_1600HZ
+ *
+ *  @param  v_accel_bw_u8 :The value of Accel selected Accel bandwidth
+ *  value |  output data rate
+ * -------|--------------------------
+ *    0   |  BMI160_ACCEL_OSR4_AVG1
+ *    1   |  BMI160_ACCEL_OSR2_AVG2
+ *    2   |  BMI160_ACCEL_NORMAL_AVG4
+ *    3   |  BMI160_ACCEL_CIC_AVG8
+ *    4   |  BMI160_ACCEL_RES_AVG2
+ *    5   |  BMI160_ACCEL_RES_AVG4
+ *    6   |  BMI160_ACCEL_RES_AVG8
+ *    7   |  BMI160_ACCEL_RES_AVG16
+ *    8   |  BMI160_ACCEL_RES_AVG32
+ *    9   |  BMI160_ACCEL_RES_AVG64
+ *    10  |  BMI160_ACCEL_RES_AVG128
+ *
+ *
+ *
+ *
+ *
+ *	@note Verify the Accel bandwidth before setting the
+ *  output data rate
+ *  bandwidth  | output data rate |  under sampling
+ *-------------|------------------|----------------
+ *   OSR4      |  12.5 TO 1600    |   0
+ *   OSR2      |  12.5 TO 1600    |   0
+ *  NORMAL     |  12.5 TO 1600    |   0
+ *   CIC       |  12.5 TO 1600    |   0
+ *   AVG2      |  0.78 TO 400     |   1
+ *   AVG4      |  0.78 TO 200     |   1
+ *   AVG8      |  0.78 TO 100     |   1
+ *   AVG16     |  0.78 TO 50      |   1
+ *   AVG32     |  0.78 TO 25      |   1
+ *   AVG64     |  0.78 TO 12.5    |   1
+ *   AVG128    |  0.78 TO 6.25    |   1
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_output_data_rate(
+u8 v_output_data_rate_u8, u8 v_accel_bw_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	u8 v_odr_u8 = BMI160_INIT_VALUE;
+	u8 v_assign_bw = BMI160_ASSIGN_DATA;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if ((v_accel_bw_u8 >= BMI160_ACCEL_RES_AVG2) &&
+		(v_accel_bw_u8 <= BMI160_ACCEL_RES_AVG128)) {
+			/* enable the under sampling*/
+			com_rslt = bmi160_set_accel_under_sampling_parameter(
+			BMI160_US_ENABLE);
+		} else if (((v_accel_bw_u8 > BMI160_ACCEL_OSR4_AVG1) &&
+		(v_accel_bw_u8 <= BMI160_ACCEL_CIC_AVG8))
+		|| (v_accel_bw_u8 == BMI160_ACCEL_OSR4_AVG1)) {
+			/* disable the under sampling*/
+			com_rslt = bmi160_set_accel_under_sampling_parameter(
+			BMI160_US_DISABLE);
+		}
+		/* assign the output data rate*/
+		switch (v_accel_bw_u8) {
+		case BMI160_ACCEL_RES_AVG2:
+			if (v_output_data_rate_u8
+			 >= BMI160_ACCEL_OUTPUT_DATA_RATE_0_78HZ
+			&& v_output_data_rate_u8
+			 <= BMI160_ACCEL_OUTPUT_DATA_RATE_400HZ) {
+				v_odr_u8 = v_output_data_rate_u8;
+				v_assign_bw = SUCCESS;
+			 } else {
+				com_rslt = E_BMI160_OUT_OF_RANGE;
+			 }
+		break;
+		case BMI160_ACCEL_RES_AVG4:
+			if (v_output_data_rate_u8
+			>= BMI160_ACCEL_OUTPUT_DATA_RATE_0_78HZ
+			&& v_output_data_rate_u8
+			<= BMI160_ACCEL_OUTPUT_DATA_RATE_200HZ) {
+				v_odr_u8 = v_output_data_rate_u8;
+				v_assign_bw = SUCCESS;
+			 } else {
+				com_rslt = E_BMI160_OUT_OF_RANGE;
+			 }
+		break;
+		case BMI160_ACCEL_RES_AVG8:
+			if (v_output_data_rate_u8
+			>= BMI160_ACCEL_OUTPUT_DATA_RATE_0_78HZ
+			&& v_output_data_rate_u8
+			 <= BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ) {
+				v_odr_u8 = v_output_data_rate_u8;
+				v_assign_bw = SUCCESS;
+			 } else {
+				com_rslt = E_BMI160_OUT_OF_RANGE;
+			 }
+		break;
+		case BMI160_ACCEL_RES_AVG16:
+			if (v_output_data_rate_u8
+			>= BMI160_ACCEL_OUTPUT_DATA_RATE_0_78HZ
+			&& v_output_data_rate_u8
+			 <= BMI160_ACCEL_OUTPUT_DATA_RATE_50HZ) {
+				v_odr_u8 = v_output_data_rate_u8;
+				v_assign_bw = SUCCESS;
+			 } else {
+				com_rslt = E_BMI160_OUT_OF_RANGE;
+			 }
+		break;
+		case BMI160_ACCEL_RES_AVG32:
+			if (v_output_data_rate_u8
+			>= BMI160_ACCEL_OUTPUT_DATA_RATE_0_78HZ
+			&& v_output_data_rate_u8
+			<= BMI160_ACCEL_OUTPUT_DATA_RATE_25HZ) {
+				v_odr_u8 = v_output_data_rate_u8;
+				v_assign_bw = SUCCESS;
+			 } else {
+				com_rslt = E_BMI160_OUT_OF_RANGE;
+			 }
+		break;
+		case BMI160_ACCEL_RES_AVG64:
+		if (v_output_data_rate_u8
+		 >= BMI160_ACCEL_OUTPUT_DATA_RATE_0_78HZ
+		&& v_output_data_rate_u8
+		<= BMI160_ACCEL_OUTPUT_DATA_RATE_12_5HZ) {
+			v_odr_u8 = v_output_data_rate_u8;
+			v_assign_bw = SUCCESS;
+		 } else {
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+		 }
+		break;
+		case BMI160_ACCEL_RES_AVG128:
+			if (v_output_data_rate_u8
+			>= BMI160_ACCEL_OUTPUT_DATA_RATE_0_78HZ
+			&& v_output_data_rate_u8
+			<= BMI160_ACCEL_OUTPUT_DATA_RATE_6_25HZ) {
+				v_odr_u8 = v_output_data_rate_u8;
+				v_assign_bw = SUCCESS;
+			 } else {
+				com_rslt = E_BMI160_OUT_OF_RANGE;
+			 }
+		break;
+		case BMI160_ACCEL_OSR4_AVG1:
+			if ((v_output_data_rate_u8
+			>= BMI160_ACCEL_OUTPUT_DATA_RATE_12_5HZ)
+			&& (v_output_data_rate_u8
+			<= BMI160_ACCEL_OUTPUT_DATA_RATE_1600HZ)) {
+				v_odr_u8 = v_output_data_rate_u8;
+				v_assign_bw = SUCCESS;
+			 } else {
+				com_rslt = E_BMI160_OUT_OF_RANGE;
+			 }
+		break;
+		case BMI160_ACCEL_OSR2_AVG2:
+			if ((v_output_data_rate_u8
+			>= BMI160_ACCEL_OUTPUT_DATA_RATE_12_5HZ)
+			&& (v_output_data_rate_u8
+			<= BMI160_ACCEL_OUTPUT_DATA_RATE_1600HZ)) {
+				v_odr_u8 = v_output_data_rate_u8;
+				v_assign_bw = SUCCESS;
+			 } else {
+				com_rslt = E_BMI160_OUT_OF_RANGE;
+			 }
+		break;
+		case BMI160_ACCEL_NORMAL_AVG4:
+			if ((v_output_data_rate_u8
+			>= BMI160_ACCEL_OUTPUT_DATA_RATE_12_5HZ)
+			&& (v_output_data_rate_u8
+			<= BMI160_ACCEL_OUTPUT_DATA_RATE_1600HZ)) {
+				v_odr_u8 = v_output_data_rate_u8;
+				v_assign_bw = SUCCESS;
+			 } else {
+				com_rslt = E_BMI160_OUT_OF_RANGE;
+			 }
+		break;
+		case BMI160_ACCEL_CIC_AVG8:
+			if ((v_output_data_rate_u8
+			>= BMI160_ACCEL_OUTPUT_DATA_RATE_12_5HZ)
+			&& (v_output_data_rate_u8
+			<= BMI160_ACCEL_OUTPUT_DATA_RATE_1600HZ)) {
+				v_odr_u8 = v_output_data_rate_u8;
+				v_assign_bw = SUCCESS;
+			 } else {
+				com_rslt = E_BMI160_OUT_OF_RANGE;
+			 }
+		break;
+		default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+		}
+		if (v_assign_bw == SUCCESS) {
+			/* write Accel output data rate */
+			com_rslt +=
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_ACCEL_CONFIG_OUTPUT_DATA_RATE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_ACCEL_CONFIG_OUTPUT_DATA_RATE,
+				v_odr_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_ACCEL_CONFIG_OUTPUT_DATA_RATE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to get the
+ *	Accel bandwidth from the register 0x40 bit 4 to 6
+ *	@brief bandwidth parameter determines filter configuration(acc_us=0)
+ *	and averaging for under sampling mode(acc_us=1)
+ *
+ *
+ *  @param  v_bw_u8 : The value of Accel bandwidth
+ *
+ *	@note Accel bandwidth depends on under sampling parameter
+ *	@note under sampling parameter cab be set by the function
+ *	"BMI160_SET_ACCEL_UNDER_SAMPLING_PARAMETER"
+ *
+ *	@note Filter configuration
+ *  accel_us  | Filter configuration
+ * -----------|---------------------
+ *    0x00    |  OSR4 mode
+ *    0x01    |  OSR2 mode
+ *    0x02    |  normal mode
+ *    0x03    |  CIC mode
+ *    0x04    |  Reserved
+ *    0x05    |  Reserved
+ *    0x06    |  Reserved
+ *    0x07    |  Reserved
+ *
+ *	@note Accel under sampling mode
+ *  accel_us  | Under sampling mode
+ * -----------|---------------------
+ *    0x00    |  no averaging
+ *    0x01    |  average 2 samples
+ *    0x02    |  average 4 samples
+ *    0x03    |  average 8 samples
+ *    0x04    |  average 16 samples
+ *    0x05    |  average 32 samples
+ *    0x06    |  average 64 samples
+ *    0x07    |  average 128 samples
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_bw(u8 *v_bw_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the Accel bandwidth */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_ACCEL_CONFIG_ACCEL_BW__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_bw_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_ACCEL_CONFIG_ACCEL_BW);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set the
+ *	Accel bandwidth from the register 0x40 bit 4 to 6
+ *	@brief bandwidth parameter determines filter configuration(acc_us=0)
+ *	and averaging for under sampling mode(acc_us=1)
+ *
+ *
+ *  @param  v_bw_u8 : The value of Accel bandwidth
+ *
+ *	@note Accel bandwidth depends on under sampling parameter
+ *	@note under sampling parameter cab be set by the function
+ *	"BMI160_SET_ACCEL_UNDER_SAMPLING_PARAMETER"
+ *
+ *	@note Filter configuration
+ *  accel_us  | Filter configuration
+ * -----------|---------------------
+ *    0x00    |  OSR4 mode
+ *    0x01    |  OSR2 mode
+ *    0x02    |  normal mode
+ *    0x03    |  CIC mode
+ *    0x04    |  Reserved
+ *    0x05    |  Reserved
+ *    0x06    |  Reserved
+ *    0x07    |  Reserved
+ *
+ *	@note Accel under sampling mode
+ *  accel_us  | Under sampling mode
+ * -----------|---------------------
+ *    0x00    |  no averaging
+ *    0x01    |  average 2 samples
+ *    0x02    |  average 4 samples
+ *    0x03    |  average 8 samples
+ *    0x04    |  average 16 samples
+ *    0x05    |  average 32 samples
+ *    0x06    |  average 64 samples
+ *    0x07    |  average 128 samples
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_bw(u8 v_bw_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		/* select Accel bandwidth*/
+		if (v_bw_u8 <= BMI160_MAX_ACCEL_BW) {
+			/* write Accel bandwidth*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_ACCEL_CONFIG_ACCEL_BW__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_ACCEL_CONFIG_ACCEL_BW,
+				v_bw_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_ACCEL_CONFIG_ACCEL_BW__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to get the Accel
+ *	under sampling parameter from the register 0x40 bit 7
+ *
+ *
+ *
+ *
+ *	@param  v_accel_under_sampling_u8 : The value of Accel under sampling
+ *	value    | under_sampling
+ * ----------|---------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_under_sampling_parameter(
+u8 *v_accel_under_sampling_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the Accel under sampling parameter */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_ACCEL_CONFIG_ACCEL_UNDER_SAMPLING__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_accel_under_sampling_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_ACCEL_CONFIG_ACCEL_UNDER_SAMPLING);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set the Accel
+ *	under sampling parameter from the register 0x40 bit 7
+ *
+ *
+ *
+ *
+ *	@param  v_accel_under_sampling_u8 : The value of Accel under sampling
+ *	value    | under_sampling
+ * ----------|---------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_under_sampling_parameter(
+u8 v_accel_under_sampling_u8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	if (v_accel_under_sampling_u8 <= BMI160_MAX_UNDER_SAMPLING) {
+		com_rslt =
+		p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+		BMI160_USER_ACCEL_CONFIG_ACCEL_UNDER_SAMPLING__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			/* write the Accel under sampling parameter */
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_ACCEL_CONFIG_ACCEL_UNDER_SAMPLING,
+			v_accel_under_sampling_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_ACCEL_CONFIG_ACCEL_UNDER_SAMPLING__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Accel and Gyro power mode check*/
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+	} else {
+	com_rslt = E_BMI160_OUT_OF_RANGE;
+	}
+}
+return com_rslt;
+}
+/*!
+ *	@brief This API is used to get the range
+ *	(g values) of the Accel from the register 0x41 bit 0 to 3
+ *
+ *
+ *
+ *
+ *  @param v_range_u8 : The value of Accel g range
+ *	value    | g_range
+ * ----------|-----------
+ *   0x03    | BMI160_ACCEL_RANGE_2G
+ *   0x05    | BMI160_ACCEL_RANGE_4G
+ *   0x08    | BMI160_ACCEL_RANGE_8G
+ *   0x0C    | BMI160_ACCEL_RANGE_16G
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_range(
+u8 *v_range_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the Accel range*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_ACCEL_RANGE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_range_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_ACCEL_RANGE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set the range
+ *	(g values) of the Accel from the register 0x41 bit 0 to 3
+ *
+ *
+ *
+ *
+ *  @param v_range_u8 : The value of Accel g range
+ *	value    | g_range
+ * ----------|-----------
+ *   0x03    | BMI160_ACCEL_RANGE_2G
+ *   0x05    | BMI160_ACCEL_RANGE_4G
+ *   0x08    | BMI160_ACCEL_RANGE_8G
+ *   0x0C    | BMI160_ACCEL_RANGE_16G
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_range(u8 v_range_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if ((v_range_u8 == BMI160_ACCEL_RANGE0) ||
+			(v_range_u8 == BMI160_ACCEL_RANGE1) ||
+			(v_range_u8 == BMI160_ACCEL_RANGE3) ||
+			(v_range_u8 == BMI160_ACCEL_RANGE4)) {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_ACCEL_RANGE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8  = BMI160_SET_BITSLICE(
+				v_data_u8, BMI160_USER_ACCEL_RANGE,
+				v_range_u8);
+				/* write the Accel range*/
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_ACCEL_RANGE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to get the
+ *	Gyro output data rate from the register 0x42 bit 0 to 3
+ *
+ *
+ *
+ *
+ *  @param  v_output_data_rate_u8 :The value of gyro output data rate
+ *  value     |      gyro output data rate
+ * -----------|-----------------------------
+ *   0x00     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x01     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x02     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x03     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x04     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x05     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x06     | BMI160_GYRO_OUTPUT_DATA_RATE_25HZ
+ *   0x07     | BMI160_GYRO_OUTPUT_DATA_RATE_50HZ
+ *   0x08     | BMI160_GYRO_OUTPUT_DATA_RATE_100HZ
+ *   0x09     | BMI160_GYRO_OUTPUT_DATA_RATE_200HZ
+ *   0x0A     | BMI160_GYRO_OUTPUT_DATA_RATE_400HZ
+ *   0x0B     | BMI160_GYRO_OUTPUT_DATA_RATE_800HZ
+ *   0x0C     | BMI160_GYRO_OUTPUT_DATA_RATE_1600HZ
+ *   0x0D     | BMI160_GYRO_OUTPUT_DATA_RATE_3200HZ
+ *   0x0E     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x0F     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_output_data_rate(
+u8 *v_output_data_rate_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the gyro output data rate*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_GYRO_CONFIG_OUTPUT_DATA_RATE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_output_data_rate_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_GYRO_CONFIG_OUTPUT_DATA_RATE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set the
+ *	Gyro output data rate from the register 0x42 bit 0 to 3
+ *
+ *
+ *
+ *
+ *  @param  v_output_data_rate_u8 :The value of gyro output data rate
+ *  value     |      gyro output data rate
+ * -----------|-----------------------------
+ *   0x00     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x01     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x02     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x03     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x04     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x05     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x06     | BMI160_GYRO_OUTPUT_DATA_RATE_25HZ
+ *   0x07     | BMI160_GYRO_OUTPUT_DATA_RATE_50HZ
+ *   0x08     | BMI160_GYRO_OUTPUT_DATA_RATE_100HZ
+ *   0x09     | BMI160_GYRO_OUTPUT_DATA_RATE_200HZ
+ *   0x0A     | BMI160_GYRO_OUTPUT_DATA_RATE_400HZ
+ *   0x0B     | BMI160_GYRO_OUTPUT_DATA_RATE_800HZ
+ *   0x0C     | BMI160_GYRO_OUTPUT_DATA_RATE_1600HZ
+ *   0x0D     | BMI160_GYRO_OUTPUT_DATA_RATE_3200HZ
+ *   0x0E     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x0F     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_output_data_rate(
+u8 v_output_data_rate_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		/* select the gyro output data rate*/
+		if ((v_output_data_rate_u8 <  BMI160_OUTPUT_DATA_RATE6) &&
+		(v_output_data_rate_u8 != BMI160_INIT_VALUE)
+		&& (v_output_data_rate_u8 !=  BMI160_OUTPUT_DATA_RATE1)
+		&& (v_output_data_rate_u8 !=  BMI160_OUTPUT_DATA_RATE2)
+		&& (v_output_data_rate_u8 !=  BMI160_OUTPUT_DATA_RATE3)
+		&& (v_output_data_rate_u8 !=  BMI160_OUTPUT_DATA_RATE4)
+		&& (v_output_data_rate_u8 !=  BMI160_OUTPUT_DATA_RATE5)
+		&& (v_output_data_rate_u8 !=  BMI160_OUTPUT_DATA_RATE6)
+		&& (v_output_data_rate_u8 !=  BMI160_OUTPUT_DATA_RATE7)) {
+			/* write the gyro output data rate */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_GYRO_CONFIG_OUTPUT_DATA_RATE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_GYRO_CONFIG_OUTPUT_DATA_RATE,
+				v_output_data_rate_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_GYRO_CONFIG_OUTPUT_DATA_RATE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to get the
+ *	bandwidth of gyro from the register 0x42 bit 4 to 5
+ *
+ *
+ *
+ *
+ *  @param  v_bw_u8 : The value of gyro bandwidth
+ *  value     | gyro bandwidth
+ *  ----------|----------------
+ *   0x00     | BMI160_GYRO_OSR4_MODE
+ *   0x01     | BMI160_GYRO_OSR2_MODE
+ *   0x02     | BMI160_GYRO_NORMAL_MODE
+ *   0x03     | BMI160_GYRO_CIC_MODE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_bw(u8 *v_bw_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read gyro bandwidth*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_GYRO_CONFIG_BW__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_bw_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_GYRO_CONFIG_BW);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set the
+ *	bandwidth of gyro from the register 0x42 bit 4 to 5
+ *
+ *
+ *
+ *
+ *  @param  v_bw_u8 : The value of gyro bandwidth
+ *  value     | gyro bandwidth
+ *  ----------|----------------
+ *   0x00     | BMI160_GYRO_OSR4_MODE
+ *   0x01     | BMI160_GYRO_OSR2_MODE
+ *   0x02     | BMI160_GYRO_NORMAL_MODE
+ *   0x03     | BMI160_GYRO_CIC_MODE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_bw(u8 v_bw_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_bw_u8 <= BMI160_MAX_GYRO_BW) {
+			/* write the gyro bandwidth*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_GYRO_CONFIG_BW__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_GYRO_CONFIG_BW, v_bw_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_GYRO_CONFIG_BW__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the range
+ *	of gyro from the register 0x43 bit 0 to 2
+ *
+ *  @param  v_range_u8 : The value of gyro range
+ *   value    |    range
+ *  ----------|-------------------------------
+ *    0x00    | BMI160_GYRO_RANGE_2000_DEG_SEC
+ *    0x01    | BMI160_GYRO_RANGE_1000_DEG_SEC
+ *    0x02    | BMI160_GYRO_RANGE_500_DEG_SEC
+ *    0x03    | BMI160_GYRO_RANGE_250_DEG_SEC
+ *    0x04    | BMI160_GYRO_RANGE_125_DEG_SEC
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_range(u8 *v_range_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the gyro range */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_GYRO_RANGE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_range_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_GYRO_RANGE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API sets the range
+ *	of gyro from the register 0x43 bit 0 to 2
+ *
+ *  @param  v_range_u8 : The value of gyro range
+ *   value    |    range
+ *  ----------|-------------------------------
+ *    0x00    | BMI160_GYRO_RANGE_2000_DEG_SEC
+ *    0x01    | BMI160_GYRO_RANGE_1000_DEG_SEC
+ *    0x02    | BMI160_GYRO_RANGE_500_DEG_SEC
+ *    0x03    | BMI160_GYRO_RANGE_250_DEG_SEC
+ *    0x04    | BMI160_GYRO_RANGE_125_DEG_SEC
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_range(u8 v_range_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_range_u8 <= BMI160_MAX_GYRO_RANGE) {
+			/* write the gyro range value */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_GYRO_RANGE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_GYRO_RANGE,
+				v_range_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_GYRO_RANGE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to get the
+ *	output data rate of Mag from the register 0x44 bit 0 to 3
+ *
+ *
+ *
+ *
+ *  @param  v_output_data_rate_u8 : The value of Mag output data rate
+ *  value   |    Mag output data rate
+ * ---------|---------------------------
+ *  0x00    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED
+ *  0x01    |BMI160_MAG_OUTPUT_DATA_RATE_0_78HZ
+ *  0x02    |BMI160_MAG_OUTPUT_DATA_RATE_1_56HZ
+ *  0x03    |BMI160_MAG_OUTPUT_DATA_RATE_3_12HZ
+ *  0x04    |BMI160_MAG_OUTPUT_DATA_RATE_6_25HZ
+ *  0x05    |BMI160_MAG_OUTPUT_DATA_RATE_12_5HZ
+ *  0x06    |BMI160_MAG_OUTPUT_DATA_RATE_25HZ
+ *  0x07    |BMI160_MAG_OUTPUT_DATA_RATE_50HZ
+ *  0x08    |BMI160_MAG_OUTPUT_DATA_RATE_100HZ
+ *  0x09    |BMI160_MAG_OUTPUT_DATA_RATE_200HZ
+ *  0x0A    |BMI160_MAG_OUTPUT_DATA_RATE_400HZ
+ *  0x0B    |BMI160_MAG_OUTPUT_DATA_RATE_800HZ
+ *  0x0C    |BMI160_MAG_OUTPUT_DATA_RATE_1600HZ
+ *  0x0D    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED0
+ *  0x0E    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED1
+ *  0x0F    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED2
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_output_data_rate(
+u8 *v_output_data_rate_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the Mag data output rate*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_MAG_CONFIG_OUTPUT_DATA_RATE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_output_data_rate_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_MAG_CONFIG_OUTPUT_DATA_RATE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set the
+ *	output data rate of Mag from the register 0x44 bit 0 to 3
+ *
+ *
+ *
+ *
+ *  @param  v_output_data_rate_u8 : The value of Mag output data rate
+ *  value   |    Mag output data rate
+ * ---------|---------------------------
+ *  0x00    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED
+ *  0x01    |BMI160_MAG_OUTPUT_DATA_RATE_0_78HZ
+ *  0x02    |BMI160_MAG_OUTPUT_DATA_RATE_1_56HZ
+ *  0x03    |BMI160_MAG_OUTPUT_DATA_RATE_3_12HZ
+ *  0x04    |BMI160_MAG_OUTPUT_DATA_RATE_6_25HZ
+ *  0x05    |BMI160_MAG_OUTPUT_DATA_RATE_12_5HZ
+ *  0x06    |BMI160_MAG_OUTPUT_DATA_RATE_25HZ
+ *  0x07    |BMI160_MAG_OUTPUT_DATA_RATE_50HZ
+ *  0x08    |BMI160_MAG_OUTPUT_DATA_RATE_100HZ
+ *  0x09    |BMI160_MAG_OUTPUT_DATA_RATE_200HZ
+ *  0x0A    |BMI160_MAG_OUTPUT_DATA_RATE_400HZ
+ *  0x0B    |BMI160_MAG_OUTPUT_DATA_RATE_800HZ
+ *  0x0C    |BMI160_MAG_OUTPUT_DATA_RATE_1600HZ
+ *  0x0D    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED0
+ *  0x0E    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED1
+ *  0x0F    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED2
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_output_data_rate(
+u8 v_output_data_rate_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		/* select the Mag data output rate*/
+		if ((v_output_data_rate_u8
+		<= BMI160_MAX_ACCEL_OUTPUT_DATA_RATE)
+		&& (v_output_data_rate_u8
+		!= BMI160_OUTPUT_DATA_RATE0)
+		&& (v_output_data_rate_u8
+		!=  BMI160_OUTPUT_DATA_RATE6)
+		&& (v_output_data_rate_u8
+		!=  BMI160_OUTPUT_DATA_RATE7)) {
+			/* write the Mag data output rate*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_MAG_CONFIG_OUTPUT_DATA_RATE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_MAG_CONFIG_OUTPUT_DATA_RATE,
+				v_output_data_rate_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_MAG_CONFIG_OUTPUT_DATA_RATE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+#ifdef FIFO_ENABLE
+ /*!
+ *	@brief This API is used to read Down sampling
+ *	for gyro (2**downs_gyro) in the register 0x45 bit 0 to 2
+ *
+ *
+ *
+ *
+ *  @param v_fifo_down_gyro_u8 :The value of gyro FIFO down
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_down_gyro(
+u8 *v_fifo_down_gyro_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the gyro FIFO down*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_DOWN_GYRO__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_fifo_down_gyro_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FIFO_DOWN_GYRO);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to set Down sampling
+ *	for gyro (2**downs_gyro) in the register 0x45 bit 0 to 2
+ *
+ *
+ *
+ *
+ *  @param v_fifo_down_gyro_u8 :The value of gyro FIFO down
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_down_gyro(
+u8 v_fifo_down_gyro_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write the gyro FIFO down*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_DOWN_GYRO__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(
+				v_data_u8,
+				BMI160_USER_FIFO_DOWN_GYRO,
+				v_fifo_down_gyro_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FIFO_DOWN_GYRO__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to read gyro FIFO filter data
+ *	from the register 0x45 bit 3
+ *
+ *
+ *
+ *  @param v_gyro_fifo_filter_data_u8 :The value of gyro filter data
+ *  value      |  gyro_fifo_filter_data
+ * ------------|-------------------------
+ *    0x00     |  Unfiltered data
+ *    0x01     |  Filtered data
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_fifo_filter_data(
+u8 *v_gyro_fifo_filter_data_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the gyro FIFO filter data */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_FILTER_GYRO__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_gyro_fifo_filter_data_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FIFO_FILTER_GYRO);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set gyro FIFO filter data
+ *	from the register 0x45 bit 3
+ *
+ *
+ *
+ *  @param v_gyro_fifo_filter_data_u8 :The value of gyro filter data
+ *  value      |  gyro_fifo_filter_data
+ * ------------|-------------------------
+ *    0x00     |  Unfiltered data
+ *    0x01     |  Filtered data
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_fifo_filter_data(
+u8 v_gyro_fifo_filter_data_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_gyro_fifo_filter_data_u8
+		<= BMI160_MAX_VALUE_FIFO_FILTER) {
+			/* write the gyro FIFO filter data */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_FILTER_GYRO__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(
+				v_data_u8,
+				BMI160_USER_FIFO_FILTER_GYRO,
+				v_gyro_fifo_filter_data_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FIFO_FILTER_GYRO__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to read Down sampling
+ *	for Accel (2*downs_accel) from the register 0x45 bit 4 to 6
+ *
+ *
+ *
+ *
+ *  @param v_fifo_down_u8 :The value of Accel FIFO down
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_down_accel(
+u8 *v_fifo_down_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the Accel FIFO down data */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_DOWN_ACCEL__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_fifo_down_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FIFO_DOWN_ACCEL);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to set Down sampling
+ *	for Accel (2*downs_accel) from the register 0x45 bit 4 to 6
+ *
+ *
+ *
+ *
+ *  @param v_fifo_down_u8 :The value of Accel FIFO down
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_down_accel(
+u8 v_fifo_down_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write the Accel FIFO down data */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_DOWN_ACCEL__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_FIFO_DOWN_ACCEL, v_fifo_down_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FIFO_DOWN_ACCEL__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to read Accel FIFO filter data
+ *	from the register 0x45 bit 7
+ *
+ *
+ *
+ *  @param accel_fifo_filter_u8 :The value of Accel filter data
+ *  value      |  accel_fifo_filter_u8
+ * ------------|-------------------------
+ *    0x00     |  Unfiltered data
+ *    0x01     |  Filtered data
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_fifo_filter_data(
+u8 *accel_fifo_filter_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the Accel FIFO filter data */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_FILTER_ACCEL__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*accel_fifo_filter_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FIFO_FILTER_ACCEL);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set Accel FIFO filter data
+ *	from the register 0x45 bit 7
+ *
+ *
+ *
+ *  @param v_accel_fifo_filter_u8 :The value of Accel filter data
+ *  value      |  accel_fifo_filter_data
+ * ------------|-------------------------
+ *    0x00     |  Unfiltered data
+ *    0x01     |  Filtered data
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_fifo_filter_data(
+u8 v_accel_fifo_filter_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_accel_fifo_filter_u8 <= BMI160_MAX_VALUE_FIFO_FILTER) {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_FILTER_ACCEL__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				/* write Accel FIFO filter data */
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_FIFO_FILTER_ACCEL,
+				v_accel_fifo_filter_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FIFO_FILTER_ACCEL__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to Trigger an interrupt
+ *	when FIFO contains water mark level from the register 0x46 bit 0 to 7
+ *
+ *
+ *
+ *  @param  v_fifo_wm_u8 : The value of FIFO water mark level
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_wm(
+u8 *v_fifo_wm_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the FIFO water mark level*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_WM__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_fifo_wm_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FIFO_WM);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to Trigger an interrupt
+ *	when FIFO contains water mark level from the register 0x46 bit 0 to 7
+ *
+ *
+ *
+ *  @param  v_fifo_wm_u8 : The value of FIFO water mark level
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_wm(
+u8 v_fifo_wm_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write the FIFO water mark level*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_WM__REG,
+			&v_fifo_wm_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads FIFO sensor time
+ *	frame after the last valid data frame from the register  0x47 bit 1
+ *
+ *
+ *
+ *
+ *  @param v_fifo_time_enable_u8 : The value of sensor time
+ *  value      |  FIFO sensor time
+ * ------------|-------------------------
+ *    0x00     |  do not return sensortime frame
+ *    0x01     |  return sensortime frame
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_time_enable(
+u8 *v_fifo_time_enable_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the FIFO sensor time*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_TIME_ENABLE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_fifo_time_enable_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FIFO_TIME_ENABLE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API sets FIFO sensor time
+ *	frame after the last valid data frame from the register  0x47 bit 1
+ *
+ *
+ *
+ *
+ *  @param v_fifo_time_enable_u8 : The value of sensor time
+ *  value      |  FIFO sensor time
+ * ------------|-------------------------
+ *    0x00     |  do not return sensortime frame
+ *    0x01     |  return sensortime frame
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_time_enable(
+u8 v_fifo_time_enable_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_fifo_time_enable_u8 <= BMI160_MAX_VALUE_FIFO_TIME) {
+			/* write the FIFO sensor time*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_TIME_ENABLE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_FIFO_TIME_ENABLE,
+				v_fifo_time_enable_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FIFO_TIME_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads FIFO tag interrupt2 enable status
+ *	from the register 0x47 bit 2
+ *
+ *  @param v_fifo_tag_intr2_u8 : The value of FIFO tag interrupt
+ *	value    | FIFO tag interrupt
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_tag_intr2_enable(
+u8 *v_fifo_tag_intr2_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the FIFO tag interrupt2*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_TAG_INTR2_ENABLE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_fifo_tag_intr2_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FIFO_TAG_INTR2_ENABLE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API sets FIFO tag interrupt2 enable status
+ *	from the register 0x47 bit 2
+ *
+ *  @param v_fifo_tag_intr2_u8 : The value of FIFO tag interrupt
+ *	value    | FIFO tag interrupt
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_tag_intr2_enable(
+u8 v_fifo_tag_intr2_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_fifo_tag_intr2_u8 <= BMI160_MAX_VALUE_FIFO_INTR) {
+			/* write the FIFO tag interrupt2*/
+			com_rslt = bmi160_set_input_enable(1,
+			v_fifo_tag_intr2_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_TAG_INTR2_ENABLE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_FIFO_TAG_INTR2_ENABLE,
+				v_fifo_tag_intr2_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FIFO_TAG_INTR2_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads FIFO tag interrupt1 enable status
+ *	from the register 0x47 bit 3
+ *
+ *  @param v_fifo_tag_intr1_u8 :The value of FIFO tag interrupt1
+ *	value    | FIFO tag interrupt
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_tag_intr1_enable(
+u8 *v_fifo_tag_intr1_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read FIFO tag interrupt*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_TAG_INTR1_ENABLE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_fifo_tag_intr1_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FIFO_TAG_INTR1_ENABLE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API sets FIFO tag interrupt1 enable status
+ *	from the register 0x47 bit 3
+ *
+ *  @param v_fifo_tag_intr1_u8 :The value of FIFO tag interrupt1
+ *	value    | FIFO tag interrupt
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_tag_intr1_enable(
+u8 v_fifo_tag_intr1_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_fifo_tag_intr1_u8 <= BMI160_MAX_VALUE_FIFO_INTR) {
+			/* write the FIFO tag interrupt*/
+			com_rslt = bmi160_set_input_enable(BMI160_INIT_VALUE,
+			v_fifo_tag_intr1_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_TAG_INTR1_ENABLE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_FIFO_TAG_INTR1_ENABLE,
+				v_fifo_tag_intr1_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FIFO_TAG_INTR1_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads FIFO frame
+ *	header enable from the register 0x47 bit 4
+ *
+ *  @param v_fifo_header_u8 :The value of FIFO header
+ *	value    | FIFO header
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_header_enable(
+u8 *v_fifo_header_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read FIFO header */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_HEADER_ENABLE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_fifo_header_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FIFO_HEADER_ENABLE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API sets FIFO frame
+ *	header enable from the register 0x47 bit 4
+ *
+ *  @param v_fifo_header_u8 :The value of FIFO header
+ *	value    | FIFO header
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_header_enable(
+u8 v_fifo_header_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_fifo_header_u8 <= BMI160_MAX_VALUE_FIFO_HEADER) {
+			/* write the FIFO header */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_HEADER_ENABLE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_FIFO_HEADER_ENABLE,
+				v_fifo_header_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FIFO_HEADER_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to check whether
+ *	Mag data in FIFO (all 3 axes) or not from the
+ *	register 0x47 bit 5
+ *
+ *  @param v_fifo_mag_u8 : The value of FIFO Mag enable
+ *	value    | FIFO mag
+ * ----------|-------------------
+ *  0x00     |  no Mag data is stored
+ *  0x01     |  Mag data is stored
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_mag_enable(
+u8 *v_fifo_mag_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the FIFO Mag enable*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_MAG_ENABLE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_fifo_mag_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FIFO_MAG_ENABLE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to enable
+ *	Mag data in FIFO (all 3 axes) from the register 0x47 bit 5
+ *
+ *  @param v_fifo_mag_u8 : The value of FIFO Mag enable
+ *	value    | FIFO mag
+ * ----------|-------------------
+ *  0x00     |  no Mag data is stored
+ *  0x01     |  Mag data is stored
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_mag_enable(
+u8 v_fifo_mag_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			if (v_fifo_mag_u8 <= BMI160_MAX_VALUE_FIFO_MAG) {
+				/* write the FIFO Mag enable*/
+				com_rslt =
+				p_bmi160->BMI160_BUS_READ_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_FIFO_MAG_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+				if (com_rslt == SUCCESS) {
+					v_data_u8 =
+					BMI160_SET_BITSLICE(v_data_u8,
+					BMI160_USER_FIFO_MAG_ENABLE,
+					v_fifo_mag_u8);
+					com_rslt +=
+					p_bmi160->BMI160_BUS_WRITE_FUNC
+					(p_bmi160->dev_addr,
+					BMI160_USER_FIFO_MAG_ENABLE__REG,
+					&v_data_u8,
+					BMI160_GEN_READ_WRITE_DATA_LENGTH);
+				}
+			} else {
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			}
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to check whether
+ *	Accel data is stored in FIFO (all 3 axes) or not from the
+ *	register 0x47 bit 6
+ *
+ *  @param v_fifo_accel_u8 : The value of FIFO Accel enable
+ *	value    | FIFO Accel
+ * ----------|-------------------
+ *  0x00     |  no Accel data is stored
+ *  0x01     |  Accel data is stored
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_accel_enable(
+u8 *v_fifo_accel_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the Accel FIFO enable*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_ACCEL_ENABLE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_fifo_accel_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FIFO_ACCEL_ENABLE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to enable
+ *	Accel data in FIFO (all 3 axes) from the register 0x47 bit 6
+ *
+ *  @param v_fifo_accel_u8 : The value of FIFO Accel enable
+ *	value    | FIFO Accel
+ * ----------|-------------------
+ *  0x00     |  no Accel data is stored
+ *  0x01     |  Accel data is stored
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_accel_enable(
+u8 v_fifo_accel_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_fifo_accel_u8 <= BMI160_MAX_VALUE_FIFO_ACCEL) {
+			/* write the FIFO Mag enables*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_ACCEL_ENABLE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_FIFO_ACCEL_ENABLE, v_fifo_accel_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FIFO_ACCEL_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to check whether
+ *	gyro data is stored in FIFO (all 3 axes) or not from the
+ *	register 0x47 bit 7
+ *
+ *
+ *  @param v_fifo_gyro_u8 : The value of FIFO gyro enable
+ *	value    | FIFO gyro
+ * ----------|-------------------
+ *  0x00     |  no gyro data is stored
+ *  0x01     |  gyro data is stored
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_gyro_enable(
+u8 *v_fifo_gyro_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read FIFO gyro enable */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_GYRO_ENABLE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_fifo_gyro_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FIFO_GYRO_ENABLE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to enable
+ *	gyro data in FIFO (all 3 axes) from the register 0x47 bit 7
+ *
+ *
+ *  @param v_fifo_gyro_u8 : The value of FIFO gyro enable
+ *	value    | FIFO gyro
+ * ----------|-------------------
+ *  0x00     |  no gyro data is stored
+ *  0x01     |  gyro data is stored
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_gyro_enable(
+u8 v_fifo_gyro_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_fifo_gyro_u8 <= BMI160_MAX_VALUE_FIFO_GYRO) {
+			/* write FIFO gyro enable*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_FIFO_GYRO_ENABLE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_FIFO_GYRO_ENABLE, v_fifo_gyro_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FIFO_GYRO_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+#endif
+/*!
+ *	@brief This API is used to read
+ *	I2C device address of auxiliary Mag from the register 0x4B bit 1 to 7
+ *
+ *
+ *
+ *
+ *  @param v_i2c_device_addr_u8 : The value of Mag I2C device address
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_i2c_device_addr(
+u8 *v_i2c_device_addr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the Mag I2C device address*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_I2C_DEVICE_ADDR__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_i2c_device_addr_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_I2C_DEVICE_ADDR);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set
+ *	I2C device address of auxiliary Mag from the register 0x4B bit 1 to 7
+ *
+ *
+ *
+ *
+ *  @param v_i2c_device_addr_u8 : The value of Mag I2C device address
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_i2c_device_addr(
+u8 v_i2c_device_addr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write the Mag I2C device address*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_I2C_DEVICE_ADDR__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_I2C_DEVICE_ADDR,
+				v_i2c_device_addr_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_I2C_DEVICE_ADDR__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to read the
+ *	Burst data length (1,2,6,8 byte) from the register 0x4C bit 0 to 1
+ *
+ *
+ *
+ *
+ *  @param v_mag_burst_u8 : The data of Mag burst read length
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_burst(
+u8 *v_mag_burst_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read Mag burst mode length*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_MAG_BURST__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_mag_burst_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_MAG_BURST);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set
+ *	Burst data length (1,2,6,8 byte) from the register 0x4C bit 0 to 1
+ *
+ *
+ *
+ *
+ *  @param v_mag_burst_u8 : The data of Mag burst read length
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_burst(
+u8 v_mag_burst_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write Mag burst mode length*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_MAG_BURST__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 =
+				BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_MAG_BURST, v_mag_burst_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_MAG_BURST__REG, &v_data_u8,
+				BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to read
+ *	trigger-readout offset in units of 2.5 ms. If set to zero,
+ *	the offset is maximum, i.e. after readout a trigger
+ *	is issued immediately. from the register 0x4C bit 2 to 5
+ *
+ *
+ *
+ *
+ *  @param v_mag_offset_u8 : The value of Mag offset
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_offset(
+u8 *v_mag_offset_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_MAG_OFFSET__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_mag_offset_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_MAG_OFFSET);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set the
+ *	trigger-readout offset in units of 2.5 ms. If set to zero,
+ *	the offset is maximum, i.e. after readout a trigger
+ *	is issued immediately. from the register 0x4C bit 2 to 5
+ *
+ *
+ *
+ *
+ *  @param v_mag_offset_u8 : The value of Mag offset
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_offset(
+u8 v_mag_offset_u8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+		com_rslt =
+		p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+		BMI160_USER_MAG_OFFSET__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 =
+			BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_MAG_OFFSET, v_mag_offset_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_MAG_OFFSET__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Accel and Gyro power mode check*/
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+	}
+return com_rslt;
+}
+/*!
+ *	@brief This API is used to read the
+ *	Enable register access on MAG_IF[2] or MAG_IF[3].
+ *	This implies that the DATA registers are not updated with
+ *	Mag values. Accessing Mag requires
+ *	the Mag in normal mode in PMU_STATUS.
+ *	from the register 0x4C bit 7
+ *
+ *
+ *
+ *  @param v_mag_manual_u8 : The value of Mag manual enable
+ *	value    | Mag manual
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_manual_enable(
+u8 *v_mag_manual_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read Mag manual */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_MAG_MANUAL_ENABLE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_mag_manual_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_MAG_MANUAL_ENABLE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set the
+ *	Enable register access of MAG_IF[2] or MAG_IF[3].
+ *	This implies that the DATA registers are not updated with
+ *	Mag values. Accessing Mag requires
+ *	the Mag in normal mode in PMU_STATUS.
+ *	from the register 0x4C bit 7
+ *
+ *
+ *
+ *  @param v_mag_manual_u8 : The value of Mag manual enable
+ *	value    | Mag manual
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_manual_enable(
+u8 v_mag_manual_u8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = BMI160_INIT_VALUE;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+		/* write the Mag manual*/
+		com_rslt =
+		p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+		BMI160_USER_MAG_MANUAL_ENABLE__REG, &v_data_u8,
+		BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		if (com_rslt == SUCCESS) {
+			/* set the bit of Mag manual enable*/
+			v_data_u8 =
+			BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_MAG_MANUAL_ENABLE, v_mag_manual_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_MAG_MANUAL_ENABLE__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Accel and Gyro power mode check*/
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+		if (com_rslt == SUCCESS)
+			p_bmi160->mag_manual_enable = v_mag_manual_u8;
+		else
+			p_bmi160->mag_manual_enable = E_BMI160_COMM_RES;
+	}
+return com_rslt;
+}
+/*!
+ *	@brief This API is used to get the
+ *	Mag read address from the register 0x4D bit 0 to 7
+ *	@brief Mag read address of auxiliary mag
+ *
+ *
+ *
+ *
+ *  @param  v_mag_read_addr_u8 : The value of address need to be read
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_read_addr(
+u8 *v_mag_read_addr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the written address*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_READ_ADDR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_mag_read_addr_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_READ_ADDR);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set
+ *	Mag read address from the register 0x4D bit 0 to 7
+ *	@brief address where data will be read from auxiliary mag
+ *
+ *
+ *
+ *  @param v_mag_read_addr_u8:
+ *	The data of auxiliary Mag address to write data
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_read_addr(
+u8 v_mag_read_addr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write the Mag read address*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_READ_ADDR__REG, &v_mag_read_addr_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Accel and Gyro power mode check*/
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to read
+ *	Mag write address from the register 0x4E bit 0 to 7
+ *	@brief write address where data will be written in Mag
+ *
+ *
+ *
+ *  @param  v_mag_write_addr_u8:
+ *	The data of auxiliary Mag address to write data
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_write_addr(
+u8 *v_mag_write_addr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the address of last written */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_WRITE_ADDR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_mag_write_addr_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_WRITE_ADDR);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set
+ *	Mag write address from the register 0x4E bit 0 to 7
+ *	@brief this is the address in Mag where the data will be written
+ *
+ *
+ *
+ *  @param  v_mag_write_addr_u8:
+ *	The address which the data will be written to
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_write_addr(
+u8 v_mag_write_addr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write the data of Mag address to write data */
+			com_rslt =
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_WRITE_ADDR__REG, &v_mag_write_addr_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Accel and Gyro power mode check*/
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to read Mag write data
+ *	from the register 0x4F bit 0 to 7
+ *	@brief The data will be written to mag
+ *
+ *
+ *
+ *  @param  v_mag_write_data_u8: The value of Mag data
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_write_data(
+u8 *v_mag_write_data_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_WRITE_DATA__REG, &v_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_mag_write_data_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_WRITE_DATA);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set Mag write data
+ *	from the register 0x4F bit 0 to 7
+ *	@brief The data will be written to mag
+ *
+ *
+ *
+ *  @param  v_mag_write_data_u8: The value of Mag data
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_write_data(
+u8 v_mag_write_data_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt =
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_WRITE_DATA__REG, &v_mag_write_data_u8,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Accel and Gyro power mode check*/
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief  This API is used to read
+ *	interrupt enable from the register 0x50 bit 0 to 7
+ *
+ *
+ *
+ *
+ *	@param v_enable_u8 : Value which selects the interrupt
+ *   v_enable_u8   |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_ANY_MOTION_X_ENABLE
+ *       1         | BMI160_ANY_MOTION_Y_ENABLE
+ *       2         | BMI160_ANY_MOTION_Z_ENABLE
+ *       3         | BMI160_DOUBLE_TAP_ENABLE
+ *       4         | BMI160_SINGLE_TAP_ENABLE
+ *       5         | BMI160_ORIENT_ENABLE
+ *       6         | BMI160_FLAT_ENABLE
+ *
+ *	@param v_intr_enable_zero_u8 : The interrupt enable value
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_enable_0(
+u8 v_enable_u8, u8 *v_intr_enable_zero_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		/* select interrupt to read*/
+		switch (v_enable_u8) {
+		case BMI160_ANY_MOTION_X_ENABLE:
+			/* read the any motion interrupt x data */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_0_ANY_MOTION_X_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_zero_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_0_ANY_MOTION_X_ENABLE);
+		break;
+		case BMI160_ANY_MOTION_Y_ENABLE:
+			/* read the any motion interrupt y data */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Y_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_zero_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Y_ENABLE);
+		break;
+		case BMI160_ANY_MOTION_Z_ENABLE:
+			/* read the any motion interrupt z data */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Z_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_zero_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Z_ENABLE);
+		break;
+		case BMI160_DOUBLE_TAP_ENABLE:
+			/* read the double tap interrupt data */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_0_DOUBLE_TAP_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_zero_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_0_DOUBLE_TAP_ENABLE);
+		break;
+		case BMI160_SINGLE_TAP_ENABLE:
+			/* read the single tap interrupt data */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_0_SINGLE_TAP_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_zero_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_0_SINGLE_TAP_ENABLE);
+		break;
+		case BMI160_ORIENT_ENABLE:
+			/* read the orient interrupt data */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_ENABLE_0_ORIENT_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_zero_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_0_ORIENT_ENABLE);
+		break;
+		case BMI160_FLAT_ENABLE:
+			/* read the flat interrupt data */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_ENABLE_0_FLAT_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_zero_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_0_FLAT_ENABLE);
+		break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief  This API is used to set
+ *	interrupt enable from the register 0x50 bit 0 to 7
+ *
+ *
+ *
+ *
+ *	@param v_enable_u8 : Value which selects the interrupt
+ *   v_enable_u8   |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_ANY_MOTION_X_ENABLE
+ *       1         | BMI160_ANY_MOTION_Y_ENABLE
+ *       2         | BMI160_ANY_MOTION_Z_ENABLE
+ *       3         | BMI160_DOUBLE_TAP_ENABLE
+ *       4         | BMI160_SINGLE_TAP_ENABLE
+ *       5         | BMI160_ORIENT_ENABLE
+ *       6         | BMI160_FLAT_ENABLE
+ *
+ *	@param v_intr_enable_zero_u8 : The interrupt enable value
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_enable_0(
+u8 v_enable_u8, u8 v_intr_enable_zero_u8)
+{
+/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	switch (v_enable_u8) {
+	case BMI160_ANY_MOTION_X_ENABLE:
+		/* write any motion x*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_ENABLE_0_ANY_MOTION_X_ENABLE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_0_ANY_MOTION_X_ENABLE,
+			v_intr_enable_zero_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_0_ANY_MOTION_X_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	case BMI160_ANY_MOTION_Y_ENABLE:
+		/* write any motion y*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Y_ENABLE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Y_ENABLE,
+			v_intr_enable_zero_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Y_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	case BMI160_ANY_MOTION_Z_ENABLE:
+		/* write any motion z*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Z_ENABLE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Z_ENABLE,
+			v_intr_enable_zero_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Z_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	case BMI160_DOUBLE_TAP_ENABLE:
+		/* write double tap*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_ENABLE_0_DOUBLE_TAP_ENABLE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_0_DOUBLE_TAP_ENABLE,
+			v_intr_enable_zero_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_0_DOUBLE_TAP_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	case BMI160_SINGLE_TAP_ENABLE:
+		/* write single tap */
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_ENABLE_0_SINGLE_TAP_ENABLE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_0_SINGLE_TAP_ENABLE,
+			v_intr_enable_zero_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_0_SINGLE_TAP_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	case BMI160_ORIENT_ENABLE:
+		/* write orient interrupt*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_ENABLE_0_ORIENT_ENABLE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_0_ORIENT_ENABLE,
+			v_intr_enable_zero_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_0_ORIENT_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	case BMI160_FLAT_ENABLE:
+		/* write flat interrupt*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_ENABLE_0_FLAT_ENABLE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_0_FLAT_ENABLE,
+			v_intr_enable_zero_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_0_FLAT_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+	}
+	/*Accel and Gyro power mode check */
+	if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+			/*interface idle time delay */
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+}
+return com_rslt;
+}
+/*!
+ *	@brief  This API is used to read
+ *	interrupt enable byte1 from the register 0x51 bit 0 to 6
+ *	@brief It read the high_g_x,high_g_y,high_g_z,low_g_enable
+ *	data ready, FIFO full and FIFO water mark.
+ *
+ *
+ *
+ *  @param  v_enable_u8 :  The value of interrupt enable
+ *	@param v_enable_u8 : Value which selects interrupt
+ *   v_enable_u8   |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_HIGH_G_X_ENABLE
+ *       1         | BMI160_HIGH_G_Y_ENABLE
+ *       2         | BMI160_HIGH_G_Z_ENABLE
+ *       3         | BMI160_LOW_G_ENABLE
+ *       4         | BMI160_DATA_RDY_ENABLE
+ *       5         | BMI160_FIFO_FULL_ENABLE
+ *       6         | BMI160_FIFO_WM_ENABLE
+ *
+ *	@param v_intr_enable_1_u8 : The interrupt enable value
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_enable_1(
+u8 v_enable_u8, u8 *v_intr_enable_1_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_enable_u8) {
+		case BMI160_HIGH_G_X_ENABLE:
+			/* read high_g_x interrupt*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_1_HIGH_G_X_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_1_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_1_HIGH_G_X_ENABLE);
+			break;
+		case BMI160_HIGH_G_Y_ENABLE:
+			/* read high_g_y interrupt*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_1_HIGH_G_Y_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_1_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_1_HIGH_G_Y_ENABLE);
+			break;
+		case BMI160_HIGH_G_Z_ENABLE:
+			/* read high_g_z interrupt*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_1_HIGH_G_Z_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_1_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_1_HIGH_G_Z_ENABLE);
+			break;
+		case BMI160_LOW_G_ENABLE:
+			/* read low_g interrupt */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_ENABLE_1_LOW_G_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_1_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_1_LOW_G_ENABLE);
+			break;
+		case BMI160_DATA_RDY_ENABLE:
+			/* read data ready interrupt */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_1_DATA_RDY_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_1_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_1_DATA_RDY_ENABLE);
+			break;
+		case BMI160_FIFO_FULL_ENABLE:
+			/* read FIFO full interrupt */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_1_FIFO_FULL_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_1_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_1_FIFO_FULL_ENABLE);
+			break;
+		case BMI160_FIFO_WM_ENABLE:
+			/* read FIFO water mark interrupt */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_1_FIFO_WM_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_1_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_1_FIFO_WM_ENABLE);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief  This API is used to set
+ *	interrupt enable byte1 from the register 0x51 bit 0 to 6
+ *	@brief It read the high_g_x,high_g_y,high_g_z,low_g_enable
+ *	data ready, FIFO full and FIFO water mark.
+ *
+ *
+ *
+ *  @param  v_enable_u8 :  The value of interrupt enable
+ *	@param v_enable_u8 : Value to select the interrupt
+ *   v_enable_u8   |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_HIGH_G_X_ENABLE
+ *       1         | BMI160_HIGH_G_Y_ENABLE
+ *       2         | BMI160_HIGH_G_Z_ENABLE
+ *       3         | BMI160_LOW_G_ENABLE
+ *       4         | BMI160_DATA_RDY_ENABLE
+ *       5         | BMI160_FIFO_FULL_ENABLE
+ *       6         | BMI160_FIFO_WM_ENABLE
+ *
+ *	@param v_intr_enable_1_u8 : The interrupt enable value
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_enable_1(
+u8 v_enable_u8, u8 v_intr_enable_1_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_enable_u8) {
+		case BMI160_HIGH_G_X_ENABLE:
+			/* write high_g_x interrupt*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_1_HIGH_G_X_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_ENABLE_1_HIGH_G_X_ENABLE,
+				v_intr_enable_1_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr,
+				BMI160_USER_INTR_ENABLE_1_HIGH_G_X_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		break;
+		case BMI160_HIGH_G_Y_ENABLE:
+			/* write high_g_y interrupt*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_1_HIGH_G_Y_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_ENABLE_1_HIGH_G_Y_ENABLE,
+				v_intr_enable_1_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr,
+				BMI160_USER_INTR_ENABLE_1_HIGH_G_Y_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		break;
+		case BMI160_HIGH_G_Z_ENABLE:
+			/* write high_g_z interrupt*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_1_HIGH_G_Z_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_ENABLE_1_HIGH_G_Z_ENABLE,
+				v_intr_enable_1_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr,
+				BMI160_USER_INTR_ENABLE_1_HIGH_G_Z_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		break;
+		case BMI160_LOW_G_ENABLE:
+			/* write low_g interrupt*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_1_LOW_G_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_ENABLE_1_LOW_G_ENABLE,
+				v_intr_enable_1_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr,
+				BMI160_USER_INTR_ENABLE_1_LOW_G_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		break;
+		case BMI160_DATA_RDY_ENABLE:
+			/* write data ready interrupt*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_1_DATA_RDY_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_ENABLE_1_DATA_RDY_ENABLE,
+				v_intr_enable_1_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr,
+				BMI160_USER_INTR_ENABLE_1_DATA_RDY_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		break;
+		case BMI160_FIFO_FULL_ENABLE:
+			/* write FIFO full interrupt*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_1_FIFO_FULL_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_ENABLE_1_FIFO_FULL_ENABLE,
+				v_intr_enable_1_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr,
+				BMI160_USER_INTR_ENABLE_1_FIFO_FULL_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		break;
+		case BMI160_FIFO_WM_ENABLE:
+			/* write FIFO water mark interrupt*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_ENABLE_1_FIFO_WM_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_ENABLE_1_FIFO_WM_ENABLE,
+				v_intr_enable_1_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr,
+				BMI160_USER_INTR_ENABLE_1_FIFO_WM_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+		}
+		/*Accel and Gyro power mode check*/
+		if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+			/*interface idle time delay */
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief  This API is used to read
+ *	interrupt enable byte2 from the register bit 0x52 bit 0 to 3
+ *	@brief It reads no motion x,y and z
+ *
+ *
+ *
+ *	@param v_enable_u8: The value of interrupt enable
+ *   v_enable_u8   |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_NOMOTION_X_ENABLE
+ *       1         | BMI160_NOMOTION_Y_ENABLE
+ *       2         | BMI160_NOMOTION_Z_ENABLE
+ *
+ *	@param v_intr_enable_2_u8 : The interrupt enable value
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_enable_2(
+u8 v_enable_u8, u8 *v_intr_enable_2_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_enable_u8) {
+		case BMI160_NOMOTION_X_ENABLE:
+			/* read no motion x */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_2_NOMOTION_X_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_2_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_2_NOMOTION_X_ENABLE);
+			break;
+		case BMI160_NOMOTION_Y_ENABLE:
+			/* read no motion y */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_2_NOMOTION_Y_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_2_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_2_NOMOTION_Y_ENABLE);
+			break;
+		case BMI160_NOMOTION_Z_ENABLE:
+			/* read no motion z */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_2_NOMOTION_Z_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_enable_2_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_2_NOMOTION_Z_ENABLE);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief  This API is used to set
+ *	interrupt enable byte2 from the register bit 0x52 bit 0 to 3
+ *	@brief It reads no motion x,y and z
+ *
+ *
+ *
+ *	@param v_enable_u8: The value of interrupt enable
+ *   v_enable_u8   |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_NOMOTION_X_ENABLE
+ *       1         | BMI160_NOMOTION_Y_ENABLE
+ *       2         | BMI160_NOMOTION_Z_ENABLE
+ *
+ *	@param v_intr_enable_2_u8 : The interrupt enable value
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_enable_2(
+u8 v_enable_u8, u8 v_intr_enable_2_u8)
+{
+/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	switch (v_enable_u8) {
+	case BMI160_NOMOTION_X_ENABLE:
+		/* write no motion x */
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr,
+		BMI160_USER_INTR_ENABLE_2_NOMOTION_X_ENABLE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_2_NOMOTION_X_ENABLE,
+			v_intr_enable_2_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_2_NOMOTION_X_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	case BMI160_NOMOTION_Y_ENABLE:
+		/* write no motion y */
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr,
+		BMI160_USER_INTR_ENABLE_2_NOMOTION_Y_ENABLE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_2_NOMOTION_Y_ENABLE,
+			v_intr_enable_2_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_2_NOMOTION_Y_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	case BMI160_NOMOTION_Z_ENABLE:
+		/* write no motion z */
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr,
+		BMI160_USER_INTR_ENABLE_2_NOMOTION_Z_ENABLE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_2_NOMOTION_Z_ENABLE,
+			v_intr_enable_2_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_2_NOMOTION_Z_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+	}
+	/*Accel and Gyro power mode check*/
+	if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+		/*interface idle time delay */
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+}
+return com_rslt;
+}
+ /*!
+ *	@brief This API is used to read
+ *	interrupt enable step detector interrupt from
+ *	the register bit 0x52 bit 3
+ *
+ *
+ *
+ *
+ *	@param v_step_intr_u8 : The value of step detector interrupt enable
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_step_detector_enable(
+u8 *v_step_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the step detector interrupt*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_2_STEP_DETECTOR_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_step_intr_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_2_STEP_DETECTOR_ENABLE);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to set
+ *	interrupt enable step detector interrupt from
+ *	the register bit 0x52 bit 3
+ *
+ *
+ *
+ *
+ *	@param v_step_intr_u8 : The value of step detector interrupt enable
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_step_detector_enable(
+u8 v_step_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr,
+		BMI160_USER_INTR_ENABLE_2_STEP_DETECTOR_ENABLE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ENABLE_2_STEP_DETECTOR_ENABLE,
+			v_step_intr_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr,
+			BMI160_USER_INTR_ENABLE_2_STEP_DETECTOR_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Accel and Gyro power mode check*/
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief  This API reads trigger condition of interrupt1
+ *	and interrupt2 pin from the register 0x53
+ *	@brief interrupt1 - bit 0
+ *	@brief interrupt2 - bit 4
+ *
+ *  @param v_channel_u8: The value of edge trigger selection
+ *   v_channel_u8  |   Edge trigger
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_EDGE_CTRL
+ *       1         | BMI160_INTR2_EDGE_CTRL
+ *
+ *	@param v_intr_edge_ctrl_u8 : The value of edge trigger enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_EDGE
+ *  0x00     |  BMI160_LEVEL
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_edge_ctrl(
+u8 v_channel_u8, u8 *v_intr_edge_ctrl_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		case BMI160_INTR1_EDGE_CTRL:
+			/* read the edge trigger interrupt1*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR1_EDGE_CTRL__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_edge_ctrl_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR1_EDGE_CTRL);
+			break;
+		case BMI160_INTR2_EDGE_CTRL:
+			/* read the edge trigger interrupt2*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR2_EDGE_CTRL__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_edge_ctrl_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR2_EDGE_CTRL);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief  This API configures trigger condition of interrupt1
+ *	and interrupt2 pin from the register 0x53
+ *	@brief interrupt1 - bit 0
+ *	@brief interrupt2 - bit 4
+ *
+ *  @param v_channel_u8: The value of edge trigger selection
+ *   v_channel_u8  |   Edge trigger
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_EDGE_CTRL
+ *       1         | BMI160_INTR2_EDGE_CTRL
+ *
+ *	@param v_intr_edge_ctrl_u8 : The value of edge trigger enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_EDGE
+ *  0x00     |  BMI160_LEVEL
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_edge_ctrl(
+u8 v_channel_u8, u8 v_intr_edge_ctrl_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		case BMI160_INTR1_EDGE_CTRL:
+			/* write the edge trigger interrupt1*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR1_EDGE_CTRL__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR1_EDGE_CTRL,
+				v_intr_edge_ctrl_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr, BMI160_USER_INTR1_EDGE_CTRL__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+			break;
+		case BMI160_INTR2_EDGE_CTRL:
+			/* write the edge trigger interrupt2*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR2_EDGE_CTRL__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR2_EDGE_CTRL,
+				v_intr_edge_ctrl_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr, BMI160_USER_INTR2_EDGE_CTRL__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+		/*Accel and Gyro power mode check*/
+		if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+			/*interface idle time delay */
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief  This API is used to get the configure level condition of
+ *	interrupt1 and interrupt2 pin from the register 0x53
+ *	@brief interrupt1 - bit 1
+ *	@brief interrupt2 - bit 5
+ *
+ *  @param v_channel_u8: The value of level condition selection
+ *   v_channel_u8  |   level selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_LEVEL
+ *       1         | BMI160_INTR2_LEVEL
+ *
+ *	@param v_intr_level_u8 : The value of level of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  BMI160_LEVEL_HIGH
+ *  0x00     |  BMI160_LEVEL_LOW
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_level(
+u8 v_channel_u8, u8 *v_intr_level_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		case BMI160_INTR1_LEVEL:
+			/* read the interrupt1 level*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR1_LEVEL__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_level_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR1_LEVEL);
+			break;
+		case BMI160_INTR2_LEVEL:
+			/* read the interrupt2 level*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR2_LEVEL__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_level_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR2_LEVEL);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief  This API is used to set the configure level condition of
+ *	interrupt1 and interrupt2 pin from the register 0x53
+ *	@brief interrupt1 - bit 1
+ *	@brief interrupt2 - bit 5
+ *
+ *  @param v_channel_u8: The value of level condition selection
+ *   v_channel_u8  |   level selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_LEVEL
+ *       1         | BMI160_INTR2_LEVEL
+ *
+ *	@param v_intr_level_u8 : The value of level of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  BMI160_LEVEL_HIGH
+ *  0x00     |  BMI160_LEVEL_LOW
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_level(
+u8 v_channel_u8, u8 v_intr_level_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		case BMI160_INTR1_LEVEL:
+			/* write the interrupt1 level*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR1_LEVEL__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR1_LEVEL, v_intr_level_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr, BMI160_USER_INTR1_LEVEL__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+			break;
+		case BMI160_INTR2_LEVEL:
+			/* write the interrupt2 level*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR2_LEVEL__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR2_LEVEL, v_intr_level_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr, BMI160_USER_INTR2_LEVEL__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+		/*Accel and Gyro power mode check*/
+		if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+			/*interface idle time delay */
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief  This API is used to get configured output enable of interrupt1
+ *	and interrupt2 from the register 0x53
+ *	@brief interrupt1 - bit 2
+ *	@brief interrupt2 - bit 6
+ *
+ *
+ *  @param v_channel_u8: The value of output type enable selection
+ *   v_channel_u8  |   level selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_OUTPUT_TYPE
+ *       1         | BMI160_INTR2_OUTPUT_TYPE
+ *
+ *	@param v_intr_output_type_u8 :
+ *	The value of output type of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  BMI160_OPEN_DRAIN
+ *  0x00     |  BMI160_PUSH_PULL
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_output_type(
+u8 v_channel_u8, u8 *v_intr_output_type_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		case BMI160_INTR1_OUTPUT_TYPE:
+			/* read the output type of interrupt1*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR1_OUTPUT_TYPE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_output_type_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR1_OUTPUT_TYPE);
+			break;
+		case BMI160_INTR2_OUTPUT_TYPE:
+			/* read the output type of interrupt2*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR2_OUTPUT_TYPE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_output_type_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR2_OUTPUT_TYPE);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief  This API is used to set output enable of interrupt1
+ *	and interrupt2 from the register 0x53
+ *	@brief interrupt1 - bit 2
+ *	@brief interrupt2 - bit 6
+ *
+ *
+ *  @param v_channel_u8: The value of output type enable selection
+ *   v_channel_u8  |   level selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_OUTPUT_TYPE
+ *       1         | BMI160_INTR2_OUTPUT_TYPE
+ *
+ *	@param v_intr_output_type_u8 :
+ *	The value of output type of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  BMI160_OPEN_DRAIN
+ *  0x00     |  BMI160_PUSH_PULL
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_output_type(
+u8 v_channel_u8, u8 v_intr_output_type_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		case BMI160_INTR1_OUTPUT_TYPE:
+			/* write the output type of interrupt1*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR1_OUTPUT_TYPE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR1_OUTPUT_TYPE,
+				v_intr_output_type_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr, BMI160_USER_INTR1_OUTPUT_TYPE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+			break;
+		case BMI160_INTR2_OUTPUT_TYPE:
+			/* write the output type of interrupt2*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR2_OUTPUT_TYPE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR2_OUTPUT_TYPE,
+				v_intr_output_type_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr, BMI160_USER_INTR2_OUTPUT_TYPE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+		/*Accel and Gyro power mode check*/
+		if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+			/*interface idle time delay */
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to get the output enable for interrupt1
+ *	and interrupt2 pin from the register 0x53
+ *	@brief interrupt1 - bit 3
+ *	@brief interrupt2 - bit 7
+ *
+ *  @param v_channel_u8: The value of output enable selection
+ *   v_channel_u8  |   level selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_OUTPUT_ENABLE
+ *       1         | BMI160_INTR2_OUTPUT_ENABLE
+ *
+ *	@param v_output_enable_u8 :
+ *	The value of output enable of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  INTERRUPT OUTPUT ENABLED
+ *  0x00     |  INTERRUPT OUTPUT DISABLED
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_output_enable(
+u8 v_channel_u8, u8 *v_output_enable_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		case BMI160_INTR1_OUTPUT_ENABLE:
+			/* read the output enable of interrupt1*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR1_OUTPUT_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_output_enable_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR1_OUTPUT_ENABLE);
+			break;
+		case BMI160_INTR2_OUTPUT_ENABLE:
+			/* read the output enable of interrupt2*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR2_OUTPUT_EN__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_output_enable_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR2_OUTPUT_EN);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to set the Output enable for interrupt1
+ *	and interrupt2 pin from the register 0x53
+ *	@brief interrupt1 - bit 3
+ *	@brief interrupt2 - bit 7
+ *
+ *  @param v_channel_u8: The value of output enable selection
+ *   v_channel_u8  |   level selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_OUTPUT_ENABLE
+ *       1         | BMI160_INTR2_OUTPUT_ENABLE
+ *
+ *	@param v_output_enable_u8 :
+ *	The value of output enable of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  INTERRUPT OUTPUT ENABLED
+ *  0x00     |  INTERRUPT OUTPUT DISABLED
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_output_enable(
+u8 v_channel_u8, u8 v_output_enable_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		case BMI160_INTR1_OUTPUT_ENABLE:
+			/* write the output enable of interrupt1*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR1_OUTPUT_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR1_OUTPUT_ENABLE,
+				v_output_enable_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr, BMI160_USER_INTR1_OUTPUT_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		break;
+		case BMI160_INTR2_OUTPUT_ENABLE:
+			/* write the output enable of interrupt2*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR2_OUTPUT_EN__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR2_OUTPUT_EN,
+				v_output_enable_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr, BMI160_USER_INTR2_OUTPUT_EN__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+		}
+		/*Accel and Gyro power mode check*/
+		if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+			/*interface idle time delay */
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+	return com_rslt;
+}
+/*!
+*	@brief This API is used to get the latch duration
+*	from the register 0x54 bit 0 to 3
+*	@brief This latch selection is not applicable for data ready,
+*	orientation and flat interrupts.
+*
+*
+*
+*  @param v_latch_intr_u8 : The value of latch duration
+*	Latch Duration                      |     value
+* --------------------------------------|------------------
+*    BMI160_LATCH_DUR_NONE              |      0x00
+*    BMI160_LATCH_DUR_312_5_MICRO_SEC   |      0x01
+*    BMI160_LATCH_DUR_625_MICRO_SEC     |      0x02
+*    BMI160_LATCH_DUR_1_25_MILLI_SEC    |      0x03
+*    BMI160_LATCH_DUR_2_5_MILLI_SEC     |      0x04
+*    BMI160_LATCH_DUR_5_MILLI_SEC       |      0x05
+*    BMI160_LATCH_DUR_10_MILLI_SEC      |      0x06
+*    BMI160_LATCH_DUR_20_MILLI_SEC      |      0x07
+*    BMI160_LATCH_DUR_40_MILLI_SEC      |      0x08
+*    BMI160_LATCH_DUR_80_MILLI_SEC      |      0x09
+*    BMI160_LATCH_DUR_160_MILLI_SEC     |      0x0A
+*    BMI160_LATCH_DUR_320_MILLI_SEC     |      0x0B
+*    BMI160_LATCH_DUR_640_MILLI_SEC     |      0x0C
+*    BMI160_LATCH_DUR_1_28_SEC          |      0x0D
+*    BMI160_LATCH_DUR_2_56_SEC          |      0x0E
+*    BMI160_LATCHED                     |      0x0F
+*
+*
+*
+*	@return results of bus communication function
+*	@retval 0 -> Success
+*	@retval -1 -> Error
+*
+*
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_latch_intr(
+u8 *v_latch_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the latch duration value */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_LATCH__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_latch_intr_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_LATCH);
+		}
+	return com_rslt;
+}
+/*!
+*	@brief This API is used to set the latch duration
+*	from the register 0x54 bit 0 to 3
+*	@brief This latch selection is not applicable for data ready,
+*	orientation and flat interrupts.
+*
+*
+*
+*  @param v_latch_intr_u8 : The value of latch duration
+*	Latch Duration                      |     value
+* --------------------------------------|------------------
+*    BMI160_LATCH_DUR_NONE              |      0x00
+*    BMI160_LATCH_DUR_312_5_MICRO_SEC   |      0x01
+*    BMI160_LATCH_DUR_625_MICRO_SEC     |      0x02
+*    BMI160_LATCH_DUR_1_25_MILLI_SEC    |      0x03
+*    BMI160_LATCH_DUR_2_5_MILLI_SEC     |      0x04
+*    BMI160_LATCH_DUR_5_MILLI_SEC       |      0x05
+*    BMI160_LATCH_DUR_10_MILLI_SEC      |      0x06
+*    BMI160_LATCH_DUR_20_MILLI_SEC      |      0x07
+*    BMI160_LATCH_DUR_40_MILLI_SEC      |      0x08
+*    BMI160_LATCH_DUR_80_MILLI_SEC      |      0x09
+*    BMI160_LATCH_DUR_160_MILLI_SEC     |      0x0A
+*    BMI160_LATCH_DUR_320_MILLI_SEC     |      0x0B
+*    BMI160_LATCH_DUR_640_MILLI_SEC     |      0x0C
+*    BMI160_LATCH_DUR_1_28_SEC          |      0x0D
+*    BMI160_LATCH_DUR_2_56_SEC          |      0x0E
+*    BMI160_LATCHED                     |      0x0F
+*
+*
+*
+*	@return results of bus communication function
+*	@retval 0 -> Success
+*	@retval -1 -> Error
+*
+*
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_latch_intr(u8 v_latch_intr_u8)
+{
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_latch_intr_u8 <= BMI160_MAX_LATCH_INTR) {
+			/* write the latch duration value */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_LATCH__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_LATCH, v_latch_intr_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr, BMI160_USER_INTR_LATCH__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief API is used to get input enable for interrupt1
+ *	and interrupt2 pin from the register 0x54
+ *	@brief interrupt1 - bit 4
+ *	@brief interrupt2 - bit 5
+ *
+ *  @param v_channel_u8: The value of input enable selection
+ *   v_channel_u8  |   input selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_INPUT_ENABLE
+ *       1         | BMI160_INTR2_INPUT_ENABLE
+ *
+ *	@param v_input_en_u8 :
+ *	The value of input enable of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  BMI160_INPUT_ENABLED
+ *  0x00     |  BMI160_INPUT_DISABLED
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_input_enable(
+u8 v_channel_u8, u8 *v_input_en_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		/* read input enable of interrupt1 and interrupt2*/
+		case BMI160_INTR1_INPUT_ENABLE:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR1_INPUT_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_input_en_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR1_INPUT_ENABLE);
+			break;
+		case BMI160_INTR2_INPUT_ENABLE:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR2_INPUT_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_input_en_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR2_INPUT_ENABLE);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief API is used to set input enable for interrupt1
+ *	and interrupt2 pin from the register 0x54
+ *	@brief interrupt1 - bit 4
+ *	@brief interrupt2 - bit 5
+ *
+ *  @param v_channel_u8: The value of input enable selection
+ *   v_channel_u8  |   input selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_INPUT_ENABLE
+ *       1         | BMI160_INTR2_INPUT_ENABLE
+ *
+ *	@param v_input_en_u8 :
+ *	The value of input enable of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  BMI160_INPUT_ENABLED
+ *  0x00     |  BMI160_INPUT_DISABLED
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_input_enable(
+u8 v_channel_u8, u8 v_input_en_u8)
+{
+/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	switch (v_channel_u8) {
+	/* write input enable of interrup1 and interrupt2*/
+	case BMI160_INTR1_INPUT_ENABLE:
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR1_INPUT_ENABLE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR1_INPUT_ENABLE, v_input_en_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR1_INPUT_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+	break;
+	case BMI160_INTR2_INPUT_ENABLE:
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR2_INPUT_ENABLE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR2_INPUT_ENABLE, v_input_en_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR2_INPUT_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+	break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+	break;
+	}
+	/*Accel and Gyro power mode check */
+	if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+		/*interface idle time delay */
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+}
+return com_rslt;
+}
+ /*!
+ *	@brief This API reads the Low g interrupt which is mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 0 in the register 0x55
+ *	@brief interrupt2 bit 0 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of low_g selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_LOW_G
+ *       1         | BMI160_INTR2_MAP_LOW_G
+ *
+ *	@param v_intr_low_g_u8 : The value of low_g enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_g(
+u8 v_channel_u8, u8 *v_intr_low_g_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		/* read the low_g interrupt */
+		case BMI160_INTR1_MAP_LOW_G:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_LOW_G__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_low_g_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_0_INTR1_LOW_G);
+			break;
+		case BMI160_INTR2_MAP_LOW_G:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_LOW_G__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_low_g_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_2_INTR2_LOW_G);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API sets the Low g interrupt to be mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 0 in the register 0x55
+ *	@brief interrupt2 bit 0 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of low_g selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_LOW_G
+ *       1         | BMI160_INTR2_MAP_LOW_G
+ *
+ *	@param v_intr_low_g_u8 : The value of low_g enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_g(
+u8 v_channel_u8, u8 v_intr_low_g_u8)
+{
+/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+u8 v_step_cnt_stat_u8 = BMI160_INIT_VALUE;
+u8 v_step_det_stat_u8 = BMI160_INIT_VALUE;
+
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	/* check the step detector interrupt enable status*/
+	com_rslt = bmi160_get_step_detector_enable(&v_step_det_stat_u8);
+	/* disable the step detector interrupt */
+	if (v_step_det_stat_u8 != BMI160_INIT_VALUE)
+		com_rslt += bmi160_set_step_detector_enable(BMI160_INIT_VALUE);
+	/* check the step counter interrupt enable status*/
+	com_rslt += bmi160_get_step_counter_enable(&v_step_cnt_stat_u8);
+	/* disable the step counter interrupt */
+	if (v_step_cnt_stat_u8 != BMI160_INIT_VALUE)
+			com_rslt += bmi160_set_step_counter_enable(
+			BMI160_INIT_VALUE);
+	switch (v_channel_u8) {
+	/* write the low_g interrupt*/
+	case BMI160_INTR1_MAP_LOW_G:
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_0_INTR1_LOW_G__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_0_INTR1_LOW_G, v_intr_low_g_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_LOW_G__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	case BMI160_INTR2_MAP_LOW_G:
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_2_INTR2_LOW_G__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_2_INTR2_LOW_G, v_intr_low_g_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_LOW_G__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+	}
+	/*Accel and Gyro power mode check */
+		if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+			/*interface idle time delay */
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+}
+return com_rslt;
+}
+/*!
+ *	@brief This API reads the HIGH g interrupt which is mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 1 in the register 0x55
+ *	@brief interrupt2 bit 1 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of high_g selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_HIGH_G
+ *       1         | BMI160_INTR2_MAP_HIGH_G
+ *
+ *	@param v_intr_high_g_u8 : The value of high_g enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_high_g(
+u8 v_channel_u8, u8 *v_intr_high_g_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		/* read the high_g interrupt*/
+		switch (v_channel_u8) {
+		case BMI160_INTR1_MAP_HIGH_G:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_HIGH_G__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_high_g_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_0_INTR1_HIGH_G);
+		break;
+		case BMI160_INTR2_MAP_HIGH_G:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_HIGH_G__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_high_g_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_2_INTR2_HIGH_G);
+		break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes the HIGH g interrupt to be mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 1 in the register 0x55
+ *	@brief interrupt2 bit 1 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of high_g selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_HIGH_G
+ *       1         | BMI160_INTR2_MAP_HIGH_G
+ *
+ *	@param v_intr_high_g_u8 : The value of high_g enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_high_g(
+u8 v_channel_u8, u8 v_intr_high_g_u8)
+{
+/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	switch (v_channel_u8) {
+	/* write the high_g interrupt*/
+	case BMI160_INTR1_MAP_HIGH_G:
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_0_INTR1_HIGH_G__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_0_INTR1_HIGH_G, v_intr_high_g_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_HIGH_G__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+	break;
+	case BMI160_INTR2_MAP_HIGH_G:
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_2_INTR2_HIGH_G__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_2_INTR2_HIGH_G, v_intr_high_g_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_HIGH_G__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+	break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+	break;
+	}
+	/*Accel and Gyro power mode check */
+	if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+		/*interface idle time delay */
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+}
+return com_rslt;
+}
+/*!
+ *	@brief This API reads the Any motion interrupt which is mapped to
+ *	interrupt1 and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 2 in the register 0x55
+ *	@brief interrupt2 bit 2 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of any motion selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_ANY_MOTION
+ *       1         | BMI160_INTR2_MAP_ANY_MOTION
+ *
+ *	@param v_intr_any_motion_u8 : The value of any motion enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_any_motion(
+u8 v_channel_u8, u8 *v_intr_any_motion_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		/* read the any motion interrupt */
+		case BMI160_INTR1_MAP_ANY_MOTION:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_any_motion_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION);
+		break;
+		case BMI160_INTR2_MAP_ANY_MOTION:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_any_motion_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION);
+		break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes the Any motion interrupt
+ *	to be mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 2 in the register 0x55
+ *	@brief interrupt2 bit 2 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of any motion selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_ANY_MOTION
+ *       1         | BMI160_INTR2_MAP_ANY_MOTION
+ *
+ *	@param v_intr_any_motion_u8 : The value of any motion enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_any_motion(
+u8 v_channel_u8, u8 v_intr_any_motion_u8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+u8 sig_mot_stat = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	/* read the status of significant motion interrupt */
+	com_rslt = bmi160_get_intr_significant_motion_select(&sig_mot_stat);
+	/* disable the significant motion interrupt */
+	if (sig_mot_stat != BMI160_INIT_VALUE)
+		com_rslt += bmi160_set_intr_significant_motion_select(
+		BMI160_INIT_VALUE);
+	switch (v_channel_u8) {
+	/* write the any motion interrupt */
+	case BMI160_INTR1_MAP_ANY_MOTION:
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION,
+			v_intr_any_motion_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+	break;
+	case BMI160_INTR2_MAP_ANY_MOTION:
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION,
+			v_intr_any_motion_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+	break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+	break;
+	}
+	/*Accel and Gyro power mode check */
+	if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+		/*interface idle time delay */
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+}
+return com_rslt;
+}
+/*!
+ *	@brief This API reads the No motion interrupt
+ *	which is  mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 3 in the register 0x55
+ *	@brief interrupt2 bit 3 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of no motion selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_NOMO
+ *       1         | BMI160_INTR2_MAP_NOMO
+ *
+ *	@param v_intr_nomotion_u8 : The value of no motion enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_nomotion(
+u8 v_channel_u8, u8 *v_intr_nomotion_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		/* read the no motion interrupt*/
+		case BMI160_INTR1_MAP_NOMO:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_NOMOTION__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_nomotion_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_0_INTR1_NOMOTION);
+			break;
+		case BMI160_INTR2_MAP_NOMO:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_NOMOTION__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_nomotion_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_2_INTR2_NOMOTION);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API configures the No motion interrupt
+ *	to be mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 3 in the register 0x55
+ *	@brief interrupt2 bit 3 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of no motion selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_NOMO
+ *       1         | BMI160_INTR2_MAP_NOMO
+ *
+ *	@param v_intr_nomotion_u8 : The value of no motion enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_nomotion(
+u8 v_channel_u8, u8 v_intr_nomotion_u8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	switch (v_channel_u8) {
+	/* write the no motion interrupt*/
+	case BMI160_INTR1_MAP_NOMO:
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_0_INTR1_NOMOTION__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_0_INTR1_NOMOTION,
+			v_intr_nomotion_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_NOMOTION__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	case BMI160_INTR2_MAP_NOMO:
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_2_INTR2_NOMOTION__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_2_INTR2_NOMOTION,
+			v_intr_nomotion_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_NOMOTION__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+	}
+	/*Accel and Gyro power mode check */
+	if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+		/*interface idle time delay */
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+}
+return com_rslt;
+}
+/*!
+ *	@brief This API reads the Double Tap interrupt
+ *	which is mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 4 in the register 0x55
+ *	@brief interrupt2 bit 4 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of double tap interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_DOUBLE_TAP
+ *       1         | BMI160_INTR2_MAP_DOUBLE_TAP
+ *
+ *	@param v_intr_double_tap_u8 : The value of double tap enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_double_tap(
+u8 v_channel_u8, u8 *v_intr_double_tap_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		case BMI160_INTR1_MAP_DOUBLE_TAP:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_DOUBLE_TAP__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_double_tap_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_0_INTR1_DOUBLE_TAP);
+			break;
+		case BMI160_INTR2_MAP_DOUBLE_TAP:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_DOUBLE_TAP__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_double_tap_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_2_INTR2_DOUBLE_TAP);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API configures the Double Tap interrupt
+ *	to be mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 4 in the register 0x55
+ *	@brief interrupt2 bit 4 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of double tap interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_DOUBLE_TAP
+ *       1         | BMI160_INTR2_MAP_DOUBLE_TAP
+ *
+ *	@param v_intr_double_tap_u8 : The value of double tap enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_double_tap(
+u8 v_channel_u8, u8 v_intr_double_tap_u8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	switch (v_channel_u8) {
+	/* set the double tap interrupt */
+	case BMI160_INTR1_MAP_DOUBLE_TAP:
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_0_INTR1_DOUBLE_TAP__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_0_INTR1_DOUBLE_TAP,
+			v_intr_double_tap_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_DOUBLE_TAP__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	case BMI160_INTR2_MAP_DOUBLE_TAP:
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_2_INTR2_DOUBLE_TAP__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_2_INTR2_DOUBLE_TAP,
+			v_intr_double_tap_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_DOUBLE_TAP__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+	}
+	/*Accel and Gyro power mode check */
+	if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+		/*interface idle time delay */
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+}
+return com_rslt;
+}
+/*!
+ *	@brief This API reads the Single Tap interrupt
+ *	which is mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 5 in the register 0x55
+ *	@brief interrupt2 bit 5 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of single tap interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_SINGLE_TAP
+ *       1         | BMI160_INTR2_MAP_SINGLE_TAP
+ *
+ *	@param v_intr_single_tap_u8 : The value of single tap  enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_single_tap(
+u8 v_channel_u8, u8 *v_intr_single_tap_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		/* reads the single tap interrupt*/
+		case BMI160_INTR1_MAP_SINGLE_TAP:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_SINGLE_TAP__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_single_tap_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_0_INTR1_SINGLE_TAP);
+			break;
+		case BMI160_INTR2_MAP_SINGLE_TAP:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_SINGLE_TAP__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_single_tap_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_2_INTR2_SINGLE_TAP);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API configures the Single Tap interrupt
+ *	to be mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 5 in the register 0x55
+ *	@brief interrupt2 bit 5 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of single tap interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_SINGLE_TAP
+ *       1         | BMI160_INTR2_MAP_SINGLE_TAP
+ *
+ *	@param v_intr_single_tap_u8 : The value of single tap  enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_single_tap(
+u8 v_channel_u8, u8 v_intr_single_tap_u8)
+{
+/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	switch (v_channel_u8) {
+	/* write the single tap interrupt */
+	case BMI160_INTR1_MAP_SINGLE_TAP:
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_0_INTR1_SINGLE_TAP__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_0_INTR1_SINGLE_TAP,
+			v_intr_single_tap_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_SINGLE_TAP__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	case BMI160_INTR2_MAP_SINGLE_TAP:
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_2_INTR2_SINGLE_TAP__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_2_INTR2_SINGLE_TAP,
+			v_intr_single_tap_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_SINGLE_TAP__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+	}
+	/*Accel and Gyro power mode check */
+	if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+		/*interface idle time delay */
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+}
+return com_rslt;
+}
+/*!
+ *	@brief This API reads the Orient interrupt which is mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 6 in the register 0x55
+ *	@brief interrupt2 bit 6 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of orient interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_ORIENT
+ *       1         | BMI160_INTR2_MAP_ORIENT
+ *
+ *	@param v_intr_orient_u8 : The value of orient enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient(
+u8 v_channel_u8, u8 *v_intr_orient_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		/* read the orientation interrupt*/
+		case BMI160_INTR1_MAP_ORIENT:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_ORIENT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_orient_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_0_INTR1_ORIENT);
+			break;
+		case BMI160_INTR2_MAP_ORIENT:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_ORIENT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_orient_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_2_INTR2_ORIENT);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API configures the Orient interrupt
+ *	to be mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 6 in the register 0x55
+ *	@brief interrupt2 bit 6 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of orient interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_ORIENT
+ *       1         | BMI160_INTR2_MAP_ORIENT
+ *
+ *	@param v_intr_orient_u8 : The value of orient enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient(
+u8 v_channel_u8, u8 v_intr_orient_u8)
+{
+/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	switch (v_channel_u8) {
+	/* write the orientation interrupt*/
+	case BMI160_INTR1_MAP_ORIENT:
+		com_rslt =
+		p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_0_INTR1_ORIENT__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_0_INTR1_ORIENT, v_intr_orient_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_ORIENT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	case BMI160_INTR2_MAP_ORIENT:
+		com_rslt =
+		p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_2_INTR2_ORIENT__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 =
+			BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_2_INTR2_ORIENT, v_intr_orient_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_ORIENT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+		break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+	}
+	/*Accel and Gyro power mode check */
+	if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+		/*interface idle time delay */
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+}
+return com_rslt;
+}
+ /*!
+ *	@brief This API reads the Flat interrupt which is
+ *	mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 7 in the register 0x55
+ *	@brief interrupt2 bit 7 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of flat interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_FLAT
+ *       1         | BMI160_INTR2_MAP_FLAT
+ *
+ *	@param v_intr_flat_u8 : The value of flat enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_flat(
+u8 v_channel_u8, u8 *v_intr_flat_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		/* read the flat interrupt*/
+		case BMI160_INTR1_MAP_FLAT:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_FLAT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_flat_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_0_INTR1_FLAT);
+			break;
+		case BMI160_INTR2_MAP_FLAT:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_FLAT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_flat_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_2_INTR2_FLAT);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API configures the Flat interrupt to be
+ *	mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 7 in the register 0x55
+ *	@brief interrupt2 bit 7 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of flat interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_FLAT
+ *       1         | BMI160_INTR2_MAP_FLAT
+ *
+ *	@param v_intr_flat_u8 : The value of flat enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_flat(
+u8 v_channel_u8, u8 v_intr_flat_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		/* write the flat interrupt */
+		case BMI160_INTR1_MAP_FLAT:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_0_INTR1_FLAT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 =
+				BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_MAP_0_INTR1_FLAT,
+				v_intr_flat_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr,
+				BMI160_USER_INTR_MAP_0_INTR1_FLAT__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+			break;
+		case BMI160_INTR2_MAP_FLAT:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_2_INTR2_FLAT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_MAP_2_INTR2_FLAT,
+				v_intr_flat_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr,
+				BMI160_USER_INTR_MAP_2_INTR2_FLAT__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+		/*Accel and Gyro power mode check*/
+		if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+			/*interface idle time delay */
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the PMU trigger interrupt which is mapped to
+ *	interrupt1 and interrupt2 from the register 0x56 bit 0 and 4
+ *	@brief interrupt1 bit 0 in the register 0x56
+ *	@brief interrupt2 bit 4 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of pmu trigger selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_PMUTRIG
+ *       1         | BMI160_INTR2_MAP_PMUTRIG
+ *
+ *	@param v_intr_pmu_trig_u8 : The value of pmu trigger enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_pmu_trig(
+u8 v_channel_u8, u8 *v_intr_pmu_trig_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		/* read the pmu trigger interrupt*/
+		case BMI160_INTR1_MAP_PMUTRIG:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR1_PMU_TRIG__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_pmu_trig_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_1_INTR1_PMU_TRIG);
+			break;
+		case BMI160_INTR2_MAP_PMUTRIG:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR2_PMU_TRIG__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_pmu_trig_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_1_INTR2_PMU_TRIG);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API configures the PMU trigger interrupt to be mapped to
+ *	interrupt1 and interrupt2 from the register 0x56 bit 0 and 4
+ *	@brief interrupt1 bit 0 in the register 0x56
+ *	@brief interrupt2 bit 4 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of pmu trigger selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_PMUTRIG
+ *       1         | BMI160_INTR2_MAP_PMUTRIG
+ *
+ *	@param v_intr_pmu_trig_u8 : The value of pmu trigger enable
+ *	value    | trigger enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_pmu_trig(
+u8 v_channel_u8, u8 v_intr_pmu_trig_u8)
+{
+/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	switch (v_channel_u8) {
+	/* write the pmu trigger interrupt */
+	case BMI160_INTR1_MAP_PMUTRIG:
+		com_rslt =
+		p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_1_INTR1_PMU_TRIG__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 =
+			BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_1_INTR1_PMU_TRIG,
+			v_intr_pmu_trig_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR1_PMU_TRIG__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+	break;
+	case BMI160_INTR2_MAP_PMUTRIG:
+		com_rslt =
+		p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_1_INTR2_PMU_TRIG__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 =
+			BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_1_INTR2_PMU_TRIG,
+			v_intr_pmu_trig_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR2_PMU_TRIG__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+	break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+	break;
+	}
+	/*Accel and Gyro power mode check */
+	if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+		/*interface idle time delay */
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+}
+return com_rslt;
+}
+#ifdef FIFO_ENABLE
+/*!
+ *	@brief This API reads the FIFO Full interrupt which is mapped to
+ *	interrupt1 and interrupt2 from the register 0x56 bit 5 and 1
+ *	@brief interrupt1 bit 5 in the register 0x56
+ *	@brief interrupt2 bit 1 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of FIFO full interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_FIFO_FULL
+ *       1         | BMI160_INTR2_MAP_FIFO_FULL
+ *
+ *	@param v_intr_fifo_full_u8 : The value of FIFO full interrupt enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_fifo_full(
+u8 v_channel_u8, u8 *v_intr_fifo_full_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		/* read the FIFO full interrupt */
+		case BMI160_INTR1_MAP_FIFO_FULL:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR1_FIFO_FULL__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_fifo_full_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_1_INTR1_FIFO_FULL);
+		break;
+		case BMI160_INTR2_MAP_FIFO_FULL:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR2_FIFO_FULL__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_fifo_full_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_1_INTR2_FIFO_FULL);
+		break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API configures the  FIFO Full interrupt to be mapped to
+ *	interrupt1 and interrupt2 from the register 0x56 bit 5 and 1
+ *	@brief interrupt1 bit 5 in the register 0x56
+ *	@brief interrupt2 bit 1 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of FIFO full interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_FIFO_FULL
+ *       1         | BMI160_INTR2_MAP_FIFO_FULL
+ *
+ *	@param v_intr_fifo_full_u8 : The value of FIFO full interrupt enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_fifo_full(
+u8 v_channel_u8, u8 v_intr_fifo_full_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		/* write the FIFO full interrupt */
+		case BMI160_INTR1_MAP_FIFO_FULL:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR1_FIFO_FULL__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 =
+				BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_MAP_1_INTR1_FIFO_FULL,
+				v_intr_fifo_full_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr,
+				BMI160_USER_INTR_MAP_1_INTR1_FIFO_FULL__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		break;
+		case BMI160_INTR2_MAP_FIFO_FULL:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR2_FIFO_FULL__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 =
+				BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_MAP_1_INTR2_FIFO_FULL,
+				v_intr_fifo_full_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr,
+				BMI160_USER_INTR_MAP_1_INTR2_FIFO_FULL__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+		break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads FIFO Watermark interrupt which is mapped to
+ *	interrupt1 and interrupt2 from the register 0x56 bit 6 and 2
+ *	@brief interrupt1 bit 6 in the register 0x56
+ *	@brief interrupt2 bit 2 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of FIFO Watermark interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_FIFO_WM
+ *       1         | BMI160_INTR2_MAP_FIFO_WM
+ *
+ *	@param v_intr_fifo_wm_u8 : The value of FIFO Watermark interrupt enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_fifo_wm(
+u8 v_channel_u8, u8 *v_intr_fifo_wm_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		/* read the FIFO water mark interrupt */
+		case BMI160_INTR1_MAP_FIFO_WM:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR1_FIFO_WM__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_fifo_wm_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_1_INTR1_FIFO_WM);
+			break;
+		case BMI160_INTR2_MAP_FIFO_WM:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR2_FIFO_WM__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_fifo_wm_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_1_INTR2_FIFO_WM);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API configures FIFO Watermark interrupt to be mapped to
+ *	interrupt1 and interrupt2 from the register 0x56 bit 6 and 2
+ *	@brief interrupt1 bit 6 in the register 0x56
+ *	@brief interrupt2 bit 2 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of FIFO Watermark interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_FIFO_WM
+ *       1         | BMI160_INTR2_MAP_FIFO_WM
+ *
+ *	@param v_intr_fifo_wm_u8 : The value of FIFO Watermark interrupt enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_fifo_wm(
+u8 v_channel_u8, u8 v_intr_fifo_wm_u8)
+{
+/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		/* write the FIFO water mark interrupt */
+		case BMI160_INTR1_MAP_FIFO_WM:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR1_FIFO_WM__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_MAP_1_INTR1_FIFO_WM,
+				v_intr_fifo_wm_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr,
+				BMI160_USER_INTR_MAP_1_INTR1_FIFO_WM__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+			break;
+		case BMI160_INTR2_MAP_FIFO_WM:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR2_FIFO_WM__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_MAP_1_INTR2_FIFO_WM,
+				v_intr_fifo_wm_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+				dev_addr,
+				BMI160_USER_INTR_MAP_1_INTR2_FIFO_WM__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+#endif
+/*!
+ *	@brief This API reads Data Ready interrupt which is mapped to interrupt1
+ *	and interrupt2 from the register 0x56
+ *	@brief interrupt1 bit 7 in the register 0x56
+ *	@brief interrupt2 bit 3 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of data ready interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_DATA_RDY
+ *       1         | BMI160_INTR2_MAP_DATA_RDY
+ *
+ *	@param v_intr_data_rdy_u8 : The value of data ready interrupt enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_data_rdy(
+u8 v_channel_u8, u8 *v_intr_data_rdy_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		switch (v_channel_u8) {
+		/*Read Data Ready interrupt*/
+		case BMI160_INTR1_MAP_DATA_RDY:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR1_DATA_RDY__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_data_rdy_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_1_INTR1_DATA_RDY);
+			break;
+		case BMI160_INTR2_MAP_DATA_RDY:
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR2_DATA_RDY__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_data_rdy_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_1_INTR2_DATA_RDY);
+			break;
+		default:
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+			break;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API configures Data Ready interrupt to be mapped to
+ *	interrupt1 and interrupt2 from the register 0x56
+ *	@brief interrupt1 bit 7 in the register 0x56
+ *	@brief interrupt2 bit 3 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of data ready interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_DATA_RDY
+ *       1         | BMI160_INTR2_MAP_DATA_RDY
+ *
+ *	@param v_intr_data_rdy_u8 : The value of data ready interrupt enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_data_rdy(
+u8 v_channel_u8, u8 v_intr_data_rdy_u8)
+{
+/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	switch (v_channel_u8) {
+	/*Write Data Ready interrupt*/
+	case BMI160_INTR1_MAP_DATA_RDY:
+		com_rslt =
+		p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_1_INTR1_DATA_RDY__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_1_INTR1_DATA_RDY,
+			v_intr_data_rdy_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR1_DATA_RDY__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+	break;
+	case BMI160_INTR2_MAP_DATA_RDY:
+		com_rslt =
+		p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->
+		dev_addr, BMI160_USER_INTR_MAP_1_INTR2_DATA_RDY__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MAP_1_INTR2_DATA_RDY,
+			v_intr_data_rdy_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC(p_bmi160->
+			dev_addr, BMI160_USER_INTR_MAP_1_INTR2_DATA_RDY__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		}
+	break;
+	default:
+	com_rslt = E_BMI160_OUT_OF_RANGE;
+	break;
+	}
+	/*Accel and Gyro power mode check */
+	if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+		/*interface idle time delay */
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+}
+return com_rslt;
+}
+ /*!
+ *	@brief This API reads data source for the interrupt
+ *	engine for the single and double tap interrupts from the register
+ *	0x58 bit 3
+ *
+ *
+ *  @param v_tap_source_u8 : The value of the tap source
+ *	value    | Description
+ * ----------|-------------------
+ *  0x01     |  UNFILTER_DATA
+ *  0x00     |  FILTER_DATA
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_tap_source(u8 *v_tap_source_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the tap source interrupt */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_DATA_0_INTR_TAP_SOURCE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_tap_source_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_DATA_0_INTR_TAP_SOURCE);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API writes data source for the interrupt
+ *	engine for the single and double tap interrupts from the register
+ *	0x58 bit 3
+ *
+ *
+ *  @param v_tap_source_u8 : The value of the tap source
+ *	value    | Description
+ * ----------|-------------------
+ *  0x01     |  UNFILTER_DATA
+ *  0x00     |  FILTER_DATA
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_tap_source(
+u8 v_tap_source_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_tap_source_u8 <= BMI160_MAX_VALUE_SOURCE_INTR) {
+			/* write the tap source interrupt */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_DATA_0_INTR_TAP_SOURCE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_DATA_0_INTR_TAP_SOURCE,
+				v_tap_source_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_INTR_DATA_0_INTR_TAP_SOURCE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Check for the power mode of Accel and
+				gyro not in normal mode */
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API Reads Data source for the
+ *	interrupt engine for the low and high g interrupts
+ *	from the register 0x58 bit 7
+ *
+ *  @param v_low_high_source_u8 : The value of the low-g/high-g source
+ *	value    | Description
+ * ----------|-------------------
+ *  0x01     |  UNFILTER_DATA
+ *  0x00     |  FILTER_DATA
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_high_source(
+u8 *v_low_high_source_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the high_low_g source interrupt */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_DATA_0_INTR_LOW_HIGH_SOURCE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_low_high_source_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_DATA_0_INTR_LOW_HIGH_SOURCE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes Data source for the
+ *	interrupt engine for the low and high g interrupts
+ *	from the register 0x58 bit 7
+ *
+ *  @param v_low_high_source_u8 : The value of the low-g/high-g source
+ *	value    | Description
+ * ----------|-------------------
+ *  0x01     |  UNFILTER_DATA
+ *  0x00     |  FILTER_DATA
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_high_source(
+u8 v_low_high_source_u8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	if (v_low_high_source_u8 <= BMI160_MAX_VALUE_SOURCE_INTR) {
+		/* write the high_low_g source interrupt */
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_INTR_DATA_0_INTR_LOW_HIGH_SOURCE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_DATA_0_INTR_LOW_HIGH_SOURCE,
+			v_low_high_source_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_DATA_0_INTR_LOW_HIGH_SOURCE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Check for the power mode of Accel and
+			gyro not in normal mode */
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+
+
+		}
+	} else {
+	com_rslt = E_BMI160_OUT_OF_RANGE;
+	}
+}
+return com_rslt;
+}
+ /*!
+ *	@brief This API reads Data source for the
+ *	interrupt engine for the nomotion and anymotion interrupts
+ *	from the register 0x59 bit 7
+ *
+ *  @param v_motion_source_u8 :
+ *	The value of the any/no motion interrupt source
+ *	value    | Description
+ * ----------|-------------------
+ *  0x01     |  UNFILTER_DATA
+ *  0x00     |  FILTER_DATA
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_motion_source(
+u8 *v_motion_source_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the any/no motion interrupt  */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_DATA_1_INTR_MOTION_SOURCE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_motion_source_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_DATA_1_INTR_MOTION_SOURCE);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API writes Data source for the
+ *	interrupt engine for the nomotion and anymotion interrupts
+ *	from the register 0x59 bit 7
+ *
+ *  @param v_motion_source_u8 :
+ *	The value of the any/no motion interrupt source
+ *	value    | Description
+ * ----------|-------------------
+ *  0x01     |  UNFILTER_DATA
+ *  0x00     |  FILTER_DATA
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_motion_source(
+u8 v_motion_source_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_motion_source_u8 <= BMI160_MAX_VALUE_SOURCE_INTR) {
+			/* write the any/no motion interrupt  */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_DATA_1_INTR_MOTION_SOURCE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_DATA_1_INTR_MOTION_SOURCE,
+				v_motion_source_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_INTR_DATA_1_INTR_MOTION_SOURCE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Check for the power mode of Accel and
+				gyro not in normal mode */
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+
+
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to read the low_g duration from register
+ *	0x5A bit 0 to 7
+ *
+ *
+ *
+ *
+ *  @param v_low_g_durn_u8 : The value of low_g duration
+ *
+ *	@note Low_g duration trigger trigger delay according to
+ *	"(v_low_g_durn_u8 * 2.5)ms" in a range from 2.5ms to 640ms.
+ *	the default corresponds delay is 20ms
+ *	@note When low_g data source of interrupt is unfiltered
+ *	the sensor must not be in low power mode
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_g_durn(
+u8 *v_low_g_durn_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the low_g interrupt */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_LOWHIGH_0_INTR_LOW_DURN__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_low_g_durn_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_LOWHIGH_0_INTR_LOW_DURN);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to write the low_g duration from register
+ *	0x5A bit 0 to 7
+ *
+ *
+ *
+ *
+ *  @param v_low_g_durn_u8 : The value of low_g duration
+ *
+ *	@note Low_g duration trigger trigger delay according to
+ *	"(v_low_g_durn_u8 * 2.5)ms" in a range from 2.5ms to 640ms.
+ *	the default corresponds delay is 20ms
+ *	@note When low_g data source of interrupt is unfiltered
+ *	the sensor must not be in low power mode
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_g_durn(u8 v_low_g_durn_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write the low_g interrupt */
+			com_rslt = p_bmi160->BMI160_BUS_WRITE_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_LOWHIGH_0_INTR_LOW_DURN__REG,
+			&v_low_g_durn_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Check for the power mode of Accel and
+			gyro not in normal mode */
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to read Threshold
+ *	definition for the low-g interrupt from the register 0x5B bit 0 to 7
+ *
+ *
+ *
+ *
+ *  @param v_low_g_thres_u8 : The value of low_g threshold
+ *
+ *	@note Low_g interrupt trigger threshold according to
+ *	(v_low_g_thres_u8 * 7.81)mg for v_low_g_thres_u8 > 0
+ *	3.91 mg for v_low_g_thres_u8 = 0
+ *	The threshold range is from 3.91mg to 2.000mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_g_thres(
+u8 *v_low_g_thres_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read low_g threshold */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_LOWHIGH_1_INTR_LOW_THRES__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_low_g_thres_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_LOWHIGH_1_INTR_LOW_THRES);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to write Threshold
+ *	definition for the low-g interrupt from the register 0x5B bit 0 to 7
+ *
+ *
+ *
+ *
+ *  @param v_low_g_thres_u8 : The value of low_g threshold
+ *
+ *	@note Low_g interrupt trigger threshold according to
+ *	(v_low_g_thres_u8 * 7.81)mg for v_low_g_thres_u8 > 0
+ *	3.91 mg for v_low_g_thres_u8 = 0
+ *	The threshold range is from 3.91mg to 2.000mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_g_thres(
+u8 v_low_g_thres_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write low_g threshold */
+			com_rslt = p_bmi160->BMI160_BUS_WRITE_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_LOWHIGH_1_INTR_LOW_THRES__REG,
+			&v_low_g_thres_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Check for the power mode of Accel and
+			gyro not in normal mode */
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+
+
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API reads Low-g interrupt hysteresis
+ *	from the register 0x5C bit 0 to 1
+ *
+ *  @param v_low_hyst_u8 :The value of low_g hysteresis
+ *
+ *	@note Low_g hysteresis calculated by v_low_hyst_u8*125 mg
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_g_hyst(
+u8 *v_low_hyst_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read low_g hysteresis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_HYST__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_low_hyst_u8 = BMI160_GET_BITSLICE(
+			v_data_u8,
+			BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_HYST);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API writes Low-g interrupt hysteresis
+ *	from the register 0x5C bit 0 to 1
+ *
+ *  @param v_low_hyst_u8 :The value of low_g hysteresis
+ *
+ *	@note Low_g hysteresis calculated by v_low_hyst_u8*125 mg
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_g_hyst(
+u8 v_low_hyst_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write low_g hysteresis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_HYST__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_HYST,
+				v_low_hyst_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_HYST__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Check for the power mode of Accel and
+				gyro not in normal mode */
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads Low-g interrupt mode
+ *	from the register 0x5C bit 2
+ *
+ *  @param v_low_g_mode_u8 : The value of low_g mode
+ *	Value    |  Description
+ * ----------|-----------------
+ *	   0     | single-axis
+ *     1     | axis-summing
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_g_mode(u8 *v_low_g_mode_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/*read Low-g interrupt mode*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_MODE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_low_g_mode_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_MODE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes Low-g interrupt mode
+ *	from the register 0x5C bit 2
+ *
+ *  @param v_low_g_mode_u8 : The value of low_g mode
+ *	Value    |  Description
+ * ----------|-----------------
+ *	   0     | single-axis
+ *     1     | axis-summing
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_g_mode(
+u8 v_low_g_mode_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_low_g_mode_u8 <= BMI160_MAX_VALUE_LOW_G_MODE) {
+			/*write Low-g interrupt mode*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_MODE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_MODE,
+				v_low_g_mode_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_MODE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Check for the power mode of Accel and
+				gyro not in normal mode */
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads High-g interrupt hysteresis
+ *	from the register 0x5C bit 6 and 7
+ *
+ *  @param v_high_g_hyst_u8 : The value of high hysteresis
+ *
+ *	@note High_g hysteresis changes according to Accel g range
+ *	Accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | high_g hysteresis
+ *  ----------------|---------------------
+ *      2g          |  high_hy*125 mg
+ *      4g          |  high_hy*250 mg
+ *      8g          |  high_hy*500 mg
+ *      16g         |  high_hy*1000 mg
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_high_g_hyst(
+u8 *v_high_g_hyst_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read high_g hysteresis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_LOWHIGH_2_INTR_HIGH_G_HYST__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_high_g_hyst_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_LOWHIGH_2_INTR_HIGH_G_HYST);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes High-g interrupt hysteresis
+ *	from the register 0x5C bit 6 and 7
+ *
+ *  @param v_high_g_hyst_u8 : The value of high hysteresis
+ *
+ *	@note High_g hysteresis changes according to Accel g range
+ *	Accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | high_g hysteresis
+ *  ----------------|---------------------
+ *      2g          |  high_hy*125 mg
+ *      4g          |  high_hy*250 mg
+ *      8g          |  high_hy*500 mg
+ *      16g         |  high_hy*1000 mg
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_high_g_hyst(
+u8 v_high_g_hyst_u8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+		/* write high_g hysteresis*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+		p_bmi160->dev_addr,
+		BMI160_USER_INTR_LOWHIGH_2_INTR_HIGH_G_HYST__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_LOWHIGH_2_INTR_HIGH_G_HYST,
+			v_high_g_hyst_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_LOWHIGH_2_INTR_HIGH_G_HYST__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Check for the power mode of Accel and
+			gyro not in normal mode */
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+
+
+		}
+	}
+return com_rslt;
+}
+/*!
+ *	@brief This API is used to read Delay
+ *	time definition for the high-g interrupt from the register
+ *	0x5D bit 0 to 7
+ *
+ *
+ *
+ *  @param  v_high_g_durn_u8 :  The value of high duration
+ *
+ *	@note High_g interrupt delay triggered according to
+ *	v_high_g_durn_u8 * 2.5ms in a range from 2.5ms to 640ms
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_high_g_durn(
+u8 *v_high_g_durn_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read high_g duration*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_LOWHIGH_3_INTR_HIGH_G_DURN__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_high_g_durn_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_LOWHIGH_3_INTR_HIGH_G_DURN);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to write Delay
+ *	time definition for the high-g interrupt from the register
+ *	0x5D bit 0 to 7
+ *
+ *
+ *
+ *  @param  v_high_g_durn_u8 :  The value of high duration
+ *
+ *	@note High_g interrupt delay triggered according to
+ *	v_high_g_durn_u8 * 2.5ms in a range from 2.5ms to 640ms
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_high_g_durn(
+u8 v_high_g_durn_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write high_g duration*/
+			com_rslt = p_bmi160->BMI160_BUS_WRITE_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_LOWHIGH_3_INTR_HIGH_G_DURN__REG,
+			&v_high_g_durn_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Check for the power mode of Accel and
+			gyro not in normal mode */
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to read Threshold
+ *	definition for the high-g interrupt from the register 0x5E 0 to 7
+ *
+ *
+ *
+ *
+ *  @param  v_high_g_thres_u8 : Pointer holding the value of Threshold
+ *	@note High_g threshold changes according to Accel g range
+ *	Accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | high_g threshold
+ *  ----------------|---------------------
+ *      2g          |  v_high_g_thres_u8*7.81 mg
+ *      4g          |  v_high_g_thres_u8*15.63 mg
+ *      8g          |  v_high_g_thres_u8*31.25 mg
+ *      16g         |  v_high_g_thres_u8*62.5 mg
+ *	@note when v_high_g_thres_u8 = 0
+ *   accel_range    | high_g threshold
+ *  ----------------|---------------------
+ *      2g          |  3.91 mg
+ *      4g          |  7.81 mg
+ *      8g          |  15.63 mg
+ *      16g         |  31.25 mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_high_g_thres(
+u8 *v_high_g_thres_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_LOWHIGH_4_INTR_HIGH_THRES__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_high_g_thres_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_LOWHIGH_4_INTR_HIGH_THRES);
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to write Threshold
+ *	definition for the high-g interrupt from the register 0x5E 0 to 7
+ *
+ *
+ *
+ *
+ *  @param  v_high_g_thres_u8 : Pointer holding the value of Threshold
+ *	@note High_g threshold changes according to Accel g range
+ *	Accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | high_g threshold
+ *  ----------------|---------------------
+ *      2g          |  v_high_g_thres_u8*7.81 mg
+ *      4g          |  v_high_g_thres_u8*15.63 mg
+ *      8g          |  v_high_g_thres_u8*31.25 mg
+ *      16g         |  v_high_g_thres_u8*62.5 mg
+ *	@note when v_high_g_thres_u8 = 0
+ *   accel_range    | high_g threshold
+ *  ----------------|---------------------
+ *      2g          |  3.91 mg
+ *      4g          |  7.81 mg
+ *      8g          |  15.63 mg
+ *      16g         |  31.25 mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_high_g_thres(
+u8 v_high_g_thres_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		com_rslt = p_bmi160->BMI160_BUS_WRITE_FUNC(
+		p_bmi160->dev_addr,
+		BMI160_USER_INTR_LOWHIGH_4_INTR_HIGH_THRES__REG,
+		&v_high_g_thres_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+		/*Check for the power mode of Accel and
+		gyro not in normal mode */
+		if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+			/*interface idle time delay */
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads any motion duration
+ *	from the register 0x5F bit 0 and 1
+ *
+ *  @param v_any_motion_durn_u8 : The value of any motion duration
+ *
+ *	@note Any motion duration can be calculated by "v_any_motion_durn_u8 + 1"
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_any_motion_durn(
+u8 *v_any_motion_durn_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		/* read any motion duration*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_INTR_MOTION_0_INTR_ANY_MOTION_DURN__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		*v_any_motion_durn_u8 = BMI160_GET_BITSLICE
+		(v_data_u8,
+		BMI160_USER_INTR_MOTION_0_INTR_ANY_MOTION_DURN);
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes any motion duration
+ *	from the register 0x5F bit 0 and 1
+ *
+ *  @param v_any_motion_durn_u8 : The value of any motion duration
+ *
+ *	@note Any motion duration can be calculated by "v_any_motion_durn_u8 + 1"
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_any_motion_durn(
+u8 v_any_motion_durn_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		/* write any motion duration*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_INTR_MOTION_0_INTR_ANY_MOTION_DURN__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MOTION_0_INTR_ANY_MOTION_DURN,
+			v_any_motion_durn_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_MOTION_0_INTR_ANY_MOTION_DURN__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Check for the power mode of Accel and
+			gyro not in normal mode */
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+	}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API reads Slow/no-motion
+ *	interrupt trigger delay duration from the register 0x5F bit 2 to 7
+ *
+ *  @param v_slow_no_motion_u8 :The value of slow no motion duration
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *	@note
+ *	@note v_slow_no_motion_u8(5:4)=0b00 ->
+ *	[v_slow_no_motion_u8(3:0) + 1] * 1.28s (1.28s-20.48s)
+ *	@note v_slow_no_motion_u8(5:4)=1 ->
+ *	[v_slow_no_motion_u8(3:0)+5] * 5.12s (25.6s-102.4s)
+ *	@note v_slow_no_motion_u8(5)='1' ->
+ *	[(v_slow_no_motion_u8:0)+11] * 10.24s (112.64s-430.08s);
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_slow_no_motion_durn(
+u8 *v_slow_no_motion_u8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+		/* read slow no motion duration*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_INTR_MOTION_0_INTR_SLOW_NO_MOTION_DURN__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		*v_slow_no_motion_u8 = BMI160_GET_BITSLICE
+		(v_data_u8,
+		BMI160_USER_INTR_MOTION_0_INTR_SLOW_NO_MOTION_DURN);
+	}
+return com_rslt;
+}
+ /*!
+ *	@brief This API writes Slow/no-motion
+ *	interrupt trigger delay duration from the register 0x5F bit 2 to 7
+ *
+ *  @param v_slow_no_motion_u8 :The value of slow no motion duration
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *	@note
+ *	@note v_slow_no_motion_u8(5:4)=0b00 ->
+ *	[v_slow_no_motion_u8(3:0) + 1] * 1.28s (1.28s-20.48s)
+ *	@note v_slow_no_motion_u8(5:4)=1 ->
+ *	[v_slow_no_motion_u8(3:0)+5] * 5.12s (25.6s-102.4s)
+ *	@note v_slow_no_motion_u8(5)='1' ->
+ *	[(v_slow_no_motion_u8:0)+11] * 10.24s (112.64s-430.08s);
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_slow_no_motion_durn(
+u8 v_slow_no_motion_u8)
+{
+/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	/* write slow no motion duration*/
+	com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+	(p_bmi160->dev_addr,
+	BMI160_USER_INTR_MOTION_0_INTR_SLOW_NO_MOTION_DURN__REG,
+	&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	if (com_rslt == SUCCESS) {
+		v_data_u8 = BMI160_SET_BITSLICE
+		(v_data_u8,
+		BMI160_USER_INTR_MOTION_0_INTR_SLOW_NO_MOTION_DURN,
+		v_slow_no_motion_u8);
+		com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_INTR_MOTION_0_INTR_SLOW_NO_MOTION_DURN__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+		/*Check for the power mode of Accel and
+		gyro not in normal mode */
+		if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+			/*interface idle time delay */
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+	}
+}
+return com_rslt;
+}
+/*!
+ *	@brief This API is used to read threshold
+ *	definition for the any-motion interrupt
+ *	from the register 0x60 bit 0 to 7
+ *
+ *
+ *  @param  v_any_motion_thres_u8 : The value of any motion threshold
+ *
+ *	@note any motion threshold changes according to Accel g range
+ *	Accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | any motion threshold
+ *  ----------------|---------------------
+ *      2g          |  v_any_motion_thres_u8*3.91 mg
+ *      4g          |  v_any_motion_thres_u8*7.81 mg
+ *      8g          |  v_any_motion_thres_u8*15.63 mg
+ *      16g         |  v_any_motion_thres_u8*31.25 mg
+ *	@note when v_any_motion_thres_u8 = 0
+ *   accel_range    | any motion threshold
+ *  ----------------|---------------------
+ *      2g          |  1.95 mg
+ *      4g          |  3.91 mg
+ *      8g          |  7.81 mg
+ *      16g         |  15.63 mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_any_motion_thres(
+u8 *v_any_motion_thres_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read any motion threshold*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_MOTION_1_INTR_ANY_MOTION_THRES__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_any_motion_thres_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_MOTION_1_INTR_ANY_MOTION_THRES);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to write threshold
+ *	definition for  any-motion interrupt
+ *	from the register 0x60 bit 0 to 7
+ *
+ *
+ *  @param  v_any_motion_thres_u8 : The value of any motion threshold
+ *
+ *	@note any motion threshold changes according to Accel g range
+ *	Accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | any motion threshold
+ *  ----------------|---------------------
+ *      2g          |  v_any_motion_thres_u8*3.91 mg
+ *      4g          |  v_any_motion_thres_u8*7.81 mg
+ *      8g          |  v_any_motion_thres_u8*15.63 mg
+ *      16g         |  v_any_motion_thres_u8*31.25 mg
+ *	@note when v_any_motion_thres_u8 = 0
+ *   accel_range    | any motion threshold
+ *  ----------------|---------------------
+ *      2g          |  1.95 mg
+ *      4g          |  3.91 mg
+ *      8g          |  7.81 mg
+ *      16g         |  15.63 mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_any_motion_thres(
+u8 v_any_motion_thres_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		/* write any motion threshold*/
+		com_rslt = p_bmi160->BMI160_BUS_WRITE_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_INTR_MOTION_1_INTR_ANY_MOTION_THRES__REG,
+		&v_any_motion_thres_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+		/*Check for the power mode of Accel and
+		gyro not in normal mode */
+		if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+			/*interface idle time delay */
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to read threshold
+ *	for the slow/no-motion interrupt
+ *	from the register 0x61 bit 0 to 7
+ *
+ *
+ *
+ *
+ *  @param v_slow_no_motion_thres_u8 : The value of slow no motion threshold
+ *	@note slow no motion threshold changes according to Accel g range
+ *	Accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | slow no motion threshold
+ *  ----------------|---------------------
+ *      2g          |  v_slow_no_motion_thres_u8*3.91 mg
+ *      4g          |  v_slow_no_motion_thres_u8*7.81 mg
+ *      8g          |  v_slow_no_motion_thres_u8*15.63 mg
+ *      16g         |  v_slow_no_motion_thres_u8*31.25 mg
+ *	@note when v_slow_no_motion_thres_u8 = 0
+ *   accel_range    | slow no motion threshold
+ *  ----------------|---------------------
+ *      2g          |  1.95 mg
+ *      4g          |  3.91 mg
+ *      8g          |  7.81 mg
+ *      16g         |  15.63 mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_slow_no_motion_thres(
+u8 *v_slow_no_motion_thres_u8)
+{
+BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+		/* read slow no motion threshold*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_INTR_MOTION_2_INTR_SLOW_NO_MOTION_THRES__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		*v_slow_no_motion_thres_u8 =
+		BMI160_GET_BITSLICE(v_data_u8,
+		BMI160_USER_INTR_MOTION_2_INTR_SLOW_NO_MOTION_THRES);
+	}
+return com_rslt;
+}
+ /*!
+ *	@brief This API is used to write threshold
+ *	for the slow/no-motion interrupt
+ *	in the register 0x61 bit 0 to 7
+ *
+ *
+ *
+ *
+ *  @param v_slow_no_motion_thres_u8 : The value of slow no motion threshold
+ *	@note slow no motion threshold changes according to Accel g range
+ *	Accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | slow no motion threshold
+ *  ----------------|---------------------
+ *      2g          |  v_slow_no_motion_thres_u8*3.91 mg
+ *      4g          |  v_slow_no_motion_thres_u8*7.81 mg
+ *      8g          |  v_slow_no_motion_thres_u8*15.63 mg
+ *      16g         |  v_slow_no_motion_thres_u8*31.25 mg
+ *	@note when v_slow_no_motion_thres_u8 = 0
+ *   accel_range    | slow no motion threshold
+ *  ----------------|---------------------
+ *      2g          |  1.95 mg
+ *      4g          |  3.91 mg
+ *      8g          |  7.81 mg
+ *      16g         |  15.63 mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_slow_no_motion_thres(
+u8 v_slow_no_motion_thres_u8)
+{
+BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+		/* write slow no motion threshold*/
+		com_rslt = p_bmi160->BMI160_BUS_WRITE_FUNC(
+		p_bmi160->dev_addr,
+		BMI160_USER_INTR_MOTION_2_INTR_SLOW_NO_MOTION_THRES__REG,
+		&v_slow_no_motion_thres_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+		/*Check for the power mode of Accel and
+		gyro not in normal mode */
+		if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+			/*interface idle time delay */
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+return com_rslt;
+}
+ /*!
+ *	@brief This API is used to read
+ *	the slow/no-motion selection from the register 0x62 bit 0
+ *
+ *
+ *
+ *
+ *  @param  v_intr_slow_no_motion_select_u8 :
+ *	The value of slow/no-motion select
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  SLOW_MOTION
+ *  0x01     |  NO_MOTION
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_slow_no_motion_select(
+u8 *v_intr_slow_no_motion_select_u8)
+{
+BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+		/* read slow no motion select*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+		p_bmi160->dev_addr,
+		BMI160_USER_INTR_MOTION_3_INTR_SLOW_NO_MOTION_SELECT__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		*v_intr_slow_no_motion_select_u8 =
+		BMI160_GET_BITSLICE(v_data_u8,
+		BMI160_USER_INTR_MOTION_3_INTR_SLOW_NO_MOTION_SELECT);
+	}
+return com_rslt;
+}
+ /*!
+ *	@brief This API is used to write
+ *	the slow/no-motion selection from the register 0x62 bit 0
+ *
+ *
+ *
+ *
+ *  @param  v_intr_slow_no_motion_select_u8 :
+ *	The value of slow/no-motion select
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  SLOW_MOTION
+ *  0x01     |  NO_MOTION
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_slow_no_motion_select(
+u8 v_intr_slow_no_motion_select_u8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+} else {
+if (v_intr_slow_no_motion_select_u8 <= BMI160_MAX_VALUE_NO_MOTION) {
+	/* write slow no motion select*/
+	com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+	(p_bmi160->dev_addr,
+	BMI160_USER_INTR_MOTION_3_INTR_SLOW_NO_MOTION_SELECT__REG,
+	&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	if (com_rslt == SUCCESS) {
+		v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+		BMI160_USER_INTR_MOTION_3_INTR_SLOW_NO_MOTION_SELECT,
+		v_intr_slow_no_motion_select_u8);
+		com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_INTR_MOTION_3_INTR_SLOW_NO_MOTION_SELECT__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+		/*Check for the power mode of Accel and
+		gyro not in normal mode */
+		if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+			/*interface idle time delay */
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+} else {
+com_rslt = E_BMI160_OUT_OF_RANGE;
+}
+}
+return com_rslt;
+}
+ /*!
+ *	@brief This API is used to select
+ *	the significant or any motion interrupt from the register 0x62 bit 1
+ *
+ *
+ *
+ *
+ *  @param  v_intr_significant_motion_select_u8 :
+ *	the value of significant or any motion interrupt selection
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  ANY_MOTION
+ *  0x01     |  SIGNIFICANT_MOTION
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_significant_motion_select(
+u8 *v_intr_significant_motion_select_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the significant or any motion interrupt*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_SIGNIFICATION_MOTION_SELECT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_intr_significant_motion_select_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_SIGNIFICATION_MOTION_SELECT);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to write, select
+ *	the significant or any motion interrupt from the register 0x62 bit 1
+ *
+ *
+ *
+ *
+ *  @param  v_intr_significant_motion_select_u8 :
+ *	the value of significant or any motion interrupt selection
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  ANY_MOTION
+ *  0x01     |  SIGNIFICANT_MOTION
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_significant_motion_select(
+u8 v_intr_significant_motion_select_u8)
+{
+/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	if (v_intr_significant_motion_select_u8 <=
+	BMI160_MAX_VALUE_SIGNIFICANT_MOTION) {
+		/* write the significant or any motion interrupt*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_INTR_SIGNIFICATION_MOTION_SELECT__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_SIGNIFICATION_MOTION_SELECT,
+			v_intr_significant_motion_select_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_SIGNIFICATION_MOTION_SELECT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Accel and Gyro power mode check*/
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+	} else {
+	com_rslt = E_BMI160_OUT_OF_RANGE;
+	}
+}
+return com_rslt;
+}
+/*!
+ *	@brief This API is used to unmap the  signification motion
+ *	interrupt
+ *
+ *
+ *  @param v_significant_u8   : The value of interrupt selection
+ *
+ *      BMI160_MAP_INTR1	0
+ *      BMI160_MAP_INTR2	1
+ *
+ *  \return results of communication routine
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_unmap_significant_motion_intr(
+u8 v_significant_u8)
+{
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+		u8 v_any_motion_intr1_stat_u8 = V_ANY_MOTION_INTR_STAT;
+		u8 v_any_motion_intr2_stat_u8 = V_ANY_MOTION_INTR_STAT;
+		u8 v_any_motion_axis_stat_u8 = V_ANY_MOTION_AXIS_STAT;
+		u8 v_data_u8 = BMI160_INIT_VALUE;
+	switch (v_significant_u8) {
+	case BMI160_MAP_INTR1:
+		/* interrupt */
+		com_rslt = bmi160_read_reg(
+		BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION__REG,
+		&v_data_u8, BMI160_ASSIGN_DATA);
+		v_data_u8 &= ~(v_any_motion_intr1_stat_u8);
+		/* map the signification interrupt
+		to any-motion interrupt1*/
+		com_rslt += bmi160_write_reg(
+		BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION__REG,
+		&v_data_u8, BMI160_ASSIGN_DATA);
+		p_bmi160->delay_msec(BMI160_ASSIGN_DATA);
+		/* axis*/
+		com_rslt = bmi160_read_reg(
+		BMI160_USER_INTR_ENABLE_0_ADDR,
+		&v_data_u8, BMI160_ASSIGN_DATA);
+		v_data_u8 &= ~(v_any_motion_axis_stat_u8);
+		com_rslt += bmi160_write_reg(
+		BMI160_USER_INTR_ENABLE_0_ADDR,
+		&v_data_u8, BMI160_ASSIGN_DATA);
+		p_bmi160->delay_msec(BMI160_ASSIGN_DATA);
+	break;
+	case BMI160_MAP_INTR2:
+		/* map the signification interrupt
+		to any-motion interrupt2*/
+		com_rslt = bmi160_read_reg(
+		BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION__REG,
+		&v_data_u8, BMI160_ASSIGN_DATA);
+		v_data_u8 &= ~(v_any_motion_intr2_stat_u8);
+		com_rslt += bmi160_write_reg(
+		BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION__REG,
+		&v_data_u8, BMI160_ASSIGN_DATA);
+		p_bmi160->delay_msec(BMI160_ASSIGN_DATA);
+		/* axis*/
+		com_rslt = bmi160_read_reg(BMI160_USER_INTR_ENABLE_0_ADDR,
+		&v_data_u8, BMI160_ASSIGN_DATA);
+		v_data_u8 &= ~(v_any_motion_axis_stat_u8);
+		com_rslt += bmi160_write_reg(
+		BMI160_USER_INTR_ENABLE_0_ADDR,
+		&v_data_u8, BMI160_ASSIGN_DATA);
+		p_bmi160->delay_msec(BMI160_ASSIGN_DATA);
+	break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+	break;
+	}
+		return com_rslt;
+}
+ /*!
+ *	@brief This API is used to read
+ *	the significant skip time from the register 0x62 bit  2 and 3
+ *
+ *
+ *
+ *
+ *  @param  v_int_sig_mot_skip_u8 : the value of significant skip time
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  skip time 1.5 seconds
+ *  0x01     |  skip time 3 seconds
+ *  0x02     |  skip time 6 seconds
+ *  0x03     |  skip time 12 seconds
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_significant_motion_skip(
+u8 *v_int_sig_mot_skip_u8)
+{
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read significant skip time*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_SIGNIFICANT_MOTION_SKIP__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_int_sig_mot_skip_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_SIGNIFICANT_MOTION_SKIP);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to write
+ *	the significant skip time in the register 0x62 bit  2 and 3
+ *
+ *
+ *
+ *
+ *  @param  v_int_sig_mot_skip_u8 : the value of significant skip time
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  skip time 1.5 seconds
+ *  0x01     |  skip time 3 seconds
+ *  0x02     |  skip time 6 seconds
+ *  0x03     |  skip time 12 seconds
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_significant_motion_skip(
+u8 v_int_sig_mot_skip_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_int_sig_mot_skip_u8 <= BMI160_MAX_UNDER_SIG_MOTION) {
+			/* write significant skip time*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_SIGNIFICANT_MOTION_SKIP__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_SIGNIFICANT_MOTION_SKIP,
+				v_int_sig_mot_skip_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_INTR_SIGNIFICANT_MOTION_SKIP__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to read
+ *	the significant proof time from the register 0x62 bit  4 and 5
+ *
+ *
+ *
+ *
+ *  @param  v_significant_motion_proof_u8 :
+ *	the value of significant proof time
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  proof time 0.25 seconds
+ *  0x01     |  proof time 0.5 seconds
+ *  0x02     |  proof time 1 seconds
+ *  0x03     |  proof time 2 seconds
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_significant_motion_proof(
+u8 *v_significant_motion_proof_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read significant proof time */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_SIGNIFICANT_MOTION_PROOF__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_significant_motion_proof_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_SIGNIFICANT_MOTION_PROOF);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to write
+ *	the significant proof time in the register 0x62 bit  4 and 5
+ *
+ *
+ *
+ *
+ *  @param  v_significant_motion_proof_u8 :
+ *	the value of significant proof time
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  proof time 0.25 seconds
+ *  0x01     |  proof time 0.5 seconds
+ *  0x02     |  proof time 1 seconds
+ *  0x03     |  proof time 2 seconds
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_significant_motion_proof(
+u8 v_significant_motion_proof_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_significant_motion_proof_u8
+		<= BMI160_MAX_UNDER_SIG_MOTION) {
+			/* write significant proof time */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_SIGNIFICANT_MOTION_PROOF__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_SIGNIFICANT_MOTION_PROOF,
+				v_significant_motion_proof_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_INTR_SIGNIFICANT_MOTION_PROOF__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to get the tap duration
+ *	from the register 0x63 bit 0 to 2
+ *
+ *
+ *
+ *  @param v_tap_durn_u8 : The value of tap duration
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | BMI160_TAP_DURN_50MS
+ *  0x01     | BMI160_TAP_DURN_100MS
+ *  0x02     | BMI160_TAP_DURN_150MS
+ *  0x03     | BMI160_TAP_DURN_200MS
+ *  0x04     | BMI160_TAP_DURN_250MS
+ *  0x05     | BMI160_TAP_DURN_375MS
+ *  0x06     | BMI160_TAP_DURN_500MS
+ *  0x07     | BMI160_TAP_DURN_700MS
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_tap_durn(
+u8 *v_tap_durn_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read tap duration*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_TAP_0_INTR_TAP_DURN__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_tap_durn_u8 = BMI160_GET_BITSLICE(
+			v_data_u8,
+			BMI160_USER_INTR_TAP_0_INTR_TAP_DURN);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to write the tap duration
+ *	in the register 0x63 bit 0 to 2
+ *
+ *
+ *
+ *  @param v_tap_durn_u8 : The value of tap duration
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | BMI160_TAP_DURN_50MS
+ *  0x01     | BMI160_TAP_DURN_100MS
+ *  0x02     | BMI160_TAP_DURN_150MS
+ *  0x03     | BMI160_TAP_DURN_200MS
+ *  0x04     | BMI160_TAP_DURN_250MS
+ *  0x05     | BMI160_TAP_DURN_375MS
+ *  0x06     | BMI160_TAP_DURN_500MS
+ *  0x07     | BMI160_TAP_DURN_700MS
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_tap_durn(
+u8 v_tap_durn_u8)
+{
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_tap_durn_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_tap_durn_u8 <= BMI160_MAX_TAP_TURN) {
+			switch (v_tap_durn_u8) {
+			case BMI160_TAP_DURN_50MS:
+				v_data_tap_durn_u8 = BMI160_TAP_DURN_50MS;
+				break;
+			case BMI160_TAP_DURN_100MS:
+				v_data_tap_durn_u8 = BMI160_TAP_DURN_100MS;
+				break;
+			case BMI160_TAP_DURN_150MS:
+				v_data_tap_durn_u8 = BMI160_TAP_DURN_150MS;
+				break;
+			case BMI160_TAP_DURN_200MS:
+				v_data_tap_durn_u8 = BMI160_TAP_DURN_200MS;
+				break;
+			case BMI160_TAP_DURN_250MS:
+				v_data_tap_durn_u8 = BMI160_TAP_DURN_250MS;
+				break;
+			case BMI160_TAP_DURN_375MS:
+				v_data_tap_durn_u8 = BMI160_TAP_DURN_375MS;
+				break;
+			case BMI160_TAP_DURN_500MS:
+				v_data_tap_durn_u8 = BMI160_TAP_DURN_500MS;
+				break;
+			case BMI160_TAP_DURN_700MS:
+				v_data_tap_durn_u8 = BMI160_TAP_DURN_700MS;
+				break;
+			default:
+				break;
+			}
+			/* write tap duration*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_TAP_0_INTR_TAP_DURN__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_TAP_0_INTR_TAP_DURN,
+				v_data_tap_durn_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_INTR_TAP_0_INTR_TAP_DURN__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API reads the
+ *	tap shock duration from the register 0x63 bit 2
+ *
+ *  @param v_tap_shock_u8 :The value of tap shock
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | BMI160_TAP_SHOCK_50MS
+ *  0x01     | BMI160_TAP_SHOCK_75MS
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_tap_shock(
+u8 *v_tap_shock_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read tap shock duration*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_TAP_0_INTR_TAP_SHOCK__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_tap_shock_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_TAP_0_INTR_TAP_SHOCK);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API writes the
+ *	tap shock duration from the register 0x63 bit 2
+ *
+ *  @param v_tap_shock_u8 :The value of tap shock
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | BMI160_TAP_SHOCK_50MS
+ *  0x01     | BMI160_TAP_SHOCK_75MS
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_tap_shock(u8 v_tap_shock_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_tap_shock_u8 <= BMI160_MAX_VALUE_TAP_SHOCK) {
+			/* write tap shock duration*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_TAP_0_INTR_TAP_SHOCK__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_TAP_0_INTR_TAP_SHOCK,
+				v_tap_shock_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_INTR_TAP_0_INTR_TAP_SHOCK__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads
+ *	tap quiet duration from the register 0x63 bit 7
+ *
+ *
+ *  @param v_tap_quiet_u8 : The value of tap quiet
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | BMI160_TAP_QUIET_30MS
+ *  0x01     | BMI160_TAP_QUIET_20MS
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_tap_quiet(
+u8 *v_tap_quiet_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read tap quiet duration*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_TAP_0_INTR_TAP_QUIET__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_tap_quiet_u8 = BMI160_GET_BITSLICE(
+			v_data_u8,
+			BMI160_USER_INTR_TAP_0_INTR_TAP_QUIET);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes
+ *	tap quiet duration in the register 0x63 bit 7
+ *
+ *
+ *  @param v_tap_quiet_u8 : The value of tap quiet
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | BMI160_TAP_QUIET_30MS
+ *  0x01     | BMI160_TAP_QUIET_20MS
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_tap_quiet(u8 v_tap_quiet_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_tap_quiet_u8 <= BMI160_MAX_VALUE_TAP_QUIET) {
+			/* write tap quiet duration*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_TAP_0_INTR_TAP_QUIET__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_TAP_0_INTR_TAP_QUIET,
+				v_tap_quiet_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_INTR_TAP_0_INTR_TAP_QUIET__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API reads the threshold of the
+ *	single/double tap interrupt from the register 0x64 bit 0 to 4
+ *
+ *
+ *	@param v_tap_thres_u8 : The value of single/double tap threshold
+ *
+ *	@note single/double tap threshold changes according to Accel g range
+ *	Accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | single/double tap threshold
+ *  ----------------|---------------------
+ *      2g          |  ((v_tap_thres_u8 + 1) * 62.5)mg
+ *      4g          |  ((v_tap_thres_u8 + 1) * 125)mg
+ *      8g          |  ((v_tap_thres_u8 + 1) * 250)mg
+ *      16g         |  ((v_tap_thres_u8 + 1) * 500)mg
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_tap_thres(
+u8 *v_tap_thres_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read tap threshold*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_TAP_1_INTR_TAP_THRES__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_tap_thres_u8 = BMI160_GET_BITSLICE
+			(v_data_u8,
+			BMI160_USER_INTR_TAP_1_INTR_TAP_THRES);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API writes the threshold of the
+ *	single/double tap interrupt in the register 0x64 bit 0 to 4
+ *
+ *
+ *	@param v_tap_thres_u8 : The value of single/double tap threshold
+ *
+ *	@note single/double tap threshold changes according to Accel g range
+ *	Accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | single/double tap threshold
+ *  ----------------|---------------------
+ *      2g          |  ((v_tap_thres_u8 + 1) * 62.5)mg
+ *      4g          |  ((v_tap_thres_u8 + 1) * 125)mg
+ *      8g          |  ((v_tap_thres_u8 + 1) * 250)mg
+ *      16g         |  ((v_tap_thres_u8 + 1) * 500)mg
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_tap_thres(
+u8 v_tap_thres_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write tap threshold*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_TAP_1_INTR_TAP_THRES__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_TAP_1_INTR_TAP_THRES,
+				v_tap_thres_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_INTR_TAP_1_INTR_TAP_THRES__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API reads the threshold for orientation interrupt
+ *	from the register 0x65 bit 0 and 1
+ *
+ *  @param v_orient_mode_u8 : The value of threshold for orientation
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | symmetrical
+ *  0x01     | high-asymmetrical
+ *  0x02     | low-asymmetrical
+ *  0x03     | symmetrical
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_mode(
+u8 *v_orient_mode_u8)
+{
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read orientation threshold*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_MODE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_orient_mode_u8 = BMI160_GET_BITSLICE
+			(v_data_u8,
+			BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_MODE);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API writes the threshold for orientation interrupt
+ *	from the register 0x65 bit 0 and 1
+ *
+ *  @param v_orient_mode_u8 : The value of threshold for orientation
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | symmetrical
+ *  0x01     | high-asymmetrical
+ *  0x02     | low-asymmetrical
+ *  0x03     | symmetrical
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_mode(
+u8 v_orient_mode_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_orient_mode_u8 <= BMI160_MAX_ORIENT_MODE) {
+			/* write orientation threshold*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_MODE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_MODE,
+				v_orient_mode_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_MODE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+
+
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the orientation blocking mode
+ *	that is used for the generation of the orientation interrupt.
+ *	from the register 0x65 bit 2 and 3
+ *
+ *  @param v_orient_blocking_u8 : The value of orient blocking mode
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | No blocking
+ *  0x01     | Theta blocking or acceleration in any axis > 1.5g
+ *  0x02     | Theta blocking or acceleration slope in any axis >
+ *   -       | 0.2g or acceleration in any axis > 1.5g
+ *  0x03     | Theta blocking or acceleration slope in any axis >
+ *   -       | 0.4g or acceleration in any axis >
+ *   -       | 1.5g and value of orient is not stable
+ *   -       | for at least 100 ms
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_blocking(
+u8 *v_orient_blocking_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read orient blocking mode*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_BLOCKING__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_orient_blocking_u8 = BMI160_GET_BITSLICE
+			(v_data_u8,
+			BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_BLOCKING);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes the orientation blocking mode
+ *	that is used for the generation of the orientation interrupt.
+ *	in the register 0x65 bit 2 and 3
+ *
+ *  @param v_orient_blocking_u8 : The value of orient blocking mode
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | No blocking
+ *  0x01     | Theta blocking or acceleration in any axis > 1.5g
+ *  0x02     | Theta blocking or acceleration slope in any axis >
+ *   -       | 0.2g or acceleration in any axis > 1.5g
+ *  0x03     | Theta blocking or acceleration slope in any axis >
+ *   -       | 0.4g or acceleration in any axis >
+ *   -       | 1.5g and value of orient is not stable
+ *   -       | for at least 100 ms
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_blocking(
+u8 v_orient_blocking_u8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	if (v_orient_blocking_u8 <= BMI160_MAX_ORIENT_BLOCKING) {
+		/* write orient blocking mode*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_BLOCKING__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_BLOCKING,
+			v_orient_blocking_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_BLOCKING__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Accel and Gyro power mode check*/
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+	} else {
+	com_rslt = E_BMI160_OUT_OF_RANGE;
+	}
+}
+return com_rslt;
+}
+/*!
+ *	@brief This API reads the orientation interrupt
+ *	hysteresis, from the register 0x64 bit 4 to 7
+ *
+ *
+ *
+ *  @param v_orient_hyst_u8 : The value of orient hysteresis
+ *
+ *	@note 1 LSB corresponds to 62.5 mg,
+ *	irrespective of the selected Accel range
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_hyst(
+u8 *v_orient_hyst_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read orient hysteresis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_HYST__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_orient_hyst_u8 = BMI160_GET_BITSLICE
+			(v_data_u8,
+			BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_HYST);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes the orientation interrupt
+ *	hysteresis, in the register 0x64 bit 4 to 7
+ *
+ *
+ *
+ *  @param v_orient_hyst_u8 : The value of orient hysteresis
+ *
+ *	@note 1 LSB corresponds to 62.5 mg,
+ *	irrespective of the selected Accel range
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_hyst(
+u8 v_orient_hyst_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write orient hysteresis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_HYST__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_HYST,
+				v_orient_hyst_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_HYST__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+
+
+			}
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API reads the orientation
+ *	blocking angle (0 to 44.8) from the register 0x66 bit 0 to 5
+ *
+ *  @param v_orient_theta_u8 : The value of Orient blocking angle
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_theta(
+u8 *v_orient_theta_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read Orient blocking angle*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_THETA__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_orient_theta_u8 = BMI160_GET_BITSLICE
+			(v_data_u8,
+			BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_THETA);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API writes orientation
+ *	blocking angle (0 to 44.8) in the register 0x66 bit 0 to 5
+ *
+ *  @param v_orient_theta_u8 : The value of Orient blocking angle
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_theta(
+u8 v_orient_theta_u8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	if (v_orient_theta_u8 <= BMI160_MAX_ORIENT_THETA) {
+		/* write Orient blocking angle*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_THETA__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_THETA,
+			v_orient_theta_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_THETA__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Accel and Gyro power mode check*/
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+	} else {
+	com_rslt = E_BMI160_OUT_OF_RANGE;
+	}
+}
+return com_rslt;
+}
+/*!
+ *	@brief This API reads the orientation change
+ *	of up/down bit from the register 0x66 bit 6
+ *
+ *  @param v_orient_ud_u8 : The value of orient change of up/down
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | Is ignored
+ *  0x01     | Generates orientation interrupt
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_ud_enable(
+u8 *v_orient_ud_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read orient up/down enable*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_UD_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_orient_ud_u8 = BMI160_GET_BITSLICE
+			(v_data_u8,
+			BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_UD_ENABLE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes orientation change
+ *	of up/down bit in the register 0x66 bit 6
+ *
+ *  @param v_orient_ud_u8 : The value of orient change of up/down
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | Is ignored
+ *  0x01     | Generates orientation interrupt
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_ud_enable(
+u8 v_orient_ud_u8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	if (v_orient_ud_u8 <= BMI160_MAX_VALUE_ORIENT_UD) {
+		/* write orient up/down enable */
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_UD_ENABLE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_UD_ENABLE,
+			v_orient_ud_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_UD_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Accel and Gyro power mode check*/
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+	} else {
+	com_rslt = E_BMI160_OUT_OF_RANGE;
+	}
+}
+return com_rslt;
+}
+ /*!
+ *	@brief This API reads orientation axes changes
+ *	from the register 0x66 bit 7
+ *
+ *  @param v_orient_axes_u8 : The value of orient axes assignment
+ *	value    |       Behaviour    | Name
+ * ----------|--------------------|------
+ *  0x00     | x = x, y = y, z = z|orient_ax_noex
+ *  0x01     | x = y, y = z, z = x|orient_ax_ex
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_axes_enable(
+u8 *v_orient_axes_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read orientation axes changes  */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_AXES_EX__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_orient_axes_u8 = BMI160_GET_BITSLICE
+			(v_data_u8,
+			BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_AXES_EX);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API writes orientation axes changes
+ *	in the register 0x66 bit 7
+ *
+ *  @param v_orient_axes_u8 : The value of orient axes assignment
+ *	value    |       Behaviour    | Name
+ * ----------|--------------------|------
+ *  0x00     | x = x, y = y, z = z|orient_ax_noex
+ *  0x01     | x = y, y = z, z = x|orient_ax_ex
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_axes_enable(
+u8 v_orient_axes_u8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+	if (v_orient_axes_u8 <= BMI160_MAX_VALUE_ORIENT_AXES) {
+		/*write orientation axes changes  */
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_AXES_EX__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_AXES_EX,
+			v_orient_axes_u8);
+			com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_AXES_EX__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Accel and Gyro power mode check*/
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+
+		}
+	} else {
+	com_rslt = E_BMI160_OUT_OF_RANGE;
+	}
+}
+return com_rslt;
+}
+ /*!
+ *	@brief This API reads Flat angle (0 to 44.8) for flat interrupt
+ *	from the register 0x67 bit 0 to 5
+ *
+ *  @param v_flat_theta_u8 : The value of flat angle
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_flat_theta(
+u8 *v_flat_theta_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read Flat angle*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_FLAT_0_INTR_FLAT_THETA__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_flat_theta_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_FLAT_0_INTR_FLAT_THETA);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API writes Flat angle (0 to 44.8) for flat interrupt
+ *	in the register 0x67 bit 0 to 5
+ *
+ *  @param v_flat_theta_u8 : The value of flat angle
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_flat_theta(
+u8 v_flat_theta_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_flat_theta_u8 <= BMI160_MAX_FLAT_THETA) {
+			/* write Flat angle */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_FLAT_0_INTR_FLAT_THETA__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_FLAT_0_INTR_FLAT_THETA,
+				v_flat_theta_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_INTR_FLAT_0_INTR_FLAT_THETA__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads Flat interrupt hold time;
+ *	from the register 0x68 bit 4 and 5
+ *
+ *  @param v_flat_hold_u8 : The value of flat hold time
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | 0ms
+ *  0x01     | 512ms
+ *  0x01     | 1024ms
+ *  0x01     | 2048ms
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_flat_hold(
+u8 *v_flat_hold_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read flat hold time*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_FLAT_1_INTR_FLAT_HOLD__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_flat_hold_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_INTR_FLAT_1_INTR_FLAT_HOLD);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes flat interrupt hold time in
+ *	the register 0x68 bit 4 and 5
+ *
+ *  @param v_flat_hold_u8 : The value of flat hold time
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | 0ms
+ *  0x01     | 512ms
+ *  0x01     | 1024ms
+ *  0x01     | 2048ms
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_flat_hold(
+u8 v_flat_hold_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_flat_hold_u8 <= BMI160_MAX_FLAT_HOLD) {
+			/* write flat hold time*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_FLAT_1_INTR_FLAT_HOLD__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_FLAT_1_INTR_FLAT_HOLD,
+				v_flat_hold_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_INTR_FLAT_1_INTR_FLAT_HOLD__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads flat interrupt hysteresis
+ *	from the register 0x68 bit 0 to 3
+ *
+ *  @param v_flat_hyst_u8 : The value of flat hysteresis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_flat_hyst(
+u8 *v_flat_hyst_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the flat hysteresis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_INTR_FLAT_1_INTR_FLAT_HYST__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_flat_hyst_u8 = BMI160_GET_BITSLICE(
+			v_data_u8,
+			BMI160_USER_INTR_FLAT_1_INTR_FLAT_HYST);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes flat interrupt hysteresis
+ *	in the register 0x68 bit 0 to 3
+ *
+ *  @param v_flat_hyst_u8 : The value of flat hysteresis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_flat_hyst(
+u8 v_flat_hyst_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_flat_hyst_u8 <= BMI160_MAX_FLAT_HYST) {
+			/* read the flat hysteresis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_INTR_FLAT_1_INTR_FLAT_HYST__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_INTR_FLAT_1_INTR_FLAT_HYST,
+				v_flat_hyst_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_INTR_FLAT_1_INTR_FLAT_HYST__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API reads Accel offset compensation
+ *	target value for z-axis from the register 0x69 bit 0 and 1
+ *
+ *  @param v_foc_accel_z_u8 : the value of Accel offset compensation z axis
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_foc_accel_z(u8 *v_foc_accel_z_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the Accel offset compensation for z axis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_FOC_ACCEL_Z__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_foc_accel_z_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FOC_ACCEL_Z);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API writes Accel offset compensation
+ *	target value for z-axis in the register 0x69 bit 0 and 1
+ *
+ *  @param v_foc_accel_z_u8 : the value of Accel offset compensation z axis
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_foc_accel_z(
+u8 v_foc_accel_z_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write the Accel offset compensation for z axis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_FOC_ACCEL_Z__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_FOC_ACCEL_Z,
+				v_foc_accel_z_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_FOC_ACCEL_Z__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads Accel offset compensation
+ *	target value for y-axis
+ *	from the register 0x69 bit 2 and 3
+ *
+ *  @param v_foc_accel_y_u8 : the value of Accel offset compensation y axis
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_foc_accel_y(u8 *v_foc_accel_y_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the Accel offset compensation for y axis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_FOC_ACCEL_Y__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_foc_accel_y_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FOC_ACCEL_Y);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes Accel offset compensation
+ *	target value for y-axis in the register 0x69 bit 2 and 3
+ *
+ *  @param v_foc_accel_y_u8 : the value of Accel offset compensation y axis
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x02     | -1g
+ *  0x03     | 0g
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_foc_accel_y(u8 v_foc_accel_y_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_foc_accel_y_u8 <= BMI160_MAX_ACCEL_FOC) {
+			/* write the Accel offset compensation for y axis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_FOC_ACCEL_Y__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_FOC_ACCEL_Y,
+				v_foc_accel_y_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_FOC_ACCEL_Y__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads Accel offset compensation
+ *	target value for x-axis from the register 0x69 bit 4 and 5
+ *
+ *  @param v_foc_accel_x_u8 : the value of Accel offset compensation x axis
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x02     | -1g
+ *  0x03     | 0g
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_foc_accel_x(u8 *v_foc_accel_x_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		/* read the Accel offset compensation for x axis*/
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+		p_bmi160->dev_addr,
+		BMI160_USER_FOC_ACCEL_X__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		*v_foc_accel_x_u8 = BMI160_GET_BITSLICE(v_data_u8,
+		BMI160_USER_FOC_ACCEL_X);
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes Accel offset compensation
+ *	target value for x-axis in the register 0x69 bit 4 and 5
+ *
+ *  @param v_foc_accel_x_u8 : the value of Accel offset compensation x axis
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_foc_accel_x(u8 v_foc_accel_x_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_foc_accel_x_u8 <= BMI160_MAX_ACCEL_FOC) {
+			/* write the Accel offset compensation for x axis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_FOC_ACCEL_X__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_FOC_ACCEL_X,
+				v_foc_accel_x_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FOC_ACCEL_X__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes Accel fast offset compensation
+ *	from the register 0x69 bit 0 to 5
+ *	@brief This API writes each axis individually
+ *	FOC_X_AXIS - bit 4 and 5
+ *	FOC_Y_AXIS - bit 2 and 3
+ *	FOC_Z_AXIS - bit 0 and 1
+ *
+ *  @param  v_foc_accel_u8: The value of Accel offset compensation
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *  @param  v_axis_u8: The value of Accel offset axis selection
+  *	value    | axis
+ * ----------|-------------------
+ *  0        | FOC_X_AXIS
+ *  1        | FOC_Y_AXIS
+ *  2        | FOC_Z_AXIS
+ *
+ *	@param v_accel_offset_s8: The Accel offset value
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_foc_trigger(u8 v_axis_u8,
+u8 v_foc_accel_u8, s8 *v_accel_offset_s8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+s8 v_status_s8 = SUCCESS;
+u8 v_timeout_u8 = BMI160_INIT_VALUE;
+s8 v_foc_accel_offset_x_s8  = BMI160_INIT_VALUE;
+s8 v_foc_accel_offset_y_s8 =  BMI160_INIT_VALUE;
+s8 v_foc_accel_offset_z_s8 =  BMI160_INIT_VALUE;
+u8 focstatus = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+} else {
+	v_status_s8 = bmi160_set_accel_offset_enable(
+	ACCEL_OFFSET_ENABLE);
+	if (v_status_s8 == SUCCESS) {
+		switch (v_axis_u8) {
+		case FOC_X_AXIS:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_FOC_ACCEL_X__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 =
+				BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_FOC_ACCEL_X,
+				v_foc_accel_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FOC_ACCEL_X__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+
+			/* trigger the FOC */
+			com_rslt +=
+			bmi160_set_command_register(
+			START_FOC_ACCEL_GYRO);
+
+			com_rslt +=
+			bmi160_get_foc_rdy(&focstatus);
+			if ((com_rslt != SUCCESS) ||
+			(focstatus != BMI160_FOC_STAT_HIGH)) {
+				while ((com_rslt != SUCCESS) ||
+				(focstatus != BMI160_FOC_STAT_HIGH
+				&& v_timeout_u8 <
+				BMI160_MAXIMUM_TIMEOUT)) {
+					p_bmi160->delay_msec(
+					BMI160_DELAY_SETTLING_TIME);
+					com_rslt = bmi160_get_foc_rdy(
+					&focstatus);
+					v_timeout_u8++;
+				}
+			}
+			if ((com_rslt == SUCCESS) &&
+				(focstatus == BMI160_FOC_STAT_HIGH)) {
+				com_rslt +=
+				bmi160_get_accel_offset_compensation_xaxis(
+				&v_foc_accel_offset_x_s8);
+				*v_accel_offset_s8 =
+				v_foc_accel_offset_x_s8;
+			}
+		break;
+		case FOC_Y_AXIS:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_FOC_ACCEL_Y__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 =
+				BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_FOC_ACCEL_Y,
+				v_foc_accel_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FOC_ACCEL_Y__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+
+			/* trigger the FOC */
+			com_rslt +=
+			bmi160_set_command_register(
+			START_FOC_ACCEL_GYRO);
+
+			com_rslt +=
+			bmi160_get_foc_rdy(&focstatus);
+			if ((com_rslt != SUCCESS) ||
+			(focstatus != BMI160_FOC_STAT_HIGH)) {
+				while ((com_rslt != SUCCESS) ||
+				(focstatus != BMI160_FOC_STAT_HIGH
+				&& v_timeout_u8 <
+				BMI160_MAXIMUM_TIMEOUT)) {
+					p_bmi160->delay_msec(
+					BMI160_DELAY_SETTLING_TIME);
+					com_rslt = bmi160_get_foc_rdy(
+					&focstatus);
+					v_timeout_u8++;
+				}
+			}
+			if ((com_rslt == SUCCESS) &&
+			(focstatus == BMI160_FOC_STAT_HIGH)) {
+				com_rslt +=
+				bmi160_get_accel_offset_compensation_yaxis(
+				&v_foc_accel_offset_y_s8);
+				*v_accel_offset_s8 =
+				v_foc_accel_offset_y_s8;
+			}
+		break;
+		case FOC_Z_AXIS:
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_FOC_ACCEL_Z__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 =
+				BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_FOC_ACCEL_Z,
+				v_foc_accel_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FOC_ACCEL_Z__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+
+			/* trigger the FOC */
+			com_rslt +=
+			bmi160_set_command_register(
+			START_FOC_ACCEL_GYRO);
+
+			com_rslt +=
+			bmi160_get_foc_rdy(&focstatus);
+			if ((com_rslt != SUCCESS) ||
+			(focstatus != BMI160_FOC_STAT_HIGH)) {
+				while ((com_rslt != SUCCESS) ||
+				(focstatus != BMI160_FOC_STAT_HIGH
+				&& v_timeout_u8 <
+				BMI160_MAXIMUM_TIMEOUT)) {
+					p_bmi160->delay_msec(
+					BMI160_DELAY_SETTLING_TIME);
+					com_rslt = bmi160_get_foc_rdy(
+					&focstatus);
+					v_timeout_u8++;
+				}
+			}
+			if ((com_rslt == SUCCESS) &&
+			(focstatus == BMI160_FOC_STAT_HIGH)) {
+				com_rslt +=
+				bmi160_get_accel_offset_compensation_zaxis(
+				&v_foc_accel_offset_z_s8);
+				*v_accel_offset_s8 =
+				v_foc_accel_offset_z_s8;
+			}
+		break;
+		default:
+		break;
+		}
+	} else {
+	com_rslt =  ERROR;
+	}
+}
+return com_rslt;
+}
+/*!
+ *	@brief This API writes fast Accel offset compensation
+ *	for all axis in the register 0x69 bit 0 to 5
+ *	FOC_X_AXIS - bit 4 and 5
+ *	FOC_Y_AXIS - bit 2 and 3
+ *	FOC_Z_AXIS - bit 0 and 1
+ *
+ *  @param  v_foc_accel_x_u8: The value of Accel offset x compensation
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *  @param  v_foc_accel_y_u8: The value of Accel offset y compensation
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *  @param  v_foc_accel_z_u8: The value of Accel offset z compensation
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *  @param  v_accel_off_x_s8: The value of Accel offset x axis
+ *  @param  v_accel_off_y_s8: The value of Accel offset y axis
+ *  @param  v_accel_off_z_s8: The value of Accel offset z axis
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_accel_foc_trigger_xyz(u8 v_foc_accel_x_u8,
+u8 v_foc_accel_y_u8, u8 v_foc_accel_z_u8, s8 *v_accel_off_x_s8,
+s8 *v_accel_off_y_s8, s8 *v_accel_off_z_s8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 focx = BMI160_INIT_VALUE;
+u8 focy = BMI160_INIT_VALUE;
+u8 focz = BMI160_INIT_VALUE;
+s8 v_foc_accel_offset_x_s8 = BMI160_INIT_VALUE;
+s8 v_foc_accel_offset_y_s8 = BMI160_INIT_VALUE;
+s8 v_foc_accel_offset_z_s8 = BMI160_INIT_VALUE;
+u8 v_status_s8 = SUCCESS;
+u8 v_timeout_u8 = BMI160_INIT_VALUE;
+u8 focstatus = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+		v_status_s8 = bmi160_set_accel_offset_enable(
+		ACCEL_OFFSET_ENABLE);
+		if (v_status_s8 == SUCCESS) {
+			/* foc x axis*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_FOC_ACCEL_X__REG,
+			&focx, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				focx = BMI160_SET_BITSLICE(focx,
+				BMI160_USER_FOC_ACCEL_X,
+				v_foc_accel_x_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FOC_ACCEL_X__REG,
+				&focx, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+
+			/* foc y axis*/
+			com_rslt +=
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_FOC_ACCEL_Y__REG,
+			&focy, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				focy = BMI160_SET_BITSLICE(focy,
+				BMI160_USER_FOC_ACCEL_Y,
+				v_foc_accel_y_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FOC_ACCEL_Y__REG,
+				&focy, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+
+			/* foc z axis*/
+			com_rslt +=
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_FOC_ACCEL_Z__REG,
+			&focz, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				focz = BMI160_SET_BITSLICE(focz,
+				BMI160_USER_FOC_ACCEL_Z,
+				v_foc_accel_z_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_FOC_ACCEL_Z__REG,
+				&focz, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+
+			/* trigger the FOC */
+			com_rslt += bmi160_set_command_register(
+			START_FOC_ACCEL_GYRO);
+
+			com_rslt += bmi160_get_foc_rdy(
+			&focstatus);
+			if ((com_rslt != SUCCESS) ||
+			(focstatus != BMI160_FOC_STAT_HIGH)) {
+				while ((com_rslt != SUCCESS) ||
+				(focstatus != BMI160_FOC_STAT_HIGH
+				&& v_timeout_u8 <
+				BMI160_MAXIMUM_TIMEOUT)) {
+					p_bmi160->delay_msec(
+					BMI160_DELAY_SETTLING_TIME);
+					com_rslt = bmi160_get_foc_rdy(
+					&focstatus);
+					v_timeout_u8++;
+				}
+			}
+			if ((com_rslt == SUCCESS) &&
+			(focstatus == BMI160_GEN_READ_WRITE_DATA_LENGTH)) {
+				com_rslt +=
+				bmi160_get_accel_offset_compensation_xaxis(
+				&v_foc_accel_offset_x_s8);
+				*v_accel_off_x_s8 =
+				v_foc_accel_offset_x_s8;
+				com_rslt +=
+				bmi160_get_accel_offset_compensation_yaxis(
+				&v_foc_accel_offset_y_s8);
+				*v_accel_off_y_s8 =
+				v_foc_accel_offset_y_s8;
+				com_rslt +=
+				bmi160_get_accel_offset_compensation_zaxis(
+				&v_foc_accel_offset_z_s8);
+				*v_accel_off_z_s8 =
+				v_foc_accel_offset_z_s8;
+			}
+		} else {
+		com_rslt =  ERROR;
+		}
+	}
+return com_rslt;
+}
+/*!
+ *	@brief This API reads the gyro fast offset enable
+ *	from the register 0x69 bit 6
+ *
+ *  @param v_foc_gyro_u8 : The value of gyro fast offset enable
+ *  value    |  Description
+ * ----------|-------------
+ *    0      | fast offset compensation disabled
+ *    1      |  fast offset compensation enabled
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_foc_gyro_enable(
+u8 *v_foc_gyro_u8)
+{
+	/* used to return the status of bus communication */
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the gyro fast offset enable*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_FOC_GYRO_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_foc_gyro_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_FOC_GYRO_ENABLE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes the gyro fast offset enable
+ *	from the register 0x69 bit 6
+ *
+ *  @param v_foc_gyro_u8 : The value of gyro fast offset enable
+ *  value    |  Description
+ * ----------|-------------
+ *    0      | fast offset compensation disabled
+ *    1      |  fast offset compensation enabled
+ *
+ *	@param v_gyro_off_x_s16 : The value of gyro fast offset x axis data
+ *	@param v_gyro_off_y_s16 : The value of gyro fast offset y axis data
+ *	@param v_gyro_off_z_s16 : The value of gyro fast offset z axis data
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_foc_gyro_enable(
+u8 v_foc_gyro_u8, s16 *v_gyro_off_x_s16,
+s16 *v_gyro_off_y_s16, s16 *v_gyro_off_z_s16)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+u8 v_status_s8 = SUCCESS;
+u8 v_timeout_u8 = BMI160_INIT_VALUE;
+s16 offsetx = BMI160_INIT_VALUE;
+s16 offsety = BMI160_INIT_VALUE;
+s16 offsetz = BMI160_INIT_VALUE;
+u8 focstatus = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+		v_status_s8 = bmi160_set_gyro_offset_enable(
+		GYRO_OFFSET_ENABLE);
+		if (v_status_s8 == SUCCESS) {
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_FOC_GYRO_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 =
+				BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_FOC_GYRO_ENABLE,
+				v_foc_gyro_u8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_FOC_GYRO_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			}
+
+			/* trigger the FOC */
+			com_rslt += bmi160_set_command_register
+			(START_FOC_ACCEL_GYRO);
+
+			com_rslt += bmi160_get_foc_rdy(&focstatus);
+			if ((com_rslt != SUCCESS) ||
+			(focstatus != BMI160_FOC_STAT_HIGH)) {
+				while ((com_rslt != SUCCESS) ||
+				(focstatus != BMI160_FOC_STAT_HIGH
+				&& v_timeout_u8 <
+				BMI160_MAXIMUM_TIMEOUT)) {
+					p_bmi160->delay_msec(
+					BMI160_DELAY_SETTLING_TIME);
+					com_rslt = bmi160_get_foc_rdy(
+					&focstatus);
+					v_timeout_u8++;
+				}
+			}
+			if ((com_rslt == SUCCESS) &&
+			(focstatus == BMI160_FOC_STAT_HIGH)) {
+				com_rslt +=
+				bmi160_get_gyro_offset_compensation_xaxis
+				(&offsetx);
+				*v_gyro_off_x_s16 = offsetx;
+
+				com_rslt +=
+				bmi160_get_gyro_offset_compensation_yaxis
+				(&offsety);
+				*v_gyro_off_y_s16 = offsety;
+
+				com_rslt +=
+				bmi160_get_gyro_offset_compensation_zaxis(
+				&offsetz);
+				*v_gyro_off_z_s16 = offsetz;
+			}
+		} else {
+		com_rslt = ERROR;
+		}
+	}
+return com_rslt;
+}
+
+ /*!
+ * @brief This API reads  SPI
+ * Interface Mode for primary and OIS interface
+ * from the register 0x6B bit 0
+ *
+ *  @param v_spi3_u8 : The value of SPI mode selection
+ *  Value  |  Description
+ * --------|-------------
+ *   0     |  SPI 4-wire mode
+ *   1     |  SPI 3-wire mode
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_spi3(
+u8 *v_spi3_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read SPI mode*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_IF_CONFIG_SPI3__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_spi3_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_IF_CONFIG_SPI3);
+		}
+	return com_rslt;
+}
+/*!
+ * @brief This API configures SPI
+ * Interface Mode for primary and OIS interface
+ * in the register 0x6B bit 0
+ *
+ *  @param v_spi3_u8 : The value of SPI mode selection
+ *  Value  |  Description
+ * --------|-------------
+ *   0     |  SPI 4-wire mode
+ *   1     |  SPI 3-wire mode
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_spi3(
+u8 v_spi3_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_spi3_u8 <= BMI160_MAX_VALUE_SPI3) {
+			/* write SPI mode*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_IF_CONFIG_SPI3__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_IF_CONFIG_SPI3,
+				v_spi3_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_IF_CONFIG_SPI3__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads I2C Watchdog timer
+ *	from the register 0x70 bit 1
+ *
+ *  @param v_i2c_wdt_u8 : The value of I2C watch dog timer
+ *  Value  |  Description
+ * --------|-------------
+ *   0     |  I2C watchdog v_timeout_u8 after 1 ms
+ *   1     |  I2C watchdog v_timeout_u8 after 50 ms
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_i2c_wdt_select(
+u8 *v_i2c_wdt_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read I2C watch dog timer */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_IF_CONFIG_I2C_WDT_SELECT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_i2c_wdt_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_IF_CONFIG_I2C_WDT_SELECT);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes the I2C Watchdog timer
+ *	in the register 0x70 bit 1
+ *
+ *  @param v_i2c_wdt_u8 : The value of I2C watch dog timer
+ *  Value  |  Description
+ * --------|-------------
+ *   0     |  I2C watchdog v_timeout_u8 after 1 ms
+ *   1     |  I2C watchdog v_timeout_u8 after 50 ms
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_i2c_wdt_select(
+u8 v_i2c_wdt_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_i2c_wdt_u8 <= BMI160_MAX_VALUE_I2C_WDT) {
+			/* write I2C watch dog timer */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_IF_CONFIG_I2C_WDT_SELECT__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_IF_CONFIG_I2C_WDT_SELECT,
+				v_i2c_wdt_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_IF_CONFIG_I2C_WDT_SELECT__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the status of I2C watchdog enable
+ *	from the register 0x70 bit 2
+ *
+ *  @param v_i2c_wdt_u8 : The value of I2C watchdog enable
+ *  Value  |  Description
+ * --------|-------------
+ *   0     |  DISABLE
+ *   1     |  ENABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_i2c_wdt_enable(
+u8 *v_i2c_wdt_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read i2c watch dog enable */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_IF_CONFIG_I2C_WDT_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_i2c_wdt_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_IF_CONFIG_I2C_WDT_ENABLE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API enables the I2C watchdog
+ *	 in the register 0x70 bit 2
+ *
+ *  @param v_i2c_wdt_u8 : The value of I2C watchdog enable
+ *  Value  |  Description
+ * --------|-------------
+ *   0     |  DISABLE
+ *   1     |  ENABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_i2c_wdt_enable(
+u8 v_i2c_wdt_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_i2c_wdt_u8 <= BMI160_MAX_VALUE_I2C_WDT) {
+			/* write i2c watch dog enable */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_IF_CONFIG_I2C_WDT_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_IF_CONFIG_I2C_WDT_ENABLE,
+				v_i2c_wdt_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_IF_CONFIG_I2C_WDT_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ * @brief This API reads the I2C interface configuration(if) mode
+ * from the register 0x6B bit 4 and 5
+ *
+ *  @param  v_if_mode_u8 : The value of interface configuration mode
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  |  Primary interface:autoconfig / secondary interface:off
+ *   0x01  |  Primary interface:I2C / secondary interface:OIS
+ *   0x02  |  Primary interface:autoconfig/secondary interface:Mag
+ *   0x03  |   Reserved
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_if_mode(
+u8 *v_if_mode_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read if mode*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_IF_CONFIG_IF_MODE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_if_mode_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_IF_CONFIG_IF_MODE);
+		}
+	return com_rslt;
+}
+/*!
+ * @brief This API writes the I2C interface configuration(if) mode
+ * in the register 0x6B bit 4 and 5
+ *
+ *  @param  v_if_mode_u8 : The value of interface configuration mode
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  |  Primary interface:autoconfig / secondary interface:off
+ *   0x01  |  Primary interface:I2C / secondary interface:OIS
+ *   0x02  |  Primary interface:autoconfig/secondary interface:Mag
+ *   0x03  |   Reserved
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_if_mode(
+u8 v_if_mode_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_if_mode_u8 <= BMI160_MAX_IF_MODE) {
+			/* write if mode*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_IF_CONFIG_IF_MODE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_IF_CONFIG_IF_MODE,
+				v_if_mode_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_IF_CONFIG_IF_MODE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+
+
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the gyro sleep trigger
+ *	from the register 0x6C bit 0 to 2
+ *
+ *  @param v_gyro_sleep_trigger_u8 : The value of gyro sleep trigger
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | nomotion: no / Not INT1 pin: no / INT2 pin: no
+ *   0x01  | nomotion: no / Not INT1 pin: no / INT2 pin: yes
+ *   0x02  | nomotion: no / Not INT1 pin: yes / INT2 pin: no
+ *   0x03  | nomotion: no / Not INT1 pin: yes / INT2 pin: yes
+ *   0x04  | nomotion: yes / Not INT1 pin: no / INT2 pin: no
+ *   0x05  | anymotion: yes / Not INT1 pin: no / INT2 pin: yes
+ *   0x06  | anymotion: yes / Not INT1 pin: yes / INT2 pin: no
+ *   0x07  | anymotion: yes / Not INT1 pin: yes / INT2 pin: yes
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_sleep_trigger(
+u8 *v_gyro_sleep_trigger_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read gyro sleep trigger */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_GYRO_SLEEP_TRIGGER__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_gyro_sleep_trigger_u8 =
+			BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_GYRO_SLEEP_TRIGGER);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes the gyro sleep trigger
+ *	in the register 0x6C bit 0 to 2
+ *
+ *  @param v_gyro_sleep_trigger_u8 : The value of gyro sleep trigger
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | nomotion: no / Not INT1 pin: no / INT2 pin: no
+ *   0x01  | nomotion: no / Not INT1 pin: no / INT2 pin: yes
+ *   0x02  | nomotion: no / Not INT1 pin: yes / INT2 pin: no
+ *   0x03  | nomotion: no / Not INT1 pin: yes / INT2 pin: yes
+ *   0x04  | nomotion: yes / Not INT1 pin: no / INT2 pin: no
+ *   0x05  | anymotion: yes / Not INT1 pin: no / INT2 pin: yes
+ *   0x06  | anymotion: yes / Not INT1 pin: yes / INT2 pin: no
+ *   0x07  | anymotion: yes / Not INT1 pin: yes / INT2 pin: yes
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_sleep_trigger(
+u8 v_gyro_sleep_trigger_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_gyro_sleep_trigger_u8 <= BMI160_MAX_GYRO_SLEEP_TRIGGER) {
+			/* write gyro sleep trigger */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_GYRO_SLEEP_TRIGGER__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_GYRO_SLEEP_TRIGGER,
+				v_gyro_sleep_trigger_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_GYRO_SLEEP_TRIGGER__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads gyro wakeup trigger
+ *	from the register 0x6C bit 3 and 4
+ *
+ *  @param v_gyro_wakeup_trigger_u8 : The value of gyro wakeup trigger
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | anymotion: no / INT1 pin: no
+ *   0x01  | anymotion: no / INT1 pin: yes
+ *   0x02  | anymotion: yes / INT1 pin: no
+ *   0x03  | anymotion: yes / INT1 pin: yes
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_wakeup_trigger(
+u8 *v_gyro_wakeup_trigger_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read gyro wakeup trigger */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_GYRO_WAKEUP_TRIGGER__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_gyro_wakeup_trigger_u8 = BMI160_GET_BITSLICE(
+			v_data_u8,
+			BMI160_USER_GYRO_WAKEUP_TRIGGER);
+	  }
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes gyro wakeup trigger
+ *	in the register 0x6C bit 3 and 4
+ *
+ *  @param v_gyro_wakeup_trigger_u8 : The value of gyro wakeup trigger
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | anymotion: no / INT1 pin: no
+ *   0x01  | anymotion: no / INT1 pin: yes
+ *   0x02  | anymotion: yes / INT1 pin: no
+ *   0x03  | anymotion: yes / INT1 pin: yes
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_wakeup_trigger(
+u8 v_gyro_wakeup_trigger_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_gyro_wakeup_trigger_u8
+		<= BMI160_MAX_GYRO_WAKEUP_TRIGGER) {
+			/* write gyro wakeup trigger */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_GYRO_WAKEUP_TRIGGER__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_GYRO_WAKEUP_TRIGGER,
+				v_gyro_wakeup_trigger_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_GYRO_WAKEUP_TRIGGER__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+
+
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads target state for gyro sleep mode
+ *	from the register 0x6C bit 5
+ *
+ *  @param v_gyro_sleep_state_u8 : The value of gyro sleep mode
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | Sleep transition to fast wake up state
+ *   0x01  | Sleep transition to suspend state
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_sleep_state(
+u8 *v_gyro_sleep_state_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read gyro sleep state*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_GYRO_SLEEP_STATE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_gyro_sleep_state_u8 = BMI160_GET_BITSLICE(
+			v_data_u8,
+			BMI160_USER_GYRO_SLEEP_STATE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes target state for gyro sleep mode
+ *	in the register 0x6C bit 5
+ *
+ *  @param v_gyro_sleep_state_u8 : The value of gyro sleep mode
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | Sleep transition to fast wake up state
+ *   0x01  | Sleep transition to suspend state
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_sleep_state(
+u8 v_gyro_sleep_state_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_gyro_sleep_state_u8 <= BMI160_MAX_VALUE_SLEEP_STATE) {
+			/* write gyro sleep state*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_GYRO_SLEEP_STATE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_GYRO_SLEEP_STATE,
+				v_gyro_sleep_state_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_GYRO_SLEEP_STATE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads gyro wakeup interrupt
+ *	from the register 0x6C bit 6
+ *
+ *  @param v_gyro_wakeup_intr_u8 : The value of gyro wakeup interrupt
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | DISABLE
+ *   0x01  | ENABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_wakeup_intr(
+u8 *v_gyro_wakeup_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read gyro wakeup interrupt */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_GYRO_WAKEUP_INTR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_gyro_wakeup_intr_u8 = BMI160_GET_BITSLICE(
+			v_data_u8,
+			BMI160_USER_GYRO_WAKEUP_INTR);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes gyro wakeup interrupt
+ *	in the register 0x6C bit 6
+ *
+ *  @param v_gyro_wakeup_intr_u8 : The value of gyro wakeup interrupt
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | DISABLE
+ *   0x01  | ENABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_wakeup_intr(
+u8 v_gyro_wakeup_intr_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_gyro_wakeup_intr_u8 <= BMI160_MAX_VALUE_WAKEUP_INTR) {
+			/* write gyro wakeup interrupt */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_GYRO_WAKEUP_INTR__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_GYRO_WAKEUP_INTR,
+				v_gyro_wakeup_intr_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_GYRO_WAKEUP_INTR__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+
+
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ * @brief This API reads Accel selftest axis selected for self-test
+ * functionality.
+ *
+ *  @param v_accel_selftest_axis_u8 :
+ *	The value of Accel self test axis selection
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | disabled
+ *   0x01  | x-axis
+ *   0x02  | y-axis
+ *   0x03  | z-axis
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_selftest_axis(
+u8 *v_accel_selftest_axis_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read Accel self test axis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_ACCEL_SELFTEST_AXIS__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_accel_selftest_axis_u8 = BMI160_GET_BITSLICE(
+			v_data_u8,
+			BMI160_USER_ACCEL_SELFTEST_AXIS);
+		}
+	return com_rslt;
+}
+/*!
+ * @brief This API writes Accel self test axis for self-test
+ * functionality.
+ *
+ *  @param v_accel_selftest_axis_u8 :
+ *	The value of Accel self test axis selection
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | disabled
+ *   0x01  | x-axis
+ *   0x02  | y-axis
+ *   0x03  | z-axis
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_selftest_axis(
+u8 v_accel_selftest_axis_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_accel_selftest_axis_u8
+		<= BMI160_MAX_ACCEL_SELFTEST_AXIS) {
+			/* write Accel self test axis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_ACCEL_SELFTEST_AXIS__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_ACCEL_SELFTEST_AXIS,
+				v_accel_selftest_axis_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_ACCEL_SELFTEST_AXIS__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads Accel self test axis sign
+ *	from the register 0x6D bit 2
+ *
+ *  @param v_accel_selftest_sign_u8: The value of Accel self test axis sign
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | negative
+ *   0x01  | positive
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_selftest_sign(
+u8 *v_accel_selftest_sign_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read Accel self test axis sign*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_ACCEL_SELFTEST_SIGN__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_accel_selftest_sign_u8 = BMI160_GET_BITSLICE(
+			v_data_u8,
+			BMI160_USER_ACCEL_SELFTEST_SIGN);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes Accel self test axis sign
+ *	in the register 0x6D bit 2
+ *
+ *  @param v_accel_selftest_sign_u8: The value of Accel self test axis sign
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | negative
+ *   0x01  | positive
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_selftest_sign(
+u8 v_accel_selftest_sign_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_accel_selftest_sign_u8 <=
+		BMI160_MAX_VALUE_SELFTEST_SIGN) {
+			/* write Accel self test axis sign*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_ACCEL_SELFTEST_SIGN__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_ACCEL_SELFTEST_SIGN,
+				v_accel_selftest_sign_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_ACCEL_SELFTEST_SIGN__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+			com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads Accel self test amplitude
+ *	from the register 0x6D bit 3
+ *
+ *
+ *  @param v_accel_selftest_amp_u8 : The value of Accel self test amplitude
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | LOW
+ *   0x01  | HIGH
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_selftest_amp(
+u8 *v_accel_selftest_amp_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read  self test amplitude*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_SELFTEST_AMP__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_accel_selftest_amp_u8 = BMI160_GET_BITSLICE(
+			v_data_u8,
+			BMI160_USER_SELFTEST_AMP);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes Accel self test amplitude
+ *	in the register 0x6D bit 3
+ *
+ *
+ *  @param v_accel_selftest_amp_u8 : The value of Accel self test amplitude
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | LOW
+ *   0x01  | HIGH
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_selftest_amp(
+u8 v_accel_selftest_amp_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_accel_selftest_amp_u8 <=
+		BMI160_MAX_VALUE_SELFTEST_AMP) {
+			/* write  self test amplitude*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_SELFTEST_AMP__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_SELFTEST_AMP,
+				v_accel_selftest_amp_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_SELFTEST_AMP__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the gyro self test trigger
+ *
+ *	@param v_gyro_selftest_start_u8: The value of gyro self test start
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_selftest_start(
+u8 *v_gyro_selftest_start_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read gyro self test start */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_GYRO_SELFTEST_START__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_gyro_selftest_start_u8 = BMI160_GET_BITSLICE(
+			v_data_u8,
+			BMI160_USER_GYRO_SELFTEST_START);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes the gyro self test trigger
+ *
+ *	@param v_gyro_selftest_start_u8: The value of gyro self test start
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_selftest_start(
+u8 v_gyro_selftest_start_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		if (v_gyro_selftest_start_u8 <=
+		BMI160_MAX_VALUE_SELFTEST_START) {
+			/* write gyro self test start */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_GYRO_SELFTEST_START__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_GYRO_SELFTEST_START,
+				v_gyro_selftest_start_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_GYRO_SELFTEST_START__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+		}
+	}
+	return com_rslt;
+}
+ /*!
+ * @brief This API reads the primary interface selection I2C or SPI
+ *	from the register 0x70 bit 0
+ *
+ *  @param v_spi_enable_u8: The value of Interface selection
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | I2C Enable
+ *   0x01  | I2C DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_spi_enable(u8 *v_spi_enable_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read interface section*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_NV_CONFIG_SPI_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_spi_enable_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_NV_CONFIG_SPI_ENABLE);
+		}
+	return com_rslt;
+}
+ /*!
+ * @brief This API writes primary interface selection I2C or SPI
+ *	in the register 0x70 bit 0
+ *
+ *  @param v_spi_enable_u8: The value of Interface selection
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | I2C Enable
+ *   0x01  | I2C DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_spi_enable(u8 v_spi_enable_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write interface section*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_NV_CONFIG_SPI_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_NV_CONFIG_SPI_ENABLE,
+				v_spi_enable_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_NV_CONFIG_SPI_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		}
+	return com_rslt;
+}
+
+/*!
+ *	@brief This API reads the Accel manual offset compensation of x axis
+ *	from the register 0x71 bit 0 to 7
+ *
+ *
+ *
+ *  @param v_accel_off_x_s8:
+ *	The value of Accel manual offset compensation of x axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_offset_compensation_xaxis(
+s8 *v_accel_off_x_s8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read Accel manual offset compensation of x axis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_0_ACCEL_OFF_X__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_accel_off_x_s8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_OFFSET_0_ACCEL_OFF_X);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes the Accel manual offset compensation of x axis
+ *	in the register 0x71 bit 0 to 7
+ *
+ *
+ *
+ *  @param v_accel_off_x_s8:
+ *	The value of Accel manual offset compensation of x axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_offset_compensation_xaxis(
+s8 v_accel_off_x_s8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+u8 v_status_s8 = SUCCESS;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+		/* enable Accel offset */
+		v_status_s8 = bmi160_set_accel_offset_enable(
+		ACCEL_OFFSET_ENABLE);
+		if (v_status_s8 == SUCCESS) {
+			/* write Accel manual offset compensation of x axis*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_0_ACCEL_OFF_X__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 =
+				BMI160_SET_BITSLICE(
+				v_data_u8,
+				BMI160_USER_OFFSET_0_ACCEL_OFF_X,
+				v_accel_off_x_s8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_OFFSET_0_ACCEL_OFF_X__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt =  ERROR;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the  Accel manual offset compensation of y axis
+ *	from the register 0x72 bit 0 to 7
+ *
+ *
+ *
+ *  @param v_accel_off_y_s8:
+ *	The value of Accel manual offset compensation of y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_offset_compensation_yaxis(
+s8 *v_accel_off_y_s8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read Accel manual offset compensation of y axis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_1_ACCEL_OFF_Y__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_accel_off_y_s8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_OFFSET_1_ACCEL_OFF_Y);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes the Accel manual offset compensation of y axis
+ *	in the register 0x72 bit 0 to 7
+ *
+ *
+ *
+ *  @param v_accel_off_y_s8:
+ *	The value of Accel manual offset compensation of y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_offset_compensation_yaxis(
+s8 v_accel_off_y_s8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+u8 v_status_s8 = SUCCESS;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+		/* enable Accel offset */
+		v_status_s8 = bmi160_set_accel_offset_enable(
+		ACCEL_OFFSET_ENABLE);
+		if (v_status_s8 == SUCCESS) {
+			/* write Accel manual offset compensation of y axis*/
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_1_ACCEL_OFF_Y__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 =
+				BMI160_SET_BITSLICE(
+				v_data_u8,
+				BMI160_USER_OFFSET_1_ACCEL_OFF_Y,
+				v_accel_off_y_s8);
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_OFFSET_1_ACCEL_OFF_Y__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		com_rslt = ERROR;
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the Accel manual offset compensation of z axis
+ *	from the register 0x73 bit 0 to 7
+ *
+ *
+ *
+ *  @param v_accel_off_z_s8:
+ *	The value of Accel manual offset compensation of z axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_offset_compensation_zaxis(
+s8 *v_accel_off_z_s8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read Accel manual offset compensation of z axis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_2_ACCEL_OFF_Z__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_accel_off_z_s8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_OFFSET_2_ACCEL_OFF_Z);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes the Accel manual offset compensation of z axis
+ *	in the register 0x73 bit 0 to 7
+ *
+ *
+ *
+ *  @param v_accel_off_z_s8:
+ *	The value of Accel manual offset compensation of z axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_offset_compensation_zaxis(
+s8 v_accel_off_z_s8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	u8 v_status_s8 = SUCCESS;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* enable Accel offset */
+			v_status_s8 = bmi160_set_accel_offset_enable(
+			ACCEL_OFFSET_ENABLE);
+			if (v_status_s8 == SUCCESS) {
+				/* write Accel manual offset
+				compensation of z axis*/
+				com_rslt =
+				p_bmi160->BMI160_BUS_READ_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_OFFSET_2_ACCEL_OFF_Z__REG,
+				&v_data_u8,
+				BMI160_GEN_READ_WRITE_DATA_LENGTH);
+				if (com_rslt == SUCCESS) {
+					v_data_u8 =
+					BMI160_SET_BITSLICE(v_data_u8,
+					BMI160_USER_OFFSET_2_ACCEL_OFF_Z,
+					v_accel_off_z_s8);
+					com_rslt +=
+					p_bmi160->BMI160_BUS_WRITE_FUNC(
+					p_bmi160->dev_addr,
+					BMI160_USER_OFFSET_2_ACCEL_OFF_Z__REG,
+					&v_data_u8,
+					BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+					/*Check for the power mode of Accel
+					and gyro not in normal mode */
+					if (bmi160_power_mode_status_u8_g !=
+					BMI160_NORMAL_MODE)
+						/*interface idle time delay */
+						p_bmi160->delay_msec(
+						BMI160_GEN_READ_WRITE_DELAY);
+				}
+			} else {
+			com_rslt = ERROR;
+			}
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the gyro manual offset compensation of x axis
+ *	from the register 0x74 bit 0 to 7 and 0x77 bit 0 and 1
+ *
+ *
+ *
+ *  @param v_gyro_off_x_s16:
+ *	The value of gyro manual offset compensation of x axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_offset_compensation_xaxis(
+s16 *v_gyro_off_x_s16)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data1_u8r = BMI160_INIT_VALUE;
+	u8 v_data2_u8r = BMI160_INIT_VALUE;
+	s16 v_data3_u8r, v_data4_u8r = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read gyro offset x*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_3_GYRO_OFF_X__REG,
+			&v_data1_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			v_data1_u8r = BMI160_GET_BITSLICE(v_data1_u8r,
+			BMI160_USER_OFFSET_3_GYRO_OFF_X);
+			com_rslt += p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_6_GYRO_OFF_X__REG,
+			&v_data2_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			v_data2_u8r = BMI160_GET_BITSLICE(v_data2_u8r,
+			BMI160_USER_OFFSET_6_GYRO_OFF_X);
+			v_data3_u8r = v_data2_u8r
+			<< BMI160_SHIFT_BIT_POSITION_BY_14_BITS;
+			v_data4_u8r =  v_data1_u8r
+			<< BMI160_SHIFT_BIT_POSITION_BY_06_BITS;
+			v_data3_u8r = v_data3_u8r | v_data4_u8r;
+			*v_gyro_off_x_s16 = v_data3_u8r
+			>> BMI160_SHIFT_BIT_POSITION_BY_06_BITS;
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes the gyro manual offset compensation of x axis
+ *	in the register 0x74 bit 0 to 7 and 0x77 bit 0 and 1
+ *
+ *
+ *
+ *  @param v_gyro_off_x_s16:
+ *	The value of gyro manual offset compensation of x axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_offset_compensation_xaxis(
+s16 v_gyro_off_x_s16)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data1_u8r, v_data2_u8r = BMI160_INIT_VALUE;
+u16 v_data3_u8r = BMI160_INIT_VALUE;
+u8 v_status_s8 = SUCCESS;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+		/* write gyro offset x*/
+		v_status_s8 = bmi160_set_gyro_offset_enable(
+		GYRO_OFFSET_ENABLE);
+		if (v_status_s8 == SUCCESS) {
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_3_GYRO_OFF_X__REG,
+			&v_data2_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data1_u8r =
+				((s8) (v_gyro_off_x_s16 &
+				BMI160_GYRO_MANUAL_OFFSET_0_7));
+				v_data2_u8r = BMI160_SET_BITSLICE(
+				v_data2_u8r,
+				BMI160_USER_OFFSET_3_GYRO_OFF_X,
+				v_data1_u8r);
+				/* write 0x74 bit 0 to 7*/
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_OFFSET_3_GYRO_OFF_X__REG,
+				&v_data2_u8r,
+				BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+
+			com_rslt += p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_6_GYRO_OFF_X__REG,
+			&v_data2_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data3_u8r =
+				(u16) (v_gyro_off_x_s16 &
+				BMI160_GYRO_MANUAL_OFFSET_8_9);
+				v_data1_u8r = (u8)(v_data3_u8r
+				>> BMI160_SHIFT_BIT_POSITION_BY_08_BITS);
+				v_data2_u8r = BMI160_SET_BITSLICE(
+				v_data2_u8r,
+				BMI160_USER_OFFSET_6_GYRO_OFF_X,
+				v_data1_u8r);
+				/* write 0x77 bit 0 and 1*/
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_OFFSET_6_GYRO_OFF_X__REG,
+				&v_data2_u8r,
+				BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		return ERROR;
+		}
+	}
+return com_rslt;
+}
+/*!
+ *	@brief This API reads the gyro manual offset compensation of y axis
+ *	from the register 0x75 bit 0 to 7 and 0x77 bit 2 and 3
+ *
+ *
+ *
+ *  @param v_gyro_off_y_s16:
+ *	The value of gyro manual offset compensation of y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_offset_compensation_yaxis(
+s16 *v_gyro_off_y_s16)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data1_u8r = BMI160_INIT_VALUE;
+	u8 v_data2_u8r = BMI160_INIT_VALUE;
+	s16 v_data3_u8r, v_data4_u8r = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read gyro offset y*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_4_GYRO_OFF_Y__REG,
+			&v_data1_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			v_data1_u8r = BMI160_GET_BITSLICE(v_data1_u8r,
+			BMI160_USER_OFFSET_4_GYRO_OFF_Y);
+			com_rslt += p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_6_GYRO_OFF_Y__REG,
+			&v_data2_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			v_data2_u8r = BMI160_GET_BITSLICE(v_data2_u8r,
+			BMI160_USER_OFFSET_6_GYRO_OFF_Y);
+			v_data3_u8r = v_data2_u8r
+			<< BMI160_SHIFT_BIT_POSITION_BY_14_BITS;
+			v_data4_u8r =  v_data1_u8r
+			<< BMI160_SHIFT_BIT_POSITION_BY_06_BITS;
+			v_data3_u8r = v_data3_u8r | v_data4_u8r;
+			*v_gyro_off_y_s16 = v_data3_u8r
+			>> BMI160_SHIFT_BIT_POSITION_BY_06_BITS;
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes gyro manual offset compensation of y axis
+ *	in the register 0x75 bit 0 to 7 and 0x77 bit 2 and 3
+ *
+ *
+ *
+ *  @param v_gyro_off_y_s16:
+ *	The value of gyro manual offset compensation of y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_offset_compensation_yaxis(
+s16 v_gyro_off_y_s16)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data1_u8r, v_data2_u8r = BMI160_INIT_VALUE;
+u16 v_data3_u8r = BMI160_INIT_VALUE;
+u8 v_status_s8 = SUCCESS;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+		/* enable gyro offset bit */
+		v_status_s8 = bmi160_set_gyro_offset_enable(
+		GYRO_OFFSET_ENABLE);
+		/* write gyro offset y*/
+		if (v_status_s8 == SUCCESS) {
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_4_GYRO_OFF_Y__REG,
+			&v_data2_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data1_u8r =
+				((s8) (v_gyro_off_y_s16 &
+				BMI160_GYRO_MANUAL_OFFSET_0_7));
+				v_data2_u8r = BMI160_SET_BITSLICE(
+				v_data2_u8r,
+				BMI160_USER_OFFSET_4_GYRO_OFF_Y,
+				v_data1_u8r);
+				/* write 0x75 bit 0 to 7*/
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_OFFSET_4_GYRO_OFF_Y__REG,
+				&v_data2_u8r,
+				BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+
+			com_rslt += p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_6_GYRO_OFF_Y__REG,
+			&v_data2_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data3_u8r =
+				(u16) (v_gyro_off_y_s16 &
+				BMI160_GYRO_MANUAL_OFFSET_8_9);
+				v_data1_u8r = (u8)(v_data3_u8r
+				>> BMI160_SHIFT_BIT_POSITION_BY_08_BITS);
+				v_data2_u8r = BMI160_SET_BITSLICE(
+				v_data2_u8r,
+				BMI160_USER_OFFSET_6_GYRO_OFF_Y,
+				v_data1_u8r);
+				/* write 0x77 bit 2 and 3*/
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_OFFSET_6_GYRO_OFF_Y__REG,
+				&v_data2_u8r,
+				BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		return ERROR;
+		}
+	}
+return com_rslt;
+}
+/*!
+ *	@brief This API reads the gyro manual offset compensation of z axis
+ *	from the register 0x76 bit 0 to 7 and 0x77 bit 4 and 5
+ *
+ *
+ *
+ *  @param v_gyro_off_z_s16:
+ *	The value of gyro manual offset compensation of z axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_offset_compensation_zaxis(
+s16 *v_gyro_off_z_s16)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data1_u8r = BMI160_INIT_VALUE;
+	u8 v_data2_u8r = BMI160_INIT_VALUE;
+	s16 v_data3_u8r, v_data4_u8r = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read gyro manual offset z axis*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_5_GYRO_OFF_Z__REG,
+			&v_data1_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			v_data1_u8r = BMI160_GET_BITSLICE
+			(v_data1_u8r,
+			BMI160_USER_OFFSET_5_GYRO_OFF_Z);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_6_GYRO_OFF_Z__REG,
+			&v_data2_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			v_data2_u8r = BMI160_GET_BITSLICE(
+			v_data2_u8r,
+			BMI160_USER_OFFSET_6_GYRO_OFF_Z);
+			v_data3_u8r = v_data2_u8r
+			<< BMI160_SHIFT_BIT_POSITION_BY_14_BITS;
+			v_data4_u8r =  v_data1_u8r
+			<< BMI160_SHIFT_BIT_POSITION_BY_06_BITS;
+			v_data3_u8r = v_data3_u8r | v_data4_u8r;
+			*v_gyro_off_z_s16 = v_data3_u8r
+			>> BMI160_SHIFT_BIT_POSITION_BY_06_BITS;
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes gyro manual offset compensation of z axis
+ *	in the register 0x76 bit 0 to 7 and 0x77 bit 4 and 5
+ *
+ *
+ *
+ *  @param v_gyro_off_z_s16:
+ *	The value of gyro manual offset compensation of z axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_offset_compensation_zaxis(
+s16 v_gyro_off_z_s16)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data1_u8r, v_data2_u8r = BMI160_INIT_VALUE;
+u16 v_data3_u8r = BMI160_INIT_VALUE;
+u8 v_status_s8 = SUCCESS;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+	} else {
+		/* enable gyro offset*/
+		v_status_s8 = bmi160_set_gyro_offset_enable(
+		GYRO_OFFSET_ENABLE);
+		/* write gyro manual offset z axis*/
+		if (v_status_s8 == SUCCESS) {
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_5_GYRO_OFF_Z__REG,
+			&v_data2_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data1_u8r =
+				((u8) (v_gyro_off_z_s16 &
+				BMI160_GYRO_MANUAL_OFFSET_0_7));
+				v_data2_u8r = BMI160_SET_BITSLICE(
+				v_data2_u8r,
+				BMI160_USER_OFFSET_5_GYRO_OFF_Z,
+				v_data1_u8r);
+				/* write 0x76 bit 0 to 7*/
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_OFFSET_5_GYRO_OFF_Z__REG,
+				&v_data2_u8r,
+				BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+
+			com_rslt += p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_6_GYRO_OFF_Z__REG,
+			&v_data2_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data3_u8r =
+				(u16) (v_gyro_off_z_s16 &
+				BMI160_GYRO_MANUAL_OFFSET_8_9);
+				v_data1_u8r = (u8)(v_data3_u8r
+				>> BMI160_SHIFT_BIT_POSITION_BY_08_BITS);
+				v_data2_u8r = BMI160_SET_BITSLICE(
+				v_data2_u8r,
+				BMI160_USER_OFFSET_6_GYRO_OFF_Z,
+				v_data1_u8r);
+				/* write 0x77 bit 4 and 5*/
+				com_rslt +=
+				p_bmi160->BMI160_BUS_WRITE_FUNC
+				(p_bmi160->dev_addr,
+				BMI160_USER_OFFSET_6_GYRO_OFF_Z__REG,
+				&v_data2_u8r,
+				BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		} else {
+		return ERROR;
+		}
+	}
+return com_rslt;
+}
+/*!
+ *	@brief This API reads the Accel offset enable bit
+ *	from the register 0x77 bit 6
+ *
+ *
+ *
+ *  @param v_accel_off_enable_u8: The value of Accel offset enable
+ *  value    |  Description
+ * ----------|--------------
+ *   0x01    | ENABLE
+ *   0x00    | DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_offset_enable(
+u8 *v_accel_off_enable_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read Accel offset enable */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_6_ACCEL_OFF_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_accel_off_enable_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_OFFSET_6_ACCEL_OFF_ENABLE);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes the Accel offset enable bit
+ *	in the register 0x77 bit 6
+ *
+ *
+ *
+ *  @param v_accel_off_enable_u8: The value of Accel offset enable
+ *  value    |  Description
+ * ----------|--------------
+ *   0x01    | ENABLE
+ *   0x00    | DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_offset_enable(
+u8 v_accel_off_enable_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+			} else {
+			/* write Accel offset enable */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_6_ACCEL_OFF_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_OFFSET_6_ACCEL_OFF_ENABLE,
+				v_accel_off_enable_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_OFFSET_6_ACCEL_OFF_ENABLE__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads the Accel offset enable bit
+ *	from the register 0x77 bit 7
+ *
+ *
+ *
+ *  @param v_gyro_off_enable_u8: The value of gyro offset enable
+ *  value    |  Description
+ * ----------|--------------
+ *   0x01    | ENABLE
+ *   0x00    | DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_offset_enable(
+u8 *v_gyro_off_enable_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read gyro offset*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_6_GYRO_OFF_EN__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_gyro_off_enable_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_OFFSET_6_GYRO_OFF_EN);
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API writes the gyro offset enable bit
+ *	in the register 0x77 bit 7
+ *
+ *
+ *
+ *  @param v_gyro_off_enable_u8: The value of gyro offset enable
+ *  value    |  Description
+ * ----------|--------------
+ *   0x01    | ENABLE
+ *   0x00    | DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_offset_enable(
+u8 v_gyro_off_enable_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write gyro offset*/
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_OFFSET_6_GYRO_OFF_EN__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			if (com_rslt == SUCCESS) {
+				v_data_u8 = BMI160_SET_BITSLICE(v_data_u8,
+				BMI160_USER_OFFSET_6_GYRO_OFF_EN,
+				v_gyro_off_enable_u8);
+				com_rslt += p_bmi160->BMI160_BUS_WRITE_FUNC(
+				p_bmi160->dev_addr,
+				BMI160_USER_OFFSET_6_GYRO_OFF_EN__REG,
+				&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+				/*Accel and Gyro power mode check*/
+				if (bmi160_power_mode_status_u8_g !=
+				BMI160_NORMAL_MODE)
+					/*interface idle time delay */
+					p_bmi160->delay_msec(
+					BMI160_GEN_READ_WRITE_DELAY);
+			}
+		}
+	return com_rslt;
+}
+/*!
+ *	@brief This API reads step counter output value
+ *	from the register 0x78 and 0x79
+ *
+ *
+ *
+ *
+ *  @param v_step_cnt_s16 : The value of step counter output
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_step_count(s16 *v_step_cnt_s16)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* array having the step counter LSB and MSB data
+	v_data_u8[0] - LSB
+	v_data_u8[1] - MSB*/
+	u8 a_data_u8r[BMI160_STEP_COUNT_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE};
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read step counter */
+			com_rslt =
+			p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+			BMI160_USER_STEP_COUNT_LSB__REG,
+			a_data_u8r, BMI160_STEP_COUNTER_LENGTH);
+
+			*v_step_cnt_s16 = (s16)
+			((((s32)((s8)a_data_u8r[BMI160_STEP_COUNT_MSB_BYTE]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (a_data_u8r[BMI160_STEP_COUNT_LSB_BYTE]));
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API reads
+ *	step counter configuration
+ *	from the register 0x7A bit 0 to 7
+ *	and also from the register 0x7B bit 0 to 2 and 4 to 7
+ *
+ *
+ *  @param v_step_config_u16 : The value of step counter configuration
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_step_config(
+u16 *v_step_config_u16)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data1_u8r = BMI160_INIT_VALUE;
+	u8 v_data2_u8r = BMI160_INIT_VALUE;
+	u16 v_data3_u8r = BMI160_INIT_VALUE;
+	/* Read the 0 to 7 bit*/
+	com_rslt =
+	p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+	BMI160_USER_STEP_CONFIG_ZERO__REG,
+	&v_data1_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	/* Read the 8 to 10 bit*/
+	com_rslt +=
+	p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+	BMI160_USER_STEP_CONFIG_ONE_CNF1__REG,
+	&v_data2_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	v_data2_u8r = BMI160_GET_BITSLICE(v_data2_u8r,
+	BMI160_USER_STEP_CONFIG_ONE_CNF1);
+	v_data3_u8r = ((u16)((((u32)
+	((u8)v_data2_u8r))
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS) | (v_data1_u8r)));
+	/* Read the 11 to 14 bit*/
+	com_rslt +=
+	p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+	BMI160_USER_STEP_CONFIG_ONE_CNF2__REG,
+	&v_data1_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	v_data1_u8r = BMI160_GET_BITSLICE(v_data1_u8r,
+	BMI160_USER_STEP_CONFIG_ONE_CNF2);
+	*v_step_config_u16 = ((u16)((((u32)
+	((u8)v_data1_u8r))
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS) | (v_data3_u8r)));
+
+	return com_rslt;
+}
+ /*!
+ *	@brief This API writes the
+ *	step counter configuration
+ *	in the register 0x7A bit 0 to 7
+ *	and also in the register 0x7B bit 0 to 2 and 4 to 7
+ *
+ *
+ *  @param v_step_config_u16   :
+ *	the value of step configuration
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_step_config(
+u16 v_step_config_u16)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data1_u8r = BMI160_INIT_VALUE;
+	u8 v_data2_u8r = BMI160_INIT_VALUE;
+	u16 v_data3_u16 = BMI160_INIT_VALUE;
+
+	/* write the 0 to 7 bit*/
+	v_data1_u8r = (u8)(v_step_config_u16 &
+	BMI160_STEP_CONFIG_0_7);
+	p_bmi160->BMI160_BUS_WRITE_FUNC
+	(p_bmi160->dev_addr,
+	BMI160_USER_STEP_CONFIG_ZERO__REG,
+	&v_data1_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+	/*Accel and Gyro power mode check*/
+	if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+		/*interface idle time delay */
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+	/* write the 8 to 10 bit*/
+	com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+	(p_bmi160->dev_addr,
+	BMI160_USER_STEP_CONFIG_ONE_CNF1__REG,
+	&v_data2_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	if (com_rslt == SUCCESS) {
+		v_data3_u16 = (u16) (v_step_config_u16 &
+		BMI160_STEP_CONFIG_8_10);
+		v_data1_u8r = (u8)(v_data3_u16
+		>> BMI160_SHIFT_BIT_POSITION_BY_08_BITS);
+		v_data2_u8r = BMI160_SET_BITSLICE(v_data2_u8r,
+		BMI160_USER_STEP_CONFIG_ONE_CNF1, v_data1_u8r);
+		p_bmi160->BMI160_BUS_WRITE_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_STEP_CONFIG_ONE_CNF1__REG,
+		&v_data2_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+		/*Accel and Gyro power mode check*/
+		if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+			/*interface idle time delay */
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+	}
+	/* write the 11 to 14 bit*/
+	com_rslt += p_bmi160->BMI160_BUS_READ_FUNC
+	(p_bmi160->dev_addr,
+	BMI160_USER_STEP_CONFIG_ONE_CNF2__REG,
+	&v_data2_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	if (com_rslt == SUCCESS) {
+		v_data3_u16 = (u16) (v_step_config_u16 &
+		BMI160_STEP_CONFIG_11_14);
+		v_data1_u8r = (u8)(v_data3_u16
+		>> BMI160_SHIFT_BIT_POSITION_BY_12_BITS);
+		v_data2_u8r = BMI160_SET_BITSLICE(v_data2_u8r,
+		BMI160_USER_STEP_CONFIG_ONE_CNF2, v_data1_u8r);
+		p_bmi160->BMI160_BUS_WRITE_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_STEP_CONFIG_ONE_CNF2__REG,
+		&v_data2_u8r, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+		/*Accel and Gyro power mode check*/
+		if (bmi160_power_mode_status_u8_g != BMI160_NORMAL_MODE)
+			/*interface idle time delay */
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to get the step counter enable/disable status
+ *	from the register 0x7B bit 3
+ *
+ *
+ *  @param v_step_counter_u8 : The value of step counter enable
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_step_counter_enable(
+u8 *v_step_counter_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* read the step counter */
+			com_rslt = p_bmi160->BMI160_BUS_READ_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_USER_STEP_CONFIG_1_STEP_COUNT_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			*v_step_counter_u8 = BMI160_GET_BITSLICE(v_data_u8,
+			BMI160_USER_STEP_CONFIG_1_STEP_COUNT_ENABLE);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to enable step counter
+ *	by setting the register 0x7B bit 3
+ *
+ *
+ *  @param v_step_counter_u8 : The value of step counter enable
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_step_counter_enable(u8 v_step_counter_u8)
+{
+/* variable used to return the status of communication result*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+/* check the p_bmi160 structure for NULL pointer assignment*/
+if (p_bmi160 == BMI160_NULL) {
+	return E_BMI160_NULL_PTR;
+} else {
+	if (v_step_counter_u8 <= BMI160_MAX_GYRO_STEP_COUNTER) {
+		/* write the step counter */
+		com_rslt = p_bmi160->BMI160_BUS_READ_FUNC
+		(p_bmi160->dev_addr,
+		BMI160_USER_STEP_CONFIG_1_STEP_COUNT_ENABLE__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		if (com_rslt == SUCCESS) {
+			v_data_u8 =
+			BMI160_SET_BITSLICE(v_data_u8,
+			BMI160_USER_STEP_CONFIG_1_STEP_COUNT_ENABLE,
+			v_step_counter_u8);
+			com_rslt +=
+			p_bmi160->BMI160_BUS_WRITE_FUNC
+			(p_bmi160->dev_addr,
+			BMI160_USER_STEP_CONFIG_1_STEP_COUNT_ENABLE__REG,
+			&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+
+			/*Accel and Gyro power mode check*/
+			if (bmi160_power_mode_status_u8_g !=
+			BMI160_NORMAL_MODE)
+				/*interface idle time delay */
+				p_bmi160->delay_msec(
+				BMI160_GEN_READ_WRITE_DELAY);
+		}
+	} else {
+	com_rslt = E_BMI160_OUT_OF_RANGE;
+	}
+}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to set step counter modes
+ *
+ *
+ *  @param  v_step_mode_u8 : The value of step counter mode
+ *  value    |   mode
+ * ----------|-----------
+ *   0       | BMI160_STEP_NORMAL_MODE
+ *   1       | BMI160_STEP_SENSITIVE_MODE
+ *   2       | BMI160_STEP_ROBUST_MODE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_step_mode(u8 v_step_mode_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+
+	switch (v_step_mode_u8) {
+	case BMI160_STEP_NORMAL_MODE:
+		com_rslt = bmi160_set_step_config(
+		STEP_CONFIG_NORMAL);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	break;
+	case BMI160_STEP_SENSITIVE_MODE:
+		com_rslt = bmi160_set_step_config(
+		STEP_CONFIG_SENSITIVE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	break;
+	case BMI160_STEP_ROBUST_MODE:
+		com_rslt = bmi160_set_step_config(
+		STEP_CONFIG_ROBUST);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+	break;
+	}
+
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to trigger the  signification motion
+ *	interrupt
+ *
+ *
+ *  @param  v_significant_u8 : The value of interrupt selection
+ *  value    |  interrupt
+ * ----------|-----------
+ *   0       |  BMI160_MAP_INTR1
+ *   1       |  BMI160_MAP_INTR2
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_map_significant_motion_intr(
+u8 v_significant_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_sig_motion_u8 = BMI160_INIT_VALUE;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	u8 v_any_motion_intr1_stat_u8 = BMI160_ENABLE_ANY_MOTION_INTR1;
+	u8 v_any_motion_intr2_stat_u8 = BMI160_ENABLE_ANY_MOTION_INTR2;
+	u8 v_any_motion_axis_stat_u8 = BMI160_ENABLE_ANY_MOTION_AXIS;
+	/* enable the significant motion interrupt */
+	com_rslt = bmi160_get_intr_significant_motion_select(&v_sig_motion_u8);
+	if (v_sig_motion_u8 != BMI160_SIG_MOTION_STAT_HIGH)
+		com_rslt += bmi160_set_intr_significant_motion_select(
+		BMI160_SIG_MOTION_INTR_ENABLE);
+	switch (v_significant_u8) {
+	case BMI160_MAP_INTR1:
+		/* interrupt */
+		com_rslt += bmi160_read_reg(
+		BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		v_data_u8 |= v_any_motion_intr1_stat_u8;
+		/* map the signification interrupt to any-motion interrupt1*/
+		com_rslt += bmi160_write_reg(
+		BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* axis*/
+		com_rslt = bmi160_read_reg(BMI160_USER_INTR_ENABLE_0_ADDR,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		v_data_u8 |= v_any_motion_axis_stat_u8;
+		com_rslt += bmi160_write_reg(
+		BMI160_USER_INTR_ENABLE_0_ADDR,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	break;
+
+	case BMI160_MAP_INTR2:
+		/* map the signification interrupt to any-motion interrupt2*/
+		com_rslt += bmi160_read_reg(
+		BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		v_data_u8 |= v_any_motion_intr2_stat_u8;
+		com_rslt += bmi160_write_reg(
+		BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* axis*/
+		com_rslt = bmi160_read_reg(BMI160_USER_INTR_ENABLE_0_ADDR,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		v_data_u8 |= v_any_motion_axis_stat_u8;
+		com_rslt += bmi160_write_reg(
+		BMI160_USER_INTR_ENABLE_0_ADDR,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	break;
+
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+	break;
+
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to trigger the step detector
+ *	interrupt
+ *
+ *
+ *  @param  v_step_detector_u8 : The value of interrupt selection
+ *  value    |  interrupt
+ * ----------|-----------
+ *   0       |  BMI160_MAP_INTR1
+ *   1       |  BMI160_MAP_INTR2
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_map_step_detector_intr(
+u8 v_step_detector_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_step_det_u8 = BMI160_INIT_VALUE;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	u8 v_low_g_intr_u81_stat_u8 = BMI160_LOW_G_INTR_STAT;
+	u8 v_low_g_intr_u82_stat_u8 = BMI160_LOW_G_INTR_STAT;
+	/* read the v_status_s8 of step detector interrupt*/
+	com_rslt = bmi160_get_step_detector_enable(&v_step_det_u8);
+	if (v_step_det_u8 != BMI160_STEP_DET_STAT_HIGH)
+		com_rslt += bmi160_set_step_detector_enable(
+		BMI160_STEP_DETECT_INTR_ENABLE);
+	switch (v_step_detector_u8) {
+	case BMI160_MAP_INTR1:
+		com_rslt += bmi160_read_reg(
+		BMI160_USER_INTR_MAP_0_INTR1_LOW_G__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		v_data_u8 |= v_low_g_intr_u81_stat_u8;
+		/* map the step detector interrupt
+		to Low-g interrupt 1*/
+		com_rslt += bmi160_write_reg(
+		BMI160_USER_INTR_MAP_0_INTR1_LOW_G__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	break;
+	case BMI160_MAP_INTR2:
+		/* map the step detector interrupt
+		to Low-g interrupt 2*/
+		com_rslt += bmi160_read_reg(
+		BMI160_USER_INTR_MAP_2_INTR2_LOW_G__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		v_data_u8 |= v_low_g_intr_u82_stat_u8;
+
+		com_rslt += bmi160_write_reg(
+		BMI160_USER_INTR_MAP_2_INTR2_LOW_G__REG,
+		&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+	break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+	break;
+	}
+	return com_rslt;
+}
+ /*!
+ *	@brief This API is used to clear the step counter interrupt
+ *
+ *
+ *  @param  : None
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_clear_step_counter(void)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* clear the step counter*/
+	com_rslt = bmi160_set_command_register(RESET_STEP_COUNTER);
+	p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+
+	return com_rslt;
+
+}
+/*!
+ *	@brief This API writes the value to the register 0x7E bit 0 to 7
+ *
+ *
+ *  @param  v_command_reg_u8 : The value to write command register
+ *  value   |  Description
+ * ---------|--------------------------------------------------------
+ *	0x00	|	Reserved
+ *  0x03	|	Starts fast offset calibration for the Accel and gyro
+ *	0x10	|	Sets the PMU mode for the Accel to suspend
+ *	0x11	|	Sets the PMU mode for the Accel to normal
+ *	0x12	|	Sets the PMU mode for the Accel Lowpower
+ *  0x14	|	Sets the PMU mode for the Gyro to suspend
+ *	0x15	|	Sets the PMU mode for the Gyro to normal
+ *	0x16	|	Reserved
+ *	0x17	|	Sets the PMU mode for the Gyro to fast start-up
+ *  0x18	|	Sets the PMU mode for the Mag to suspend
+ *	0x19	|	Sets the PMU mode for the Mag to normal
+ *	0x1A	|	Sets the PMU mode for the Mag to Lowpower
+ *	0xB0	|	Clears all data in the FIFO
+ *  0xB1	|	Resets the interrupt engine
+ *	0xB2	|	step_cnt_clr Clears the step counter
+ *	0xB6	|	Triggers a reset
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_command_register(u8 v_command_reg_u8)
+{
+	BMI160_RETURN_FUNCTION_TYPE com_rslt  = E_BMI160_COMM_RES;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+			/* write command register */
+			com_rslt = p_bmi160->BMI160_BUS_WRITE_FUNC(
+			p_bmi160->dev_addr,
+			BMI160_CMD_COMMANDS__REG,
+			&v_command_reg_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+				/*interface idle time delay */
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+			/*power mode status of Accel and gyro is stored in the
+			global variable bmi160_power_mode_status_u8_g */
+			com_rslt += bmi160_read_reg(BMI160_USER_PMU_STAT_ADDR,
+			&bmi160_power_mode_status_u8_g,
+			BMI160_GEN_READ_WRITE_DATA_LENGTH);
+			bmi160_power_mode_status_u8_g &=
+			BMI160_ACCEL_GYRO_PMU_MASK;
+		}
+	return com_rslt;
+}
+
+/*!
+ *	@brief This function is used to read the compensated xyz axis data of
+ *	mag secondary interface
+ *	@note v_mag_x_s16: The value of Mag x data
+ *	@note v_mag_y_s16: The value of Mag y data
+ *	@note v_mag_z_s16: The value of Mag z data
+ *	@note v_mag_r_s16: The value of Mag r data
+ *	@param v_mag_second_if_u8: The value of Mag selection
+ *
+ *  value   |   v_mag_second_if_u8
+ * ---------|----------------------
+ *    0     |    BMM150
+ *    1     |    AKM09911
+ *    2     |    AKM09912
+ *    3     |    YAS532
+ *    4     |    YAS537
+ *	@param mag_fifo_data: The value of compensated Mag xyz data
+ *
+ *
+ *  @return
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_second_if_mag_compensate_xyz(
+struct bmi160_mag_fifo_data_t mag_fifo_data,
+u8 v_mag_second_if_u8)
+{
+s8 com_rslt = BMI160_INIT_VALUE;
+s16 v_mag_x_s16 = BMI160_INIT_VALUE;
+s16 v_mag_y_s16 = BMI160_INIT_VALUE;
+s16 v_mag_z_s16 = BMI160_INIT_VALUE;
+u16 v_mag_r_u16 = BMI160_INIT_VALUE;
+#ifdef YAS537
+	u8 v_outflow_u8 = BMI160_INIT_VALUE;
+	u8 v_busy_u8 = BMI160_INIT_VALUE;
+	u8 v_coil_stat_u8 = BMI160_INIT_VALUE;
+	u16 v_temperature_u16 = BMI160_INIT_VALUE;
+	s32 a_h_s32[BMI160_YAS_H_DATA_SIZE] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	s32 a_s_s32[BMI160_YAS_S_DATA_SIZE] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	u16 xy1y2[3] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+#endif
+#ifdef YAS532
+	u16 v_xy1y2_u16[3] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	u8 v_busy_yas532_u8 = BMI160_INIT_VALUE;
+	u16 v_temp_yas532_u16 = BMI160_INIT_VALUE;
+	u8 v_overflow_yas532_u8 = BMI160_INIT_VALUE;
+#endif
+switch (v_mag_second_if_u8) {
+case BMI160_SEC_IF_BMM150:
+	/* x data*/
+	v_mag_x_s16 = (s16)((mag_fifo_data.mag_x_msb
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| (mag_fifo_data.mag_x_lsb));
+	v_mag_x_s16 = (s16)
+	(v_mag_x_s16 >> BMI160_SHIFT_BIT_POSITION_BY_03_BITS);
+	/* y data*/
+	v_mag_y_s16 = (s16)((mag_fifo_data.mag_y_msb
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| (mag_fifo_data.mag_y_lsb));
+	v_mag_y_s16 = (s16)
+	(v_mag_y_s16 >> BMI160_SHIFT_BIT_POSITION_BY_03_BITS);
+	/* z data*/
+	v_mag_z_s16 = (s16)((mag_fifo_data.mag_z_msb
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| (mag_fifo_data.mag_z_lsb));
+	v_mag_z_s16 = (s16)
+	(v_mag_z_s16 >> BMI160_SHIFT_BIT_POSITION_BY_01_BIT);
+	/* r data*/
+	v_mag_r_u16 = (u16)((mag_fifo_data.mag_r_y2_msb
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| (mag_fifo_data.mag_r_y2_lsb));
+	v_mag_r_u16 = (u16)
+	(v_mag_r_u16 >> BMI160_SHIFT_BIT_POSITION_BY_02_BITS);
+	/* Compensated Mag x data */
+	processed_data.x =
+	bmi160_bmm150_mag_compensate_X(v_mag_x_s16,
+	v_mag_r_u16);
+	/* Compensated Mag y data */
+	processed_data.y =
+	bmi160_bmm150_mag_compensate_Y(v_mag_y_s16,
+	v_mag_r_u16);
+	/* Compensated Mag z data */
+	processed_data.z =
+	bmi160_bmm150_mag_compensate_Z(v_mag_z_s16,
+	v_mag_r_u16);
+break;
+#ifdef AKM09911
+case BMI160_SEC_IF_AKM09911:
+	/* x data*/
+	v_mag_x_s16 = (s16)((mag_fifo_data.mag_x_msb
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| (mag_fifo_data.mag_x_lsb));
+	/* y data*/
+	v_mag_y_s16 = (s16)((mag_fifo_data.mag_y_msb
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| (mag_fifo_data.mag_y_lsb));
+	/* z data*/
+	v_mag_z_s16 = (s16)((mag_fifo_data.mag_z_msb
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| (mag_fifo_data.mag_z_lsb));
+	/* Compensated for X data */
+	processed_data.x =
+	bmi160_bst_akm09911_compensate_X(v_mag_x_s16);
+	/* Compensated for Y data */
+	processed_data.y =
+	bmi160_bst_akm09911_compensate_Y(v_mag_y_s16);
+	/* Compensated for Z data */
+	processed_data.z =
+	bmi160_bst_akm09911_compensate_Z(v_mag_z_s16);
+break;
+#endif
+#ifdef AKM09912
+case BMI160_SEC_IF_AKM09912:
+	/* x data*/
+	v_mag_x_s16 = (s16)((mag_fifo_data.mag_x_msb
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| (mag_fifo_data.mag_x_lsb));
+	/* y data*/
+	v_mag_y_s16 = (s16)((mag_fifo_data.mag_y_msb
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| (mag_fifo_data.mag_y_lsb));
+	/* z data*/
+	v_mag_z_s16 = (s16)((mag_fifo_data.mag_z_msb
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| (mag_fifo_data.mag_z_lsb));
+	/* Compensated for X data */
+	processed_data.x =
+	bmi160_bst_akm09912_compensate_X(v_mag_x_s16);
+	/* Compensated for Y data */
+	processed_data.y =
+	bmi160_bst_akm09912_compensate_Y(v_mag_y_s16);
+	/* Compensated for Z data */
+	processed_data.z =
+	bmi160_bst_akm09912_compensate_Z(v_mag_z_s16);
+break;
+#endif
+#ifdef YAS532
+case BMI160_SEC_IF_YAS532:{
+	u8 i = BMI160_INIT_VALUE;
+	/* read the xyy1 data*/
+	v_busy_yas532_u8 =
+	((mag_fifo_data.mag_x_lsb
+	>> BMI160_SHIFT_BIT_POSITION_BY_07_BITS) & 0x01);
+	v_temp_yas532_u16 =
+	(u16)((((s32)mag_fifo_data.mag_x_lsb
+	<< BMI160_SHIFT_BIT_POSITION_BY_03_BITS)
+	& 0x3F8) | ((mag_fifo_data.mag_x_msb
+	>> BMI160_SHIFT_BIT_POSITION_BY_05_BITS) & 0x07));
+
+	v_xy1y2_u16[0] =
+	(u16)((((s32)mag_fifo_data.mag_y_lsb
+	<< BMI160_SHIFT_BIT_POSITION_BY_06_BITS) & 0x1FC0)
+	| ((mag_fifo_data.mag_y_msb >>
+	BMI160_SHIFT_BIT_POSITION_BY_02_BITS) & 0x3F));
+	v_xy1y2_u16[1] =
+	(u16)((((s32)mag_fifo_data.mag_z_lsb
+	<< BMI160_SHIFT_BIT_POSITION_BY_06_BITS)
+	& 0x1FC0)
+	| ((mag_fifo_data.mag_z_msb
+	>> BMI160_SHIFT_BIT_POSITION_BY_02_BITS) & 0x3F));
+	v_xy1y2_u16[2] =
+	(u16)((((s32)mag_fifo_data.mag_r_y2_lsb
+	<< BMI160_SHIFT_BIT_POSITION_BY_06_BITS)
+	& 0x1FC0)
+	| ((mag_fifo_data.mag_r_y2_msb
+	>> BMI160_SHIFT_BIT_POSITION_BY_02_BITS) & 0x3F));
+	v_overflow_yas532_u8 = 0;
+	for (i = 0; i < 3; i++) {
+		if (v_xy1y2_u16[i] == YAS532_DATA_OVERFLOW)
+			v_overflow_yas532_u8 |= (1 << (i * 2));
+		if (v_xy1y2_u16[i] == YAS532_DATA_UNDERFLOW)
+			v_overflow_yas532_u8 |= (1 << (i * 2 + 1));
+	}
+	/* assign the data*/
+	com_rslt = bmi160_bst_yas532_fifo_xyz_data(
+	v_xy1y2_u16, 1, v_overflow_yas532_u8,
+	v_temp_yas532_u16, v_busy_yas532_u8);
+	processed_data.x =
+	fifo_xyz_data.yas532_vector_xyz[0];
+	processed_data.y =
+	fifo_xyz_data.yas532_vector_xyz[1];
+	processed_data.z =
+	fifo_xyz_data.yas532_vector_xyz[2];
+	}
+break;
+#endif
+#ifdef YAS537
+case BMI160_SEC_IF_YAS537:{
+	u8 i = BMI160_INIT_VALUE;
+	/* read the busy flag*/
+	v_busy_u8 = mag_fifo_data.mag_y_lsb
+	>> BMI160_SHIFT_BIT_POSITION_BY_07_BITS;
+	/* read the coil status*/
+	v_coil_stat_u8 =
+	((mag_fifo_data.mag_y_lsb >>
+	BMI160_SHIFT_BIT_POSITION_BY_06_BITS) & 0X01);
+	/* read temperature data*/
+	v_temperature_u16 = (u16)((mag_fifo_data.mag_x_lsb
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| mag_fifo_data.mag_x_msb);
+	/* read x data*/
+	xy1y2[0] = (u16)(((mag_fifo_data.mag_y_lsb &
+	0x3F)
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| (mag_fifo_data.mag_y_msb));
+	/* read y1 data*/
+	xy1y2[1] = (u16)((mag_fifo_data.mag_z_lsb
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| mag_fifo_data.mag_z_msb);
+	/* read y2 data*/
+	xy1y2[2] = (u16)((mag_fifo_data.mag_r_y2_lsb
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| mag_fifo_data.mag_r_y2_msb);
+	for (i = 0; i < 3; i++)
+		yas537_data.last_raw[i] = xy1y2[i];
+		yas537_data.last_raw[i] = v_temperature_u16;
+		if (yas537_data.calib_yas537.ver == 1) {
+			for (i = 0; i < 3; i++)
+				a_s_s32[i] = xy1y2[i] - 8192;
+		/* read hx*/
+		a_h_s32[0] = ((yas537_data.calib_yas537.k * (
+		(128 * a_s_s32[0]) +
+		(yas537_data.calib_yas537.a2 * a_s_s32[1]) +
+		(yas537_data.calib_yas537.a3 * a_s_s32[2])))
+		/ (8192));
+		/* read hy1*/
+		a_h_s32[1] = ((yas537_data.calib_yas537.k * (
+		(yas537_data.calib_yas537.a4 * a_s_s32[0]) +
+		(yas537_data.calib_yas537.a5 * a_s_s32[1]) +
+		(yas537_data.calib_yas537.a6 * a_s_s32[2])))
+		/ (8192));
+		/* read hy2*/
+		a_h_s32[2] = ((yas537_data.calib_yas537.k * (
+		(yas537_data.calib_yas537.a7 * a_s_s32[0]) +
+		(yas537_data.calib_yas537.a8 * a_s_s32[1]) +
+		(yas537_data.calib_yas537.a9 * a_s_s32[2])))
+		/ (8192));
+
+	for (i = 0; i < 3; i++) {
+		if (a_h_s32[i] < -8192)
+			a_h_s32[i] = -8192;
+
+		if (8192 < a_h_s32[i])
+			a_h_s32[i] = 8192;
+
+		xy1y2[i] = a_h_s32[i] + 8192;
+
+	}
+	}
+	v_outflow_u8 = 0;
+	for (i = 0; i < 3; i++) {
+		if (YAS537_DATA_OVERFLOW
+		<= xy1y2[i])
+			v_outflow_u8 |=
+			(1 << (i * 2));
+		if (xy1y2[i] ==
+		YAS537_DATA_UNDERFLOW)
+			v_outflow_u8
+			|= (1 << (i * 2 + 1));
+	}
+	com_rslt = bmi160_bst_yamaha_yas537_fifo_xyz_data(
+	xy1y2, v_outflow_u8, v_coil_stat_u8, v_busy_u8);
+	processed_data.x =
+	fifo_vector_xyz.yas537_vector_xyz[0];
+	processed_data.y =
+	fifo_vector_xyz.yas537_vector_xyz[1];
+	processed_data.z =
+	fifo_vector_xyz.yas537_vector_xyz[2];
+	}
+break;
+#endif
+default:
+	com_rslt = E_BMI160_OUT_OF_RANGE;
+break;
+}
+	return com_rslt;
+}
+#ifdef FIFO_ENABLE
+/*!
+ *	@brief This function is used to read the
+ *	fifo data of  header mode
+ *
+ *
+ *	@note Configure the below functions for FIFO header mode
+ *	@note 1. bmi160_set_fifo_down_gyro()
+ *	@note 2. bmi160_set_gyro_fifo_filter_data()
+ *	@note 3. bmi160_set_fifo_down_accel()
+ *	@note 4. bmi160_set_accel_fifo_filter_dat()
+ *	@note 5. bmi160_set_fifo_mag_enable()
+ *	@note 6. bmi160_set_fifo_accel_enable()
+ *	@note 7. bmi160_set_fifo_gyro_enable()
+ *	@note 8. bmi160_set_fifo_header_enable()
+ *	@note For interrupt configuration
+ *	@note 1. bmi160_set_intr_fifo_full()
+ *	@note 2. bmi160_set_intr_fifo_wm()
+ *	@note 3. bmi160_set_fifo_tag_intr2_enable()
+ *	@note 4. bmi160_set_fifo_tag_intr1_enable()
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_fifo_header_data(u8 v_mag_if_u8,
+struct bmi160_fifo_data_header_t *header_data)
+{
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* read the whole FIFO data*/
+	com_rslt =
+	bmi160_read_fifo_header_data_user_defined_length(
+	FIFO_FRAME, v_mag_if_u8, header_data);
+	return com_rslt;
+}
+/*!
+ *	@brief This function is used to read the
+ *	fifo data of  header mode for user defined length
+ *
+ *
+ *	@note Configure the below functions for FIFO header mode
+ *	@note 1. bmi160_set_fifo_down_gyro()
+ *	@note 2. bmi160_set_gyro_fifo_filter_data()
+ *	@note 3. bmi160_set_fifo_down_accel()
+ *	@note 4. bmi160_set_accel_fifo_filter_dat()
+ *	@note 5. bmi160_set_fifo_mag_enable()
+ *	@note 6. bmi160_set_fifo_accel_enable()
+ *	@note 7. bmi160_set_fifo_gyro_enable()
+ *	@note 8. bmi160_set_fifo_header_enable()
+ *	@note For interrupt configuration
+ *	@note 1. bmi160_set_intr_fifo_full()
+ *	@note 2. bmi160_set_intr_fifo_wm()
+ *	@note 3. bmi160_set_fifo_tag_intr2_enable()
+ *	@note 4. bmi160_set_fifo_tag_intr1_enable()
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_fifo_header_data_user_defined_length(
+u16 v_fifo_user_length_u16, u8 v_mag_if_mag_u8,
+struct bmi160_fifo_data_header_t *fifo_header_data)
+{
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_accel_index_u8 = BMI160_INIT_VALUE;
+	u8 v_gyro_index_u8 = BMI160_INIT_VALUE;
+	u8 v_mag_index_u8 = BMI160_INIT_VALUE;
+	s8 v_last_return_stat_s8 = BMI160_INIT_VALUE;
+	u16 v_fifo_index_u16 = BMI160_INIT_VALUE;
+	u8 v_frame_head_u8 = BMI160_INIT_VALUE;
+	u8 v_frame_index_u8 = BMI160_INIT_VALUE;
+
+	u16 v_fifo_length_u16 = BMI160_INIT_VALUE;
+
+	fifo_header_data->accel_frame_count = BMI160_INIT_VALUE;
+	fifo_header_data->mag_frame_count = BMI160_INIT_VALUE;
+	fifo_header_data->gyro_frame_count = BMI160_INIT_VALUE;
+	/* read FIFO data*/
+	com_rslt = bmi160_fifo_data(&v_fifo_data_u8[BMI160_INIT_VALUE],
+	v_fifo_user_length_u16);
+	v_fifo_length_u16 = v_fifo_user_length_u16;
+	for (v_fifo_index_u16 = BMI160_INIT_VALUE;
+	v_fifo_index_u16 < v_fifo_length_u16;) {
+		fifo_header_data->fifo_header[v_frame_index_u8]
+		= v_fifo_data_u8[v_fifo_index_u16];
+		v_frame_head_u8 =
+		fifo_header_data->fifo_header[v_frame_index_u8]
+		 & BMI160_FIFO_TAG_INTR_MASK;
+		v_frame_index_u8++;
+		switch (v_frame_head_u8) {
+		/* Header frame of Accel */
+		case FIFO_HEAD_A:
+		{	/*fifo data frame index + 1*/
+			v_fifo_index_u16 = v_fifo_index_u16 +
+			BMI160_FIFO_INDEX_LENGTH;
+
+			if ((v_fifo_index_u16 + BMI160_FIFO_A_LENGTH)
+			> v_fifo_length_u16) {
+				v_last_return_stat_s8 = FIFO_A_OVER_LEN;
+			break;
+			}
+			/* Accel raw x data */
+			fifo_header_data->accel_fifo[v_accel_index_u8].x =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_X_MSB_DATA])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_X_LSB_DATA]));
+			/* Accel raw y data */
+			fifo_header_data->accel_fifo[v_accel_index_u8].y =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Y_MSB_DATA])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Y_LSB_DATA]));
+			/* Accel raw z data */
+			fifo_header_data->accel_fifo[v_accel_index_u8].z =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Z_MSB_DATA])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Z_LSB_DATA]));
+			/* check for Accel frame count*/
+			fifo_header_data->accel_frame_count =
+			fifo_header_data->accel_frame_count
+			+ BMI160_FRAME_COUNT;
+			v_fifo_index_u16 = v_fifo_index_u16 +
+			BMI160_FIFO_A_LENGTH;
+			v_accel_index_u8++;
+
+		break;
+		}
+		/* Header frame of gyro */
+		case FIFO_HEAD_G:
+		{	/*fifo data frame index + 1*/
+			v_fifo_index_u16 = v_fifo_index_u16
+			+ BMI160_FIFO_INDEX_LENGTH;
+
+			if ((v_fifo_index_u16 + BMI160_FIFO_G_LENGTH) >
+			v_fifo_length_u16) {
+				v_last_return_stat_s8 = FIFO_G_OVER_LEN;
+			break;
+			}
+			/* Gyro raw x data */
+			fifo_header_data->gyro_fifo[v_gyro_index_u8].x  =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_X_MSB_DATA])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_X_LSB_DATA]));
+			/* Gyro raw y data */
+			fifo_header_data->gyro_fifo[v_gyro_index_u8].y =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Y_MSB_DATA])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Y_LSB_DATA]));
+			/* Gyro raw z data */
+			fifo_header_data->gyro_fifo[v_gyro_index_u8].z  =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Z_MSB_DATA])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			| (v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Z_LSB_DATA]));
+			/* check for gyro frame count*/
+			fifo_header_data->gyro_frame_count =
+			fifo_header_data->gyro_frame_count + BMI160_FRAME_COUNT;
+			/*fifo G data frame index + 6*/
+			v_fifo_index_u16 = v_fifo_index_u16 +
+			BMI160_FIFO_G_LENGTH;
+			v_gyro_index_u8++;
+
+		break;
+		}
+		/* Header frame of Mag */
+		case FIFO_HEAD_M:
+		{	/*fifo data frame index + 1*/
+			v_fifo_index_u16 = v_fifo_index_u16
+			+ BMI160_FIFO_INDEX_LENGTH;
+
+			if ((v_fifo_index_u16 + BMI160_FIFO_M_LENGTH) >
+			(v_fifo_length_u16)) {
+				v_last_return_stat_s8 = FIFO_M_OVER_LEN;
+			break;
+			}
+			/* Mag x data*/
+			mag_data.mag_x_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_X_LSB_DATA]);
+			mag_data.mag_x_msb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_X_MSB_DATA]);
+			/* Mag y data*/
+			mag_data.mag_y_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Y_LSB_DATA]);
+			mag_data.mag_y_msb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Y_MSB_DATA]);
+			mag_data.mag_z_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Z_LSB_DATA]);
+			mag_data.mag_z_msb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Z_MSB_DATA]);
+			/* Mag r data*/
+			mag_data.mag_r_y2_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_R_LSB_DATA]);
+			mag_data.mag_r_y2_msb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_R_MSB_DATA]);
+
+			com_rslt = bmi160_second_if_mag_compensate_xyz(mag_data,
+			v_mag_if_mag_u8);
+			 /* compensated Mag x */
+			fifo_header_data->mag_fifo[v_gyro_index_u8].x
+			= processed_data.x;
+			/* compensated Mag y */
+			fifo_header_data->mag_fifo[v_gyro_index_u8].y
+			= processed_data.y;
+			/* compensated Mag z */
+			fifo_header_data->mag_fifo[v_gyro_index_u8].z
+			= processed_data.z;
+
+			/* check for Mag frame count*/
+			fifo_header_data->mag_frame_count =
+			fifo_header_data->mag_frame_count
+			+ BMI160_FRAME_COUNT;
+
+			v_mag_index_u8++;
+			/*fifo M data frame index + 8*/
+			v_fifo_index_u16 = v_fifo_index_u16 +
+			BMI160_FIFO_M_LENGTH;
+		break;
+		}
+		/* Header frame of gyro and Accel */
+		case FIFO_HEAD_G_A:
+			v_fifo_index_u16 = v_fifo_index_u16 +
+			BMI160_FIFO_INDEX_LENGTH;
+			if ((v_fifo_index_u16 + BMI160_FIFO_AG_LENGTH)
+			> v_fifo_length_u16) {
+				v_last_return_stat_s8 = FIFO_G_A_OVER_LEN;
+			break;
+			}
+			/* Raw gyro x */
+			fifo_header_data->gyro_fifo[v_gyro_index_u8].x   =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_GA_FIFO_G_X_MSB])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			|(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_GA_FIFO_G_X_LSB]));
+			/* Raw gyro y */
+			fifo_header_data->gyro_fifo[v_gyro_index_u8].y  =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_GA_FIFO_G_Y_MSB])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			|(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_GA_FIFO_G_Y_LSB]));
+			/* Raw gyro z */
+			fifo_header_data->gyro_fifo[v_gyro_index_u8].z  =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_GA_FIFO_G_Z_MSB])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			|(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_GA_FIFO_G_Z_LSB]));
+			/* check for gyro frame count*/
+			fifo_header_data->gyro_frame_count =
+			fifo_header_data->gyro_frame_count + BMI160_FRAME_COUNT;
+			/* Raw Accel x */
+			fifo_header_data->accel_fifo[v_accel_index_u8].x =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_GA_FIFO_A_X_MSB])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			|(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_GA_FIFO_A_X_LSB]));
+			/* Raw Accel y */
+			fifo_header_data->accel_fifo[v_accel_index_u8].y =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_GA_FIFO_A_Y_MSB])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			|(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_GA_FIFO_A_Y_LSB]));
+			/* Raw Accel z */
+			fifo_header_data->accel_fifo[v_accel_index_u8].z =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_GA_FIFO_A_Z_MSB])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			|(v_fifo_data_u8[v_fifo_index_u16
+			+ BMI160_GA_FIFO_A_Z_LSB]));
+			/* check for Accel frame count*/
+			fifo_header_data->accel_frame_count =
+			fifo_header_data->accel_frame_count
+			+ BMI160_FRAME_COUNT;
+			/* Index added to 12 for gyro and Accel*/
+			v_fifo_index_u16 = v_fifo_index_u16 +
+			BMI160_FIFO_AG_LENGTH;
+			v_gyro_index_u8++;
+			v_accel_index_u8++;
+		break;
+		/* Header frame of mag, gyro and Accel */
+		case FIFO_HEAD_M_G_A:
+			{	/*fifo data frame index + 1*/
+			v_fifo_index_u16 = v_fifo_index_u16
+			+ BMI160_FIFO_INDEX_LENGTH;
+
+			if ((v_fifo_index_u16 + BMI160_FIFO_AMG_LENGTH)
+			> (v_fifo_length_u16)) {
+				v_last_return_stat_s8 = FIFO_M_G_A_OVER_LEN;
+				break;
+			}
+			/* Mag x data*/
+			mag_data.mag_x_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_X_LSB_DATA]);
+			mag_data.mag_x_msb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_X_MSB_DATA]);
+			/* Mag y data*/
+			mag_data.mag_y_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Y_LSB_DATA]);
+			mag_data.mag_y_msb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Y_MSB_DATA]);
+			mag_data.mag_z_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Z_LSB_DATA]);
+			mag_data.mag_z_msb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Z_MSB_DATA]);
+			/* Mag r data*/
+			mag_data.mag_r_y2_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_R_LSB_DATA]);
+			mag_data.mag_r_y2_msb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_R_MSB_DATA]);
+			/* Processing the compensation data*/
+			com_rslt = bmi160_second_if_mag_compensate_xyz(mag_data,
+			v_mag_if_mag_u8);
+			 /* compensated Mag x */
+			fifo_header_data->mag_fifo[v_mag_index_u8].x =
+			processed_data.x;
+			/* compensated Mag y */
+			fifo_header_data->mag_fifo[v_mag_index_u8].y =
+			processed_data.y;
+			/* compensated Mag z */
+			fifo_header_data->mag_fifo[v_mag_index_u8].z =
+			processed_data.z;
+			/* check for Mag frame count*/
+			fifo_header_data->mag_frame_count =
+			fifo_header_data->mag_frame_count + BMI160_FRAME_COUNT;
+			/* Gyro raw x data */
+			fifo_header_data->gyro_fifo[v_gyro_index_u8].x =
+				(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+				BMI160_MGA_FIFO_G_X_MSB])
+				<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+				|(v_fifo_data_u8[v_fifo_index_u16 +
+				BMI160_MGA_FIFO_G_X_LSB]));
+			/* Gyro raw y data */
+			fifo_header_data->gyro_fifo[v_gyro_index_u8].y =
+				(s16)(((v_fifo_data_u8[
+				v_fifo_index_u16 + BMI160_MGA_FIFO_G_Y_MSB])
+				<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+				|(v_fifo_data_u8[v_fifo_index_u16 +
+				BMI160_MGA_FIFO_G_Y_LSB]));
+			/* Gyro raw z data */
+			fifo_header_data->gyro_fifo[v_gyro_index_u8].z =
+				(s16)(((v_fifo_data_u8[
+				v_fifo_index_u16 + BMI160_MGA_FIFO_G_Z_MSB])
+				<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+				|(v_fifo_data_u8[
+				v_fifo_index_u16 + BMI160_MGA_FIFO_G_Z_LSB]));
+			/* check for gyro frame count*/
+			fifo_header_data->gyro_frame_count =
+			fifo_header_data->gyro_frame_count + BMI160_FRAME_COUNT;
+			/* Accel raw x data */
+			fifo_header_data->accel_fifo[v_accel_index_u8].x =
+				(s16)(((v_fifo_data_u8[
+				v_fifo_index_u16 + BMI160_MGA_FIFO_A_X_MSB])
+				<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+				|(v_fifo_data_u8[v_fifo_index_u16 +
+				BMI160_MGA_FIFO_A_X_LSB]));
+			/* Accel raw y data */
+			fifo_header_data->accel_fifo[v_accel_index_u8].y =
+				(s16)(((v_fifo_data_u8[
+				v_fifo_index_u16 + BMI160_MGA_FIFO_A_Y_MSB])
+				<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+				|(v_fifo_data_u8[v_fifo_index_u16 +
+				BMI160_MGA_FIFO_A_Y_LSB]));
+			/* Accel raw z data */
+			fifo_header_data->accel_fifo[v_accel_index_u8].z =
+				(s16)(((v_fifo_data_u8[
+				v_fifo_index_u16 + BMI160_MGA_FIFO_A_Z_MSB])
+				<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+				|(v_fifo_data_u8[v_fifo_index_u16 +
+				BMI160_MGA_FIFO_A_Z_LSB]));
+			/* check for Accel frame count*/
+			fifo_header_data->accel_frame_count =
+			fifo_header_data->accel_frame_count
+			+ BMI160_FRAME_COUNT;
+			/* Index added to 20 for mag, gyro and Accel*/
+			v_fifo_index_u16 = v_fifo_index_u16 +
+			BMI160_FIFO_AMG_LENGTH;
+			v_accel_index_u8++;
+			v_mag_index_u8++;
+			v_gyro_index_u8++;
+		break;
+			}
+		/* Header frame of Mag and Accel */
+		case FIFO_HEAD_M_A:
+			{	/*fifo data frame index + 1*/
+			v_fifo_index_u16 = v_fifo_index_u16
+			+ BMI160_GEN_READ_WRITE_DATA_LENGTH;
+
+			if ((v_fifo_index_u16 + BMI160_FIFO_MA_OR_MG_LENGTH)
+			> (v_fifo_length_u16)) {
+				v_last_return_stat_s8 = FIFO_M_A_OVER_LEN;
+				break;
+			}
+			/* Mag x data*/
+			mag_data.mag_x_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_X_LSB_DATA]);
+			mag_data.mag_x_msb = (v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_X_MSB_DATA]);
+			/* Mag y data*/
+			mag_data.mag_y_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Y_LSB_DATA]);
+			mag_data.mag_y_msb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Y_MSB_DATA]);
+			mag_data.mag_z_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Z_LSB_DATA]);
+			mag_data.mag_z_msb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Z_MSB_DATA]);
+			/* Mag r data*/
+			mag_data.mag_r_y2_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_R_LSB_DATA]);
+			mag_data.mag_r_y2_msb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_R_MSB_DATA]);
+			com_rslt =
+			bmi160_second_if_mag_compensate_xyz(mag_data,
+			 v_mag_if_mag_u8);
+			 /* compensated Mag x */
+			fifo_header_data->mag_fifo[v_mag_index_u8].x =
+			processed_data.x;
+			/* compensated Mag y */
+			fifo_header_data->mag_fifo[v_mag_index_u8].y =
+			processed_data.y;
+			/* compensated Mag z */
+			fifo_header_data->mag_fifo[v_mag_index_u8].z =
+			processed_data.z;
+			/* check for Mag frame count*/
+			fifo_header_data->mag_frame_count =
+			fifo_header_data->mag_frame_count
+			+ BMI160_FRAME_COUNT;
+			/* Accel raw x data */
+			fifo_header_data->accel_fifo[v_accel_index_u8].x =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_MA_FIFO_A_X_MSB])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			|(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_MA_FIFO_A_X_LSB]));
+			/* Accel raw y data */
+			fifo_header_data->accel_fifo[v_accel_index_u8].y =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_MA_FIFO_A_Y_MSB])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			|(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_MA_FIFO_A_Y_LSB]));
+			/* Accel raw z data */
+			fifo_header_data->accel_fifo[v_accel_index_u8].z =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_MA_FIFO_A_Z_MSB])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			|(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_MA_FIFO_A_Z_LSB]));
+			/* check for Accel frame count*/
+			fifo_header_data->accel_frame_count =
+			fifo_header_data->accel_frame_count
+			+ BMI160_FRAME_COUNT;
+			/*fifo AM data frame index + 14(8+6)*/
+			v_fifo_index_u16 = v_fifo_index_u16 +
+			BMI160_FIFO_MA_OR_MG_LENGTH;
+			v_accel_index_u8++;
+			v_mag_index_u8++;
+		break;
+			}
+			/* Header frame of Mag and gyro */
+		case FIFO_HEAD_M_G:
+			{
+			/*fifo data frame index + 1*/
+			v_fifo_index_u16 = v_fifo_index_u16
+			+ BMI160_GEN_READ_WRITE_DATA_LENGTH;
+
+			if ((v_fifo_index_u16 + BMI160_FIFO_MA_OR_MG_LENGTH)
+			> v_fifo_length_u16) {
+				v_last_return_stat_s8 = FIFO_M_G_OVER_LEN;
+				break;
+			}
+			/* Mag x data*/
+			mag_data.mag_x_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_X_LSB_DATA]);
+			mag_data.mag_x_msb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_X_MSB_DATA]);
+			/* Mag y data*/
+			mag_data.mag_y_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Y_LSB_DATA]);
+			mag_data.mag_y_msb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Y_MSB_DATA]);
+			mag_data.mag_z_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Z_LSB_DATA]);
+			mag_data.mag_z_msb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_Z_MSB_DATA]);
+			/* Mag r data*/
+			mag_data.mag_r_y2_lsb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_R_LSB_DATA]);
+			mag_data.mag_r_y2_msb =
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_R_MSB_DATA]);
+			com_rslt =
+			bmi160_second_if_mag_compensate_xyz(mag_data,
+			v_mag_if_mag_u8);
+			 /* compensated Mag x */
+			fifo_header_data->mag_fifo[v_mag_index_u8].x =
+			processed_data.x;
+			/* compensated Mag y */
+			fifo_header_data->mag_fifo[v_mag_index_u8].y =
+			processed_data.y;
+			/* compensated Mag z */
+			fifo_header_data->mag_fifo[v_mag_index_u8].z =
+			processed_data.z;
+			/* check for Mag frame count*/
+			fifo_header_data->mag_frame_count =
+			fifo_header_data->mag_frame_count + BMI160_FRAME_COUNT;
+			/* Gyro raw x data */
+			fifo_header_data->gyro_fifo[v_gyro_index_u8].x =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_MG_FIFO_G_X_MSB])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			|(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_MG_FIFO_G_X_LSB]));
+			/* Gyro raw y data */
+			fifo_header_data->gyro_fifo[v_gyro_index_u8].y =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_MG_FIFO_G_Y_MSB])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			|(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_MG_FIFO_G_Y_LSB]));
+			/* Gyro raw z data */
+			fifo_header_data->gyro_fifo[v_gyro_index_u8].z =
+			(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_MG_FIFO_G_Z_MSB])
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+			|(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_MG_FIFO_G_Z_LSB]));
+			/* check for gyro frame count*/
+			fifo_header_data->gyro_frame_count =
+			fifo_header_data->gyro_frame_count
+			+ BMI160_FRAME_COUNT;
+			/*fifo GM data frame index + 14(8+6)*/
+			v_fifo_index_u16 = v_fifo_index_u16 +
+			BMI160_FIFO_MA_OR_MG_LENGTH;
+			v_mag_index_u8++;
+			v_gyro_index_u8++;
+		break;
+			}
+		/* Header frame of sensor time */
+		case FIFO_HEAD_SENSOR_TIME:
+			{
+			v_fifo_index_u16 = v_fifo_index_u16 +
+			BMI160_GEN_READ_WRITE_DATA_LENGTH;
+
+			if ((v_fifo_index_u16
+			+ BMI160_FIFO_SENSOR_TIME_LENGTH) >
+			(v_fifo_length_u16)) {
+				v_last_return_stat_s8
+				= FIFO_SENSORTIME_RETURN;
+			break;
+			}
+			/* Sensor time */
+			fifo_header_data->fifo_time = (u32)
+			((v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_SENSOR_TIME_MSB]
+			<< BMI160_SHIFT_BIT_POSITION_BY_16_BITS) |
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_SENSOR_TIME_XLSB]
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS) |
+			(v_fifo_data_u8[v_fifo_index_u16 +
+			BMI160_FIFO_SENSOR_TIME_LSB]));
+
+			v_fifo_index_u16 = v_fifo_index_u16 +
+			BMI160_FIFO_SENSOR_TIME_LENGTH;
+		break;
+			}
+		/* Header frame of skip frame */
+		case FIFO_HEAD_SKIP_FRAME:
+			{
+			/*fifo data frame index + 1*/
+				v_fifo_index_u16 = v_fifo_index_u16 +
+				BMI160_FIFO_INDEX_LENGTH;
+				if (v_fifo_index_u16
+				+ BMI160_FIFO_INDEX_LENGTH
+				> v_fifo_length_u16) {
+					v_last_return_stat_s8 =
+					FIFO_SKIP_OVER_LEN;
+				break;
+				}
+				fifo_header_data->skip_frame =
+				v_fifo_data_u8[v_fifo_index_u16];
+				v_fifo_index_u16 = v_fifo_index_u16 +
+				BMI160_FIFO_INDEX_LENGTH;
+		break;
+			}
+		case FIFO_HEAD_INPUT_CONFIG:
+			{
+			/*fifo data frame index + 1*/
+				v_fifo_index_u16 = v_fifo_index_u16 +
+				BMI160_FIFO_INDEX_LENGTH;
+				if (v_fifo_index_u16
+				+ BMI160_FIFO_INDEX_LENGTH
+				> v_fifo_length_u16) {
+					v_last_return_stat_s8 =
+					FIFO_INPUT_CONFIG_OVER_LEN;
+				break;
+				}
+				fifo_header_data->fifo_input_config_info
+				= v_fifo_data_u8[v_fifo_index_u16];
+				v_fifo_index_u16 = v_fifo_index_u16 +
+				BMI160_FIFO_INDEX_LENGTH;
+		break;
+			}
+		/* Header frame of over read FIFO data */
+		case FIFO_HEAD_OVER_READ_LSB:
+			{
+		/*fifo data frame index + 1*/
+			v_fifo_index_u16 = v_fifo_index_u16 +
+			BMI160_FIFO_INDEX_LENGTH;
+
+			if ((v_fifo_index_u16 + BMI160_FIFO_INDEX_LENGTH)
+			> (v_fifo_length_u16)) {
+				v_last_return_stat_s8 = FIFO_OVER_READ_RETURN;
+			break;
+			}
+			if (v_fifo_data_u8[v_fifo_index_u16] ==
+			FIFO_HEAD_OVER_READ_MSB) {
+				/*fifo over read frame index + 1*/
+				v_fifo_index_u16 = v_fifo_index_u16 +
+				BMI160_FIFO_INDEX_LENGTH;
+			break;
+			} else {
+				v_last_return_stat_s8 = FIFO_OVER_READ_RETURN;
+			break;
+			}
+			}
+
+		default:
+			v_last_return_stat_s8 = BMI160_FIFO_INDEX_LENGTH;
+		break;
+		}
+	if (v_last_return_stat_s8 != 0)
+		break;
+	}
+return com_rslt;
+}
+/*!
+ *	@brief This function is used to read the
+ *	fifo data for  header less mode
+ *
+ *
+ *
+ *	@note Configure the below functions for FIFO header less mode
+ *	@note 1. bmi160_set_fifo_down_gyro
+ *	@note 2. bmi160_set_gyro_fifo_filter_data
+ *	@note 3. bmi160_set_fifo_down_accel
+ *	@note 4. bmi160_set_accel_fifo_filter_dat
+ *	@note 5. bmi160_set_fifo_mag_enable
+ *	@note 6. bmi160_set_fifo_accel_enable
+ *	@note 7. bmi160_set_fifo_gyro_enable
+ *	@note For interrupt configuration
+ *	@note 1. bmi160_set_intr_fifo_full
+ *	@note 2. bmi160_set_intr_fifo_wm
+ *	@note 3. bmi160_set_fifo_tag_intr2_enable
+ *	@note 4. bmi160_set_fifo_tag_intr1_enable
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_fifo_headerless_mode(
+u8 v_mag_if_u8, struct bmi160_fifo_data_header_less_t *headerless_data) {
+
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* read the whole FIFO data*/
+	com_rslt =
+	bmi160_read_fifo_headerless_mode_user_defined_length(
+	FIFO_FRAME, headerless_data, v_mag_if_u8);
+	return com_rslt;
+}
+/*!
+ *	@brief This function is used to read the
+ *	fifo data for header less mode according to user defined length
+ *
+ *
+ *	@param v_fifo_user_length_u16: length of FIFO data to be read
+ *	@param v_mag_if_mag_u8 : the Mag interface data
+ *	@param fifo_data : the pointer to fifo_data_header_less_t structure
+ *
+ *	@note Configure the below functions for FIFO header less mode
+ *	@note 1. bmi160_set_fifo_down_gyro
+ *	@note 2. bmi160_set_gyro_fifo_filter_data
+ *	@note 3. bmi160_set_fifo_down_accel
+ *	@note 4. bmi160_set_accel_fifo_filter_dat
+ *	@note 5. bmi160_set_fifo_mag_enable
+ *	@note 6. bmi160_set_fifo_accel_enable
+ *	@note 7. bmi160_set_fifo_gyro_enable
+ *	@note For interrupt configuration
+ *	@note 1. bmi160_set_intr_fifo_full
+ *	@note 2. bmi160_set_intr_fifo_wm
+ *	@note 3. bmi160_set_fifo_tag_intr2_enable
+ *	@note 4. bmi160_set_fifo_tag_intr1_enable
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE
+bmi160_read_fifo_headerless_mode_user_defined_length(
+u16 v_fifo_user_length_u16,
+struct bmi160_fifo_data_header_less_t *fifo_data,
+u8 v_mag_if_mag_u8)
+{
+u8 v_data_u8 = BMI160_INIT_VALUE;
+u32 v_fifo_index_u16 = BMI160_INIT_VALUE;
+u32 v_fifo_length_u16 = BMI160_INIT_VALUE;
+u8 v_accel_index_u8 = BMI160_INIT_VALUE;
+u8 v_gyro_index_u8 = BMI160_INIT_VALUE;
+u8 v_mag_index_u8 = BMI160_INIT_VALUE;
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+fifo_data->accel_frame_count = BMI160_INIT_VALUE;
+fifo_data->mag_frame_count = BMI160_INIT_VALUE;
+fifo_data->gyro_frame_count = BMI160_INIT_VALUE;
+/* disable the header data */
+com_rslt = bmi160_set_fifo_header_enable(BMI160_INIT_VALUE);
+/* read mag, Accel and gyro enable status*/
+com_rslt += bmi160_read_reg(BMI160_USER_FIFO_CONFIG_1_ADDR,
+&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+v_data_u8 = v_data_u8 & BMI160_FIFO_M_G_A_ENABLE;
+/* read the FIFO data of 1024 bytes*/
+com_rslt += bmi160_fifo_data(&v_fifo_data_u8[BMI160_INIT_VALUE],
+v_fifo_user_length_u16);
+v_fifo_length_u16 = v_fifo_user_length_u16;
+/* loop for executing the different conditions */
+for (v_fifo_index_u16 = BMI160_INIT_VALUE;
+v_fifo_index_u16 < v_fifo_length_u16;) {
+	/* condition for mag, gyro and Accel enable*/
+	if (v_data_u8 == BMI160_FIFO_M_G_A_ENABLE) {
+		/* Raw Mag x*/
+		mag_data.mag_x_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_X_LSB_DATA]);
+		mag_data.mag_x_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_X_MSB_DATA]);
+		/* Mag y data*/
+		mag_data.mag_y_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Y_LSB_DATA]);
+		mag_data.mag_y_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Y_MSB_DATA]);
+		/* Mag z data*/
+		mag_data.mag_z_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Z_LSB_DATA]);
+		mag_data.mag_z_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Z_MSB_DATA]);
+		/* Mag r data*/
+		mag_data.mag_r_y2_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_R_LSB_DATA]);
+		mag_data.mag_r_y2_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_R_MSB_DATA]);
+		com_rslt =
+		bmi160_second_if_mag_compensate_xyz(mag_data,
+		v_mag_if_mag_u8);
+		/* compensated Mag x */
+		fifo_data->mag_fifo[v_mag_index_u8].x =
+		processed_data.x;
+		/* compensated Mag y */
+		fifo_data->mag_fifo[v_mag_index_u8].y =
+		processed_data.y;
+		/* compensated Mag z */
+		fifo_data->mag_fifo[v_mag_index_u8].z =
+		processed_data.z;
+		/* check for Mag frame count*/
+		fifo_data->mag_frame_count =
+		fifo_data->mag_frame_count + BMI160_FRAME_COUNT;
+		/* Gyro raw x v_data_u8 */
+		fifo_data->gyro_fifo[v_gyro_index_u8].x  =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MGA_FIFO_G_X_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MGA_FIFO_G_X_LSB]));
+		/* Gyro raw y v_data_u8 */
+		fifo_data->gyro_fifo[v_gyro_index_u8].y =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MGA_FIFO_G_Y_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MGA_FIFO_G_Y_LSB]));
+		/* Gyro raw z v_data_u8 */
+		fifo_data->gyro_fifo[v_gyro_index_u8].z  =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MGA_FIFO_G_Z_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MGA_FIFO_G_Z_LSB]));
+		/* check for gyro frame count*/
+		fifo_data->gyro_frame_count =
+		fifo_data->gyro_frame_count + BMI160_FRAME_COUNT;
+		/* Accel raw x v_data_u8 */
+		fifo_data->accel_fifo[v_accel_index_u8].x =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MGA_FIFO_A_X_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MGA_FIFO_A_X_LSB]));
+		/* Accel raw y v_data_u8 */
+		fifo_data->accel_fifo[v_accel_index_u8].y =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MGA_FIFO_A_Y_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MGA_FIFO_A_Y_LSB]));
+		/* Accel raw z v_data_u8 */
+		fifo_data->accel_fifo[v_accel_index_u8].z =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MGA_FIFO_A_Z_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MGA_FIFO_A_Z_LSB]));
+		/* check for Accel frame count*/
+		fifo_data->accel_frame_count =
+		fifo_data->accel_frame_count + BMI160_FRAME_COUNT;
+		v_accel_index_u8++;
+		v_mag_index_u8++;
+		v_gyro_index_u8++;
+	   v_fifo_index_u16 = v_fifo_index_u16 +
+	   BMI160_FIFO_AMG_LENGTH;
+	}
+	/* condition for Mag and gyro enable*/
+	else if (v_data_u8 == BMI160_FIFO_M_G_ENABLE) {
+		/* Raw Mag x*/
+		mag_data.mag_x_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_X_LSB_DATA]);
+		mag_data.mag_x_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_X_MSB_DATA]);
+		/* Mag y data*/
+		mag_data.mag_y_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Y_LSB_DATA]);
+		mag_data.mag_y_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Y_MSB_DATA]);
+		/* Mag z data*/
+		mag_data.mag_z_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Z_LSB_DATA]);
+		mag_data.mag_z_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Z_MSB_DATA]);
+		/* Mag r data*/
+		mag_data.mag_r_y2_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_R_LSB_DATA]);
+		mag_data.mag_r_y2_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_R_MSB_DATA]);
+		 com_rslt = bmi160_second_if_mag_compensate_xyz(mag_data,
+		 v_mag_if_mag_u8);
+		 /* compensated Mag x */
+		fifo_data->mag_fifo[v_mag_index_u8].x =
+		processed_data.x;
+		/* compensated Mag y */
+		fifo_data->mag_fifo[v_mag_index_u8].y =
+		processed_data.y;
+		/* compensated Mag z */
+		fifo_data->mag_fifo[v_mag_index_u8].z =
+		processed_data.z;
+		/* check for Mag frame count*/
+		fifo_data->mag_frame_count =
+		fifo_data->mag_frame_count + BMI160_FRAME_COUNT;
+		/* Gyro raw x v_data_u8 */
+		fifo_data->gyro_fifo[v_gyro_index_u8].x  =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MG_FIFO_G_X_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MG_FIFO_G_X_LSB]));
+		/* Gyro raw y v_data_u8 */
+		fifo_data->gyro_fifo[v_gyro_index_u8].y =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MG_FIFO_G_Y_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MG_FIFO_G_Y_LSB]));
+		/* Gyro raw z v_data_u8 */
+		fifo_data->gyro_fifo[v_gyro_index_u8].z  =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MG_FIFO_G_Z_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MG_FIFO_G_Z_LSB]));
+		/* check for gyro frame count*/
+		fifo_data->gyro_frame_count =
+		fifo_data->gyro_frame_count + BMI160_FRAME_COUNT;
+		v_gyro_index_u8++;
+		v_mag_index_u8++;
+		v_fifo_index_u16 = v_fifo_index_u16 +
+		BMI160_FIFO_MA_OR_MG_LENGTH;
+	}
+	/* condition for Mag and Accel enable*/
+	else if (v_data_u8 == BMI160_FIFO_M_A_ENABLE) {
+		/* Raw Mag x*/
+		mag_data.mag_x_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_X_LSB_DATA]);
+		mag_data.mag_x_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_X_MSB_DATA]);
+		/* Mag y data*/
+		mag_data.mag_y_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Y_LSB_DATA]);
+		mag_data.mag_y_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Y_MSB_DATA]);
+		/* Mag z data*/
+		mag_data.mag_z_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Z_LSB_DATA]);
+		mag_data.mag_z_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Z_MSB_DATA]);
+			/* Mag r data*/
+		mag_data.mag_r_y2_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_R_LSB_DATA]);
+		mag_data.mag_r_y2_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_R_MSB_DATA]);
+		 com_rslt = bmi160_second_if_mag_compensate_xyz(mag_data,
+		 v_mag_if_mag_u8);
+		 /* compensated Mag x */
+		fifo_data->mag_fifo[v_mag_index_u8].x =
+		processed_data.x;
+		/* compensated Mag y */
+		fifo_data->mag_fifo[v_mag_index_u8].y =
+		processed_data.y;
+		/* compensated Mag z */
+		fifo_data->mag_fifo[v_mag_index_u8].z =
+		processed_data.z;
+		/* check for Mag frame count*/
+		fifo_data->mag_frame_count =
+		fifo_data->mag_frame_count + BMI160_FRAME_COUNT;
+		/* Accel raw x v_data_u8 */
+		fifo_data->accel_fifo[v_accel_index_u8].x =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MA_FIFO_A_X_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MA_FIFO_A_X_LSB]));
+		/* Accel raw y v_data_u8 */
+		fifo_data->accel_fifo[v_accel_index_u8].y =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MA_FIFO_A_Y_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MA_FIFO_A_Y_LSB]));
+		/* Accel raw z v_data_u8 */
+		fifo_data->accel_fifo[v_accel_index_u8].z =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MA_FIFO_A_Z_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_MA_FIFO_A_Z_LSB]));
+		/* check for Accel frame count*/
+		fifo_data->accel_frame_count =
+		fifo_data->accel_frame_count + BMI160_FRAME_COUNT;
+		v_accel_index_u8++;
+		v_mag_index_u8++;
+		v_fifo_index_u16 = v_fifo_index_u16 +
+		BMI160_FIFO_MA_OR_MG_LENGTH;
+	}
+	/* condition for gyro and Accel enable*/
+	else if (v_data_u8 == BMI160_FIFO_G_A_ENABLE) {
+		/* Gyro raw x v_data_u8 */
+		fifo_data->gyro_fifo[v_gyro_index_u8].x  =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_GA_FIFO_G_X_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_GA_FIFO_G_X_LSB]));
+		/* Gyro raw y v_data_u8 */
+		fifo_data->gyro_fifo[v_gyro_index_u8].y =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_GA_FIFO_G_Y_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_GA_FIFO_G_Y_LSB]));
+		/* Gyro raw z v_data_u8 */
+		fifo_data->gyro_fifo[v_gyro_index_u8].z  =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_GA_FIFO_G_Z_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_GA_FIFO_G_Z_LSB]));
+		/* check for gyro frame count*/
+		fifo_data->gyro_frame_count =
+		fifo_data->gyro_frame_count + BMI160_FRAME_COUNT;
+		/* Accel raw x v_data_u8 */
+		fifo_data->accel_fifo[v_accel_index_u8].x =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_GA_FIFO_A_X_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_GA_FIFO_A_X_LSB]));
+		/* Accel raw y v_data_u8 */
+		fifo_data->accel_fifo[v_accel_index_u8].y =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_GA_FIFO_A_Y_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_GA_FIFO_A_Y_LSB]));
+		/* Accel raw z v_data_u8 */
+		fifo_data->accel_fifo[v_accel_index_u8].z =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_GA_FIFO_A_Z_MSB])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_GA_FIFO_A_Z_LSB]));
+		/* check for Accel frame count*/
+		fifo_data->accel_frame_count =
+		fifo_data->accel_frame_count + BMI160_FRAME_COUNT;
+		v_accel_index_u8++;
+		v_gyro_index_u8++;
+		v_fifo_index_u16 = v_fifo_index_u16 +
+		BMI160_FIFO_AG_LENGTH;
+	}
+	/* condition  for gyro enable*/
+	else if (v_data_u8 == BMI160_FIFO_GYRO_ENABLE) {
+		/* Gyro raw x v_data_u8 */
+		fifo_data->gyro_fifo[v_gyro_index_u8].x  =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16
+		+ BMI160_FIFO_X_MSB_DATA])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16
+		+ BMI160_FIFO_X_LSB_DATA]));
+		/* Gyro raw y v_data_u8 */
+		fifo_data->gyro_fifo[v_gyro_index_u8].y =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16
+		+ BMI160_FIFO_Y_MSB_DATA])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16
+		+ BMI160_FIFO_Y_LSB_DATA]));
+		/* Gyro raw z v_data_u8 */
+		fifo_data->gyro_fifo[v_gyro_index_u8].z  =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16
+		+ BMI160_FIFO_Z_MSB_DATA])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16
+		+ BMI160_FIFO_Z_LSB_DATA]));
+		/* check for gyro frame count*/
+		fifo_data->gyro_frame_count =
+		fifo_data->gyro_frame_count + BMI160_FRAME_COUNT;
+		v_fifo_index_u16 = v_fifo_index_u16 + BMI160_FIFO_G_LENGTH;
+		v_gyro_index_u8++;
+	}
+	/* condition  for Accel enable*/
+	else if (v_data_u8 == BMI160_FIFO_A_ENABLE) {
+		/* Accel raw x v_data_u8 */
+		fifo_data->accel_fifo[v_accel_index_u8].x =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16
+		+ BMI160_FIFO_X_MSB_DATA])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 + BMI160_FIFO_X_LSB_DATA]));
+		/* Accel raw y v_data_u8 */
+		fifo_data->accel_fifo[v_accel_index_u8].y =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16
+		+ BMI160_FIFO_Y_MSB_DATA])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 + BMI160_FIFO_Y_LSB_DATA]));
+		/* Accel raw z v_data_u8 */
+		fifo_data->accel_fifo[v_accel_index_u8].z =
+		(s16)(((v_fifo_data_u8[v_fifo_index_u16
+		+ BMI160_FIFO_Z_MSB_DATA])
+		<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+		|(v_fifo_data_u8[v_fifo_index_u16 + BMI160_FIFO_Z_LSB_DATA]));
+		/* check for Accel frame count*/
+		fifo_data->accel_frame_count =
+		fifo_data->accel_frame_count + BMI160_FRAME_COUNT;
+		v_fifo_index_u16 = v_fifo_index_u16 + BMI160_FIFO_A_LENGTH;
+		v_accel_index_u8++;
+	}
+	/* condition  for Mag enable*/
+	else if (v_data_u8 == BMI160_FIFO_M_ENABLE) {
+		/* Raw Mag x*/
+		mag_data.mag_x_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_X_LSB_DATA]);
+		mag_data.mag_x_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_X_MSB_DATA]);
+		/* Mag y data*/
+		mag_data.mag_y_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Y_LSB_DATA]);
+		mag_data.mag_y_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Y_MSB_DATA]);
+		/* Mag z data*/
+		mag_data.mag_z_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Z_LSB_DATA]);
+		mag_data.mag_z_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_Z_MSB_DATA]);
+		/* Mag r data*/
+		mag_data.mag_r_y2_lsb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_R_LSB_DATA]);
+		mag_data.mag_r_y2_msb =
+		(v_fifo_data_u8[v_fifo_index_u16 +
+		BMI160_FIFO_R_MSB_DATA]);
+		com_rslt = bmi160_second_if_mag_compensate_xyz(mag_data,
+		v_mag_if_mag_u8);
+		 /* compensated Mag x */
+		fifo_data->mag_fifo[v_mag_index_u8].x =
+		processed_data.x;
+		/* compensated Mag y */
+		fifo_data->mag_fifo[v_mag_index_u8].y =
+		processed_data.y;
+		/* compensated Mag z */
+		fifo_data->mag_fifo[v_mag_index_u8].z =
+		processed_data.z;
+		/* check for Mag frame count*/
+		fifo_data->mag_frame_count =
+		fifo_data->mag_frame_count + BMI160_FRAME_COUNT;
+		v_fifo_index_u16 = v_fifo_index_u16
+		+ BMI160_FIFO_M_LENGTH;
+		v_mag_index_u8++;
+	}
+	/* condition  for FIFO over read enable*/
+	if (v_fifo_data_u8[v_fifo_index_u16] == FIFO_CONFIG_CHECK1 &&
+	v_fifo_data_u8[v_fifo_index_u16 + BMI160_FIFO_INDEX_LENGTH] ==
+	FIFO_CONFIG_CHECK2) {
+		break;
+		}
+	}
+	return com_rslt;
+}
+#endif
+ /*!
+ *	@brief This function is used to read the compensated value of mag
+ *	Before start reading the mag compensated data
+ *	make sure the following two points are addressed
+ *	@note
+ *	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note
+ *	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bmm150_mag_compensate_xyz(
+struct bmi160_mag_xyz_s32_t *mag_comp_xyz)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	struct bmi160_mag_xyzr_t mag_xyzr;
+
+	com_rslt = bmi160_read_mag_xyzr(&mag_xyzr);
+	if (com_rslt != 0)
+		return com_rslt;
+	/* Compensation for X axis */
+	mag_comp_xyz->x = bmi160_bmm150_mag_compensate_X(
+	mag_xyzr.x, mag_xyzr.r);
+
+	/* Compensation for Y axis */
+	mag_comp_xyz->y = bmi160_bmm150_mag_compensate_Y(
+	mag_xyzr.y, mag_xyzr.r);
+
+	/* Compensation for Z axis */
+	mag_comp_xyz->z = bmi160_bmm150_mag_compensate_Z(
+	mag_xyzr.z, mag_xyzr.r);
+
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to get the compensated BMM150-X axis data
+ *
+ *	Before start reading the Mag compensated X data
+ *	make sure the following two points are addressed
+ *	@note
+ *	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note
+ *	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *
+ *  @param  v_mag_data_x_s16 : The value of Mag raw X data
+ *  @param  v_data_r_u16 : The value of Mag R data
+ *
+ *	@return compensated X axis data
+ *
+ */
+s32 bmi160_bmm150_mag_compensate_X(s16 v_mag_data_x_s16, u16 v_data_r_u16)
+{
+s32 inter_retval = BMI160_INIT_VALUE;
+/* no overflow */
+if (v_mag_data_x_s16 != BMI160_MAG_FLIP_OVERFLOW_ADCVAL) {
+	if ((v_data_r_u16 != 0)
+	|| (mag_trim.dig_xyz1 != 0)) {
+		inter_retval = ((s32)(((u16)
+		((((s32)mag_trim.dig_xyz1)
+		<< BMI160_SHIFT_BIT_POSITION_BY_14_BITS)/
+		 (v_data_r_u16 != 0 ?
+		 v_data_r_u16 : mag_trim.dig_xyz1))) -
+		((u16)0x4000)));
+	} else {
+		inter_retval = BMI160_MAG_OVERFLOW_OUTPUT;
+		return inter_retval;
+	}
+	inter_retval = ((s32)((((s32)v_mag_data_x_s16) *
+			((((((((s32)mag_trim.dig_xy2) *
+			((((s32)inter_retval) *
+			((s32)inter_retval))
+			>> BMI160_SHIFT_BIT_POSITION_BY_07_BITS)) +
+			 (((s32)inter_retval) *
+			  ((s32)(((s16)mag_trim.dig_xy1)
+			  << BMI160_SHIFT_BIT_POSITION_BY_07_BITS))))
+			  >> BMI160_SHIFT_BIT_POSITION_BY_09_BITS) +
+		   ((s32)0x100000)) *
+		  ((s32)(((s16)mag_trim.dig_x2) +
+		  ((s16)0xA0))))
+		  >> BMI160_SHIFT_BIT_POSITION_BY_12_BITS))
+		  >> BMI160_SHIFT_BIT_POSITION_BY_13_BITS)) +
+		(((s16)mag_trim.dig_x1)
+		<< BMI160_SHIFT_BIT_POSITION_BY_03_BITS);
+	/* check the overflow output */
+	if (inter_retval == (s32)BMI160_MAG_OVERFLOW_OUTPUT)
+		inter_retval = BMI160_MAG_OVERFLOW_OUTPUT_S32;
+} else {
+	/* overflow */
+	inter_retval = BMI160_MAG_OVERFLOW_OUTPUT;
+}
+return inter_retval;
+}
+/*!
+ *	@brief This API is used to get the compensated BMM150-Y axis data
+ *
+ *	Before reading the Mag compensated Y axis data
+ *	make sure the following two points are addressed
+ *	@note
+ *	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled then set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note
+ *	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *
+ *  @param  v_mag_data_y_s16 : The value of Mag raw Y axis data
+ *  @param  v_data_r_u16 : The value of Mag R data
+ *
+ *	@return results of compensated Y axis data
+ */
+s32 bmi160_bmm150_mag_compensate_Y(s16 v_mag_data_y_s16, u16 v_data_r_u16)
+{
+s32 inter_retval = BMI160_INIT_VALUE;
+/* no overflow */
+if (v_mag_data_y_s16 != BMI160_MAG_FLIP_OVERFLOW_ADCVAL) {
+	if ((v_data_r_u16 != 0)
+	|| (mag_trim.dig_xyz1 != 0)) {
+		inter_retval = ((s32)(((u16)(((
+		(s32)mag_trim.dig_xyz1)
+		<< BMI160_SHIFT_BIT_POSITION_BY_14_BITS) /
+		(v_data_r_u16 != 0 ?
+		 v_data_r_u16 : mag_trim.dig_xyz1))) -
+		((u16)0x4000)));
+		} else {
+			inter_retval = BMI160_MAG_OVERFLOW_OUTPUT;
+			return inter_retval;
+		}
+	inter_retval = ((s32)((((s32)v_mag_data_y_s16) * ((((((((s32)
+		mag_trim.dig_xy2) * ((((s32) inter_retval) *
+		((s32)inter_retval)) >> BMI160_SHIFT_BIT_POSITION_BY_07_BITS))
+		+ (((s32)inter_retval) *
+		((s32)(((s16)mag_trim.dig_xy1)
+		<< BMI160_SHIFT_BIT_POSITION_BY_07_BITS))))
+		>> BMI160_SHIFT_BIT_POSITION_BY_09_BITS) +
+		((s32)0x100000))
+		* ((s32)(((s16)mag_trim.dig_y2)
+		+ ((s16)0xA0))))
+		>> BMI160_SHIFT_BIT_POSITION_BY_12_BITS))
+		>> BMI160_SHIFT_BIT_POSITION_BY_13_BITS)) +
+		(((s16)mag_trim.dig_y1)
+		<< BMI160_SHIFT_BIT_POSITION_BY_03_BITS);
+	/* check the overflow output */
+	if (inter_retval == (s32)BMI160_MAG_OVERFLOW_OUTPUT)
+		inter_retval = BMI160_MAG_OVERFLOW_OUTPUT_S32;
+} else {
+	/* overflow */
+	inter_retval = BMI160_MAG_OVERFLOW_OUTPUT;
+}
+return inter_retval;
+}
+/*!
+ *	@brief This API is used to get the compensated BMM150-Z axis data
+ *
+ *	Before reading the Mag compensated Z data
+ *	make sure the following two points are addressed
+ *	@note
+ *	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled then set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note
+ *	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *
+ *  @param  v_mag_data_z_s16 : The value of Mag raw Z data
+ *  @param  v_data_r_u16 : The value of Mag R data
+ *
+ *	@return results of compensated Z axis data
+ */
+s32 bmi160_bmm150_mag_compensate_Z(s16 v_mag_data_z_s16, u16 v_data_r_u16)
+{
+	s32 retval = BMI160_INIT_VALUE;
+
+	if (v_mag_data_z_s16 != BMI160_MAG_HALL_OVERFLOW_ADCVAL) {
+		if ((v_data_r_u16 != 0)
+		   && (mag_trim.dig_z2 != 0)
+		   && (mag_trim.dig_z1 != 0)) {
+			retval = (((((s32)(v_mag_data_z_s16 - mag_trim.dig_z4))
+			<< BMI160_SHIFT_BIT_POSITION_BY_15_BITS) -
+			((((s32)mag_trim.dig_z3) *
+			((s32)(((s16)v_data_r_u16) -
+			((s16)mag_trim.dig_xyz1))))
+			>> BMI160_SHIFT_BIT_POSITION_BY_02_BITS))/
+			(mag_trim.dig_z2 +
+			((s16)(((((s32)mag_trim.dig_z1) *
+			((((s16)v_data_r_u16)
+			<< BMI160_SHIFT_BIT_POSITION_BY_01_BIT))) +
+			(1 << BMI160_SHIFT_BIT_POSITION_BY_15_BITS))
+			>> BMI160_SHIFT_BIT_POSITION_BY_16_BITS))));
+		}
+	} else {
+		retval = BMI160_MAG_OVERFLOW_OUTPUT;
+	}
+		return retval;
+}
+ /*!
+ *	@brief This function is used to initialize the bmm150 sensor
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bmm150_mag_interface_init(u8 *v_chip_id_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = BMI160_INIT_VALUE;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	u8 v_accel_power_mode_status = BMI160_INIT_VALUE;
+
+	com_rslt = bmi160_get_accel_power_mode_stat(
+		&v_accel_power_mode_status);
+	/* Accel operation mode to normal*/
+	if (v_accel_power_mode_status != BMI160_ACCEL_NORMAL_MODE) {
+		com_rslt += bmi160_set_command_register(ACCEL_MODE_NORMAL);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+	/* write the Mag power mode as NORMAL*/
+	com_rslt += bmi160_set_mag_interface_normal();
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* Write the BMM150 i2c address*/
+	com_rslt += bmi160_set_i2c_device_addr(BMI160_AUX_BMM150_I2C_ADDRESS);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* enable the Mag interface to manual mode*/
+	com_rslt += bmi160_set_mag_manual_enable(BMI160_MANUAL_ENABLE);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	bmi160_get_mag_manual_enable(&v_data_u8);
+	/*Enable the MAG interface */
+	com_rslt += bmi160_set_if_mode(BMI160_ENABLE_MAG_IF_MODE);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	bmi160_get_if_mode(&v_data_u8);
+	/* Mag normal mode*/
+	com_rslt += bmi160_bmm150_mag_wakeup();
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* Read the BMM150 device id is 0x32*/
+	com_rslt += bmi160_set_mag_read_addr(BMI160_BMM150_CHIP_ID);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	*v_chip_id_u8 = v_data_u8;
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* write the power mode register*/
+	com_rslt += bmi160_set_mag_write_data(BMI160_BMM_POWER_MODE_REG);
+	/*write 0x4C register to write set power mode to normal*/
+	com_rslt += bmi160_set_mag_write_addr(
+	BMI160_BMM150_POWER_MODE_REG);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* read the Mag trim values*/
+	com_rslt += bmi160_read_bmm150_mag_trim();
+	/* To avoid the auto mode enable when manual mode operation running*/
+	bmm150_manual_auto_condition_u8_g = BMI160_MANUAL_ENABLE;
+	/* write the XY and Z repetitions*/
+	com_rslt += bmi160_set_bmm150_mag_presetmode(
+	BMI160_MAG_PRESETMODE_REGULAR);
+	/* To avoid the auto mode enable when manual mode operation running*/
+	bmm150_manual_auto_condition_u8_g = BMI160_MANUAL_DISABLE;
+	/* Set the power mode of Mag as force mode*/
+	com_rslt += bmi160_set_mag_write_data(BMI160_BMM150_FORCE_MODE);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* write into power mode register*/
+	com_rslt += bmi160_set_mag_write_addr(
+	BMI160_BMM150_POWER_MODE_REG);
+	/* write the Mag v_data_bw_u8 as 25Hz*/
+	com_rslt += bmi160_set_mag_output_data_rate(
+	BMI160_MAG_OUTPUT_DATA_RATE_25HZ);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+	/* When Mag interface is in auto mode - The Mag read address
+	starts at the register 0x42*/
+	com_rslt += bmi160_set_mag_read_addr(
+	BMI160_BMM150_DATA_REG);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* enable Mag interface to auto mode*/
+	com_rslt += bmi160_set_mag_manual_enable(BMI160_MANUAL_DISABLE);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	bmi160_get_mag_manual_enable(&v_data_u8);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+		switch (v_accel_power_mode_status) {
+
+		case BMI160_ACCEL_SUSPEND:
+			com_rslt += bmi160_set_command_register(ACCEL_SUSPEND);
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+			break;
+
+		case BMI160_ACCEL_LOW_POWER:
+			com_rslt += bmi160_set_command_register(ACCEL_LOWPOWER);
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+			break;
+
+		default:
+			break;
+	}
+	return com_rslt;
+}
+ /*!
+ *	@brief This function is used to set the Mag power control
+ *	bit enable
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bmm150_mag_wakeup(void)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = BMI160_INIT_VALUE;
+	u8 v_try_times_u8 = BMI160_BMM150_MAX_RETRY_WAKEUP;
+	u8 v_power_control_bit_u8 = BMI160_INIT_VALUE;
+	u8 i = BMI160_INIT_VALUE;
+
+	for (i = BMI160_INIT_VALUE; i < v_try_times_u8; i++) {
+		com_rslt = bmi160_set_mag_write_data(BMI160_BMM150_POWER_ON);
+		p_bmi160->delay_msec(BMI160_BMM150_WAKEUP_DELAY1);
+		/*write 0x4B register to enable power control bit*/
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_POWER_CONTROL_REG);
+		p_bmi160->delay_msec(BMI160_BMM150_WAKEUP_DELAY2);
+		com_rslt += bmi160_set_mag_read_addr(
+		BMI160_BMM150_POWER_CONTROL_REG);
+		/* 0x04 is secondary read Mag x LSB register */
+		p_bmi160->delay_msec(BMI160_BMM150_WAKEUP_DELAY3);
+		com_rslt += bmi160_read_reg(BMI160_USER_DATA_0_ADDR,
+		&v_power_control_bit_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+		v_power_control_bit_u8 = BMI160_BMM150_SET_POWER_CONTROL
+		& v_power_control_bit_u8;
+		if (v_power_control_bit_u8 == BMI160_BMM150_POWER_ON)
+			break;
+	}
+	com_rslt = (i >= v_try_times_u8) ?
+	BMI160_BMM150_POWER_ON_FAIL : BMI160_BMM150_POWER_ON_SUCCESS;
+	return com_rslt;
+}
+ /*!
+ *	@brief This function is used to set the Mag
+ *	power mode.
+ *	@note Before setting the Mag power mode
+ *	make sure the following points are addressed
+ *		Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *
+ *	@param v_mag_sec_if_pow_mode_u8 : The value of Mag power mode
+ *  value    |  mode
+ * ----------|------------
+ *   0       | BMI160_MAG_FORCE_MODE
+ *   1       | BMI160_MAG_SUSPEND_MODE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_bmm150_mag_and_secondary_if_power_mode(
+u8 v_mag_sec_if_pow_mode_u8)
+{
+	  u8 v_accel_power_mode_status = BMI160_INIT_VALUE;
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = BMI160_INIT_VALUE;
+
+	com_rslt = bmi160_get_accel_power_mode_stat(
+		&v_accel_power_mode_status);
+	/* set the Accel power mode to NORMAL*/
+	if (v_accel_power_mode_status != BMI160_ACCEL_NORMAL_MODE) {
+		com_rslt += bmi160_set_command_register(ACCEL_MODE_NORMAL);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+
+	switch (v_mag_sec_if_pow_mode_u8) {
+	case BMI160_MAG_FORCE_MODE:
+		/* set the secondary Mag power mode as NORMAL*/
+		com_rslt += bmi160_set_mag_interface_normal();
+		/* set the Mag power mode as FORCE mode*/
+		com_rslt += bmi160_bmm150_mag_set_power_mode(FORCE_MODE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	break;
+	case BMI160_MAG_SUSPEND_MODE:
+		/* set the Mag power mode as SUSPEND mode*/
+		com_rslt += bmi160_bmm150_mag_set_power_mode(SUSPEND_MODE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* set the secondary Mag power mode as SUSPEND*/
+		com_rslt += bmi160_set_command_register(MAG_MODE_SUSPEND);
+		p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+	break;
+	}
+	if (p_bmi160->mag_manual_enable == BMI160_MANUAL_ENABLE) {
+		/* set Mag interface auto mode*/
+		com_rslt += bmi160_set_mag_manual_enable(
+		BMI160_MANUAL_DISABLE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+		switch (v_accel_power_mode_status) {
+
+		case BMI160_ACCEL_SUSPEND:
+			com_rslt += bmi160_set_command_register(ACCEL_SUSPEND);
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+			break;
+
+		case BMI160_ACCEL_LOW_POWER:
+			com_rslt += bmi160_set_command_register(ACCEL_LOWPOWER);
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+			break;
+
+		default:
+			break;
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This function is used to set the Mag
+ *	power mode.
+ *	@note
+ *	Before setting the Mag power mode make sure the following
+ *	two points are addressed
+ *	@note
+ *	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled then set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note
+ *	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode by using the
+ *		function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *	@param v_mag_pow_mode_u8 : The value of Mag power mode
+ *  value    |  mode
+ * ----------|------------
+ *   0       | FORCE_MODE
+ *   1       | SUSPEND_MODE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bmm150_mag_set_power_mode(
+u8 v_mag_pow_mode_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* set Mag interface manual mode*/
+	if (p_bmi160->mag_manual_enable != BMI160_MANUAL_ENABLE) {
+		com_rslt = bmi160_set_mag_manual_enable(
+		BMI160_MANUAL_ENABLE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		if (com_rslt != SUCCESS)
+			return com_rslt;
+	} else {
+		com_rslt = SUCCESS;
+	}
+	switch (v_mag_pow_mode_u8) {
+	case FORCE_MODE:
+		/* Set the power control bit enabled */
+		com_rslt = bmi160_bmm150_mag_wakeup();
+		/* write the Mag power mode as FORCE mode*/
+		com_rslt += bmi160_set_mag_write_data(
+		BMI160_BMM150_FORCE_MODE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_POWER_MODE_REG);
+		p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+		/* To avoid the auto mode enable when manual
+		mode operation running*/
+		bmm150_manual_auto_condition_u8_g = BMI160_MANUAL_ENABLE;
+		/* set the preset mode */
+		com_rslt += bmi160_set_bmm150_mag_presetmode(
+		BMI160_MAG_PRESETMODE_REGULAR);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* To avoid the auto mode enable when manual
+		mode operation running*/
+		bmm150_manual_auto_condition_u8_g = BMI160_MANUAL_DISABLE;
+		/* set the Mag read address to data registers*/
+		com_rslt += bmi160_set_mag_read_addr(
+		BMI160_BMM150_DATA_REG);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	break;
+	case SUSPEND_MODE:
+		/* Set the power mode of Mag as suspend mode*/
+		com_rslt = bmi160_set_mag_write_data(
+		BMI160_BMM150_POWER_OFF);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_POWER_CONTROL_REG);
+		p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+	break;
+	}
+	/* set Mag interface auto mode*/
+	if (p_bmi160->mag_manual_enable == BMI160_MANUAL_ENABLE) {
+		com_rslt += bmi160_set_mag_manual_enable(
+		BMI160_MANUAL_DISABLE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This API is used to set the pre-set modes of bmm150
+ *	The pre-set mode setting depends on the data rate and xy and z
+ *	repetitions
+ *
+ *	@note
+ *	Before setting the Mag preset mode
+ *	make sure the following two points are addressed
+ *	@note
+ *	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note
+ *	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode by using the function
+ *		bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *  @param  v_mode_u8: The value of pre-set mode selection value
+ *  value    |  pre_set mode
+ * ----------|------------
+ *   1       | BMI160_MAG_PRESETMODE_LOWPOWER
+ *   2       | BMI160_MAG_PRESETMODE_REGULAR
+ *   3       | BMI160_MAG_PRESETMODE_HIGHACCURACY
+ *   4       | BMI160_MAG_PRESETMODE_ENHANCED
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_bmm150_mag_presetmode(u8 v_mode_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* set Mag interface manual mode*/
+	if (p_bmi160->mag_manual_enable != BMI160_MANUAL_ENABLE)
+			com_rslt = bmi160_set_mag_manual_enable(
+			BMI160_MANUAL_ENABLE);
+	switch (v_mode_u8) {
+	case BMI160_MAG_PRESETMODE_LOWPOWER:
+		/* write the XY and Z repetitions*/
+
+		com_rslt = bmi160_set_mag_write_data(
+		BMI160_MAG_LOWPOWER_REPXY);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_XY_REP);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* write the Z repetitions*/
+
+		com_rslt += bmi160_set_mag_write_data(
+		BMI160_MAG_LOWPOWER_REPZ);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_Z_REP);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* set the Mag v_data_u8 rate as 10 to the register 0x4C*/
+		com_rslt += bmi160_set_mag_write_data(
+		BMI160_MAG_LOWPOWER_DR);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_POWER_MODE_REG);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	break;
+	case BMI160_MAG_PRESETMODE_REGULAR:
+		/* write the XY and Z repetitions*/
+
+		com_rslt = bmi160_set_mag_write_data(
+		BMI160_MAG_REGULAR_REPXY);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_XY_REP);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* write the Z repetitions*/
+
+		com_rslt += bmi160_set_mag_write_data(
+		BMI160_MAG_REGULAR_REPZ);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_Z_REP);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* set the Mag v_data_u8 rate as 10 to the register 0x4C*/
+		com_rslt += bmi160_set_mag_write_data(
+		BMI160_MAG_REGULAR_DR);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_POWER_MODE_REG);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	break;
+	case BMI160_MAG_PRESETMODE_HIGHACCURACY:
+		/* write the XY and Z repetitions*/
+
+		com_rslt = bmi160_set_mag_write_data(
+		BMI160_MAG_HIGHACCURACY_REPXY);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_XY_REP);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* write the Z repetitions*/
+
+		com_rslt += bmi160_set_mag_write_data(
+		BMI160_MAG_HIGHACCURACY_REPZ);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_Z_REP);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* set the Mag v_data_u8 rate as 20 to the register 0x4C*/
+		com_rslt += bmi160_set_mag_write_data(
+		BMI160_MAG_HIGHACCURACY_DR);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_POWER_MODE_REG);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	break;
+	case BMI160_MAG_PRESETMODE_ENHANCED:
+		/* write the XY and Z repetitions*/
+
+		com_rslt = bmi160_set_mag_write_data(
+		BMI160_MAG_ENHANCED_REPXY);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_XY_REP);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* write the Z repetitions*/
+
+		com_rslt += bmi160_set_mag_write_data(
+		BMI160_MAG_ENHANCED_REPZ);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_Z_REP);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* set the Mag v_data_u8 rate as 10 to the register 0x4C*/
+		com_rslt += bmi160_set_mag_write_data(
+		BMI160_MAG_ENHANCED_DR);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_POWER_MODE_REG);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+	break;
+	}
+	if (bmm150_manual_auto_condition_u8_g == BMI160_MANUAL_DISABLE) {
+			com_rslt += bmi160_set_mag_write_data(
+			BMI160_BMM150_FORCE_MODE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_BMM150_POWER_MODE_REG);
+		p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_read_addr(BMI160_BMM150_DATA_REG);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* set Mag interface auto mode*/
+		if (p_bmi160->mag_manual_enable == BMI160_MANUAL_ENABLE)
+			com_rslt = bmi160_set_mag_manual_enable(
+			BMI160_MANUAL_DISABLE);
+		}
+	return com_rslt;
+}
+ /*!
+ *	@brief This function is used to read the trim values of Mag
+ *
+ *	@note Before reading the Mag trimming values
+ *	make sure the following two points are addressed
+ *	@note
+ *	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note
+ *	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_bmm150_mag_trim(void)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array holding the bmm150 trim data
+	*/
+	u8 v_data_u8[BMI160_MAG_TRIM_DATA_SIZE] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE};
+	/* read dig_x1 value */
+	com_rslt = bmi160_set_mag_read_addr(
+	BMI160_MAG_DIG_X1);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_X1],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	mag_trim.dig_x1 = v_data_u8[BMI160_BMM150_DIG_X1];
+	/* read dig_y1 value */
+	com_rslt += bmi160_set_mag_read_addr(
+	BMI160_MAG_DIG_Y1);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_Y1],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	mag_trim.dig_y1 = v_data_u8[BMI160_BMM150_DIG_Y1];
+
+	/* read dig_x2 value */
+	com_rslt += bmi160_set_mag_read_addr(
+	BMI160_MAG_DIG_X2);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_X2],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	mag_trim.dig_x2 = v_data_u8[BMI160_BMM150_DIG_X2];
+	/* read dig_y2 value */
+	com_rslt += bmi160_set_mag_read_addr(
+	BMI160_MAG_DIG_Y2);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_Y3],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	mag_trim.dig_y2 = v_data_u8[BMI160_BMM150_DIG_Y3];
+
+	/* read dig_xy1 value */
+	com_rslt += bmi160_set_mag_read_addr(
+	BMI160_MAG_DIG_XY1);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_XY1],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	mag_trim.dig_xy1 = v_data_u8[BMI160_BMM150_DIG_XY1];
+	/* read dig_xy2 value */
+	com_rslt += bmi160_set_mag_read_addr(
+	BMI160_MAG_DIG_XY2);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is v_mag_x_s16 ls register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_XY2],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	mag_trim.dig_xy2 = v_data_u8[BMI160_BMM150_DIG_XY2];
+
+	/* read dig_z1 LSB value */
+	com_rslt += bmi160_set_mag_read_addr(
+	BMI160_MAG_DIG_Z1_LSB);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_Z1_LSB],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* read dig_z1 MSB value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_MAG_DIG_Z1_MSB);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is v_mag_x_s16 MSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_Z1_MSB],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	mag_trim.dig_z1 =
+	(u16)((((u32)((u8)v_data_u8[BMI160_BMM150_DIG_Z1_MSB]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS) |
+			(v_data_u8[BMI160_BMM150_DIG_Z1_LSB]));
+
+	/* read dig_z2 LSB value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_MAG_DIG_Z2_LSB);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_Z2_LSB],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* read dig_z2 MSB value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_MAG_DIG_Z2_MSB);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is v_mag_x_s16 MSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_Z2_MSB],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	mag_trim.dig_z2 =
+	(s16)((((s32)((s8)v_data_u8[BMI160_BMM150_DIG_Z2_MSB]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS) |
+			(v_data_u8[BMI160_BMM150_DIG_Z2_LSB]));
+
+	/* read dig_z3 LSB value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_MAG_DIG_Z3_LSB);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_DIG_Z3_LSB],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* read dig_z3 MSB value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_MAG_DIG_Z3_MSB);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is v_mag_x_s16 MSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_DIG_Z3_MSB],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	mag_trim.dig_z3 =
+	(s16)((((s32)((s8)v_data_u8[BMI160_BMM150_DIG_DIG_Z3_MSB]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS) |
+			(v_data_u8[BMI160_BMM150_DIG_DIG_Z3_LSB]));
+	/* read dig_z4 LSB value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_MAG_DIG_Z4_LSB);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_DIG_Z4_LSB],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* read dig_z4 MSB value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_MAG_DIG_Z4_MSB);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is v_mag_x_s16 MSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_DIG_Z4_MSB],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	mag_trim.dig_z4 =
+	(s16)((((s32)((s8)v_data_u8[BMI160_BMM150_DIG_DIG_Z4_MSB]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS) |
+			(v_data_u8[BMI160_BMM150_DIG_DIG_Z4_LSB]));
+
+	/* read dig_xyz1 LSB value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_MAG_DIG_XYZ1_LSB);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_DIG_XYZ1_LSB],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* read dig_xyz1 MSB value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_MAG_DIG_XYZ1_MSB);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is v_mag_x_s16 MSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[BMI160_BMM150_DIG_DIG_XYZ1_MSB],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	mag_trim.dig_xyz1 =
+	(u16)((((u32)((u8)v_data_u8[BMI160_BMM150_DIG_DIG_XYZ1_MSB]))
+			<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS) |
+			(v_data_u8[BMI160_BMM150_DIG_DIG_XYZ1_LSB]));
+
+	return com_rslt;
+}
+ #ifdef AKM09912
+ /***************************************************/
+/**\name	FUNCTIONS FOR AKM09912*/
+/***************************************************/
+
+/*!
+ *	@brief This API is used to get the compensated X data
+ *	of AKM09912 sensor
+ *	Output of X is s32
+ *	@note	Before start reading the Mag compensated X data
+ *			make sure the following two points are addressed
+ *	@note 1. Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note 2. And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *	@param v_bst_akm_x_s16 : The value of X data
+ *
+ *	@return compensated X data value
+ *
+ */
+s32 bmi160_bst_akm09912_compensate_X(s16 v_bst_akm_x_s16)
+{
+	/*Return value of AKM x compensated data*/
+	s32 retval = BMI160_INIT_VALUE;
+	/* Convert raw data into compensated data*/
+	retval = v_bst_akm_x_s16 *
+	(akm_asa_data.asax + AKM09912_SENSITIVITY)
+	/ AKM09912_SENSITIVITY_DIV;
+	return retval;
+}
+/*!
+ *	@brief This API is used to get the compensated Y data
+ *	of AKM09912 sensor
+ *	@note	Before reading the Mag compensated Y data
+ *		make sure the following two points are addressed
+ *	@note 1. Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note 2. And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode by using the function
+ *		bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *  @param v_bst_akm_y_s16 : The value of Y data
+ *
+ *	@return compensated Y data value
+ *
+ */
+s32 bmi160_bst_akm09912_compensate_Y(s16 v_bst_akm_y_s16)
+{
+	/*Return value of AKM y compensated data*/
+	s32 retval = BMI160_INIT_VALUE;
+	/* Convert raw data into compensated data*/
+	retval = v_bst_akm_y_s16 *
+	(akm_asa_data.asax + AKM09912_SENSITIVITY)
+	/ AKM09912_SENSITIVITY_DIV;
+	return retval;
+}
+/*!
+ *	@brief This API is used to get the compensated Z data
+ *	of AKM09912
+ *	Output of X is s32
+ *	@note	Before start reading the Mag compensated Z data
+ *			make sure the following two points are addressed
+ *	@note 1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note 2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *  @param v_bst_akm_z_s16 : The value of Z data
+ *
+ *	@return compensated Z data value
+ *
+ */
+s32 bmi160_bst_akm09912_compensate_Z(s16 v_bst_akm_z_s16)
+{
+	/*Return value of AKM z compensated data*/
+	s32 retval = BMI160_INIT_VALUE;
+	/* Convert raw data into compensated data*/
+	retval = v_bst_akm_z_s16 *
+	(akm_asa_data.asax + AKM09912_SENSITIVITY)
+	/ AKM09912_SENSITIVITY_DIV;
+	return retval;
+}
+
+ /*!
+ *	@brief This function is used to read the compensated value of
+ *	AKM09912 sensor
+ *	@note Before start reading the Mag compensated data's
+ *	make sure the following two points are addressed
+ *	@note	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode by using the function
+ *		bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_akm09912_compensate_xyz(
+struct bmi160_bst_akm_xyz_t *bst_akm_xyz)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	struct bmi160_mag_t mag_xyz;
+
+	com_rslt = bmi160_read_mag_xyz(&mag_xyz, BST_AKM);
+	/* Compensation for X axis */
+	bst_akm_xyz->x = bmi160_bst_akm09912_compensate_X(mag_xyz.x);
+
+	/* Compensation for Y axis */
+	bst_akm_xyz->y = bmi160_bst_akm09912_compensate_Y(mag_xyz.y);
+
+	/* Compensation for Z axis */
+	bst_akm_xyz->z = bmi160_bst_akm09912_compensate_Z(mag_xyz.z);
+
+	return com_rslt;
+}
+#endif
+#ifdef AKM09911
+/***************************************************/
+/**\name	FUNCTIONS FOR AKM09911 */
+/***************************************************/
+/*!
+ *	@brief This API is used to get the compensated X data
+ *	of AKM09911 sensor
+ *	Output of X is s32
+ *	@note	Before start reading the Mag compensated X data
+ *			make sure the following two points are addressed
+ *	@note 1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note 2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *  @param v_bst_akm_x_s16 : The value of X data
+ *
+ *	@return compensated X data value
+ *
+ */
+s32 bmi160_bst_akm09911_compensate_X(s16 v_bst_akm_x_s16)
+{
+	/*Return value of AKM x compensated v_data_u8*/
+	s32 retval = BMI160_INIT_VALUE;
+	/* Convert raw v_data_u8 into compensated v_data_u8*/
+	retval = (v_bst_akm_x_s16 *
+	((akm_asa_data.asax/AKM09911_SENSITIVITY_DIV) +
+	BMI160_GEN_READ_WRITE_DATA_LENGTH));
+	return retval;
+}
+/*!
+ *	@brief This API is used to get the compensated Y data
+ *	of AKM09911 sensor
+ *  Output of Y is s32
+ *	@note	Before start reading the Mag compensated Y data
+ *			make sure the following two points are addressed
+ *	@note 1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note 2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *  @param v_bst_akm_y_s16 : The value of Y data
+ *
+ *	@return compensated Y data value
+ *
+ */
+s32 bmi160_bst_akm09911_compensate_Y(s16 v_bst_akm_y_s16)
+{
+	/*Return value of AKM y compensated v_data_u8*/
+	s32 retval = BMI160_INIT_VALUE;
+	/* Convert raw v_data_u8 into compensated v_data_u8*/
+	retval = (v_bst_akm_y_s16 *
+	((akm_asa_data.asay/AKM09911_SENSITIVITY_DIV) +
+	BMI160_GEN_READ_WRITE_DATA_LENGTH));
+	return retval;
+}
+/*!
+ *	@brief This API is used to get the compensated Z data
+ *	of AKM09911 sensor
+ *  Out put of Z is s32
+ *	@note	Before start reading the Mag compensated Z data
+ *			make sure the following two points are addressed
+ *	@note 1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note 2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *  @param v_bst_akm_z_s16 : The value of Z data
+ *
+ *	@return compensated Z data value
+ *
+ */
+s32 bmi160_bst_akm09911_compensate_Z(s16 v_bst_akm_z_s16)
+{
+	/*Return value of AKM z compensated v_data_u8*/
+	s32 retval = BMI160_INIT_VALUE;
+	/* Convert raw v_data_u8 into compensated v_data_u8*/
+	retval = (v_bst_akm_z_s16 *
+	((akm_asa_data.asaz/AKM09911_SENSITIVITY_DIV) +
+	BMI160_GEN_READ_WRITE_DATA_LENGTH));
+	return retval;
+}
+ /*!
+ *	@brief This function is used to read the compensated value of
+ *	AKM09911
+ *	@note Before start reading the Mag compensated data's
+ *	make sure the following two points are addressed
+ *	@note	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode by using the function
+ *		bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_akm09911_compensate_xyz(
+struct bmi160_bst_akm_xyz_t *bst_akm_xyz)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	struct bmi160_mag_t mag_xyz;
+
+	com_rslt = bmi160_read_mag_xyz(&mag_xyz, BST_AKM);
+	/* Compensation for X axis */
+	bst_akm_xyz->x = bmi160_bst_akm09911_compensate_X(mag_xyz.x);
+
+	/* Compensation for Y axis */
+	bst_akm_xyz->y = bmi160_bst_akm09911_compensate_Y(mag_xyz.y);
+
+	/* Compensation for Z axis */
+	bst_akm_xyz->z = bmi160_bst_akm09911_compensate_Z(mag_xyz.z);
+
+	return com_rslt;
+}
+
+#endif
+
+#if defined AKM09911 || defined AKM09912
+/***************************************************/
+/**\name	FUNCTIONS FOR AKM09911 and AKM09912 */
+/***************************************************/
+/*!
+ *	@brief This function is used to initialize
+ *	the AKM09911 and AKM09912 sensor
+ *
+ *
+ *	@param v_akm_i2c_address_u8: The value of device address
+ *	AKM sensor   |  Slave address
+ * --------------|---------------------
+ *  AKM09911     |  AKM09911_I2C_ADDR_1
+ *     -         |  and AKM09911_I2C_ADDR_2
+ *  AKM09912     |  AKM09912_I2C_ADDR_1
+ *     -         |  AKM09912_I2C_ADDR_2
+ *     -         |  AKM09912_I2C_ADDR_3
+ *     -         |  AKM09912_I2C_ADDR_4
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_akm_mag_interface_init(
+u8 v_akm_i2c_address_u8)
+{
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	u8 v_akm_chip_id_u8 = BMI160_INIT_VALUE;
+	u8 v_accel_power_mode_status = BMI160_INIT_VALUE;
+
+	com_rslt = bmi160_get_accel_power_mode_stat(
+		&v_accel_power_mode_status);
+	/* set Accel operation mode to normal*/
+	if (v_accel_power_mode_status != BMI160_ACCEL_NORMAL_MODE) {
+		com_rslt += bmi160_set_command_register(ACCEL_MODE_NORMAL);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+	com_rslt += bmi160_set_command_register(MAG_MODE_NORMAL);
+	p_bmi160->delay_msec(BMI160_AKM_INIT_DELAY);
+	bmi160_get_mag_power_mode_stat(&v_data_u8);
+	/* Write the AKM09911 0r AKM09912 i2c address*/
+	com_rslt += bmi160_set_i2c_device_addr(v_akm_i2c_address_u8);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* enable the Mag interface to manual mode*/
+	com_rslt += bmi160_set_mag_manual_enable(BMI160_MANUAL_ENABLE);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	bmi160_get_mag_manual_enable(&v_data_u8);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/*Enable the MAG interface */
+	com_rslt += bmi160_set_if_mode(BMI160_ENABLE_MAG_IF_MODE);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	bmi160_get_if_mode(&v_data_u8);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+	/* Set the AKM Fuse ROM mode */
+	com_rslt += bmi160_set_mag_write_data(AKM_FUSE_ROM_MODE);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* AKM mode address is 0x31*/
+	com_rslt += bmi160_set_mag_write_addr(AKM_POWER_MODE_REG);
+	p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	/* Read the Fuse ROM v_data_u8 from registers
+	0x60,0x61 and 0x62*/
+	/* ASAX v_data_u8 */
+	com_rslt += bmi160_read_bst_akm_sensitivity_data();
+	p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	/* read the device id of the AKM sensor
+	if device id is 0x05 - AKM09911
+	if device id is 0x04 - AKM09912*/
+	com_rslt += bmi160_set_mag_read_addr(AKM_CHIP_ID_REG);
+	/* 0x04 is mag_x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_akm_chip_id_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	/* Set power down mode*/
+	com_rslt += bmi160_set_mag_write_data(AKM_POWER_DOWN_MODE_DATA);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* AKM mode address is 0x31*/
+	com_rslt += bmi160_set_mag_write_addr(AKM_POWER_MODE_REG);
+	p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	/* Set AKM Force mode*/
+	com_rslt += bmi160_set_mag_write_data(
+	AKM_SINGLE_MEASUREMENT_MODE);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* AKM mode address is 0x31*/
+	com_rslt += bmi160_set_mag_write_addr(AKM_POWER_MODE_REG);
+	p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	/* Set the AKM read xyz v_data_u8 address*/
+	com_rslt += bmi160_set_mag_read_addr(AKM_DATA_REGISTER);
+	/* write the Mag v_data_bw_u8 as 25Hz*/
+	com_rslt += bmi160_set_mag_output_data_rate(
+	BMI160_MAG_OUTPUT_DATA_RATE_25HZ);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* Enable Mag interface to auto mode*/
+	com_rslt += bmi160_set_mag_manual_enable(BMI160_MANUAL_DISABLE);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	bmi160_get_mag_manual_enable(&v_data_u8);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		switch (v_accel_power_mode_status) {
+
+		case BMI160_ACCEL_SUSPEND:
+			com_rslt += bmi160_set_command_register(ACCEL_SUSPEND);
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+			break;
+
+		case BMI160_ACCEL_LOW_POWER:
+			com_rslt += bmi160_set_command_register(ACCEL_LOWPOWER);
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+			break;
+
+		default:
+			break;
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This function is used to read the sensitivity data of
+ *	AKM09911 and AKM09912
+ *
+ *	@note Before reading the Mag sensitivity values
+ *	make sure the following two points are addressed
+ *	@note	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode by using the function
+ *		bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_bst_akm_sensitivity_data(void)
+{
+	/* This variable is used to provide the communication
+	results*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array holding the sensitivity ax,ay and az data*/
+	u8 v_data_u8[BMI160_AKM_SENSITIVITY_DATA_SIZE] = {
+	BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	/* read asax value */
+	com_rslt = bmi160_set_mag_read_addr(BMI160_BST_AKM_ASAX);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[AKM_ASAX],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	akm_asa_data.asax = v_data_u8[AKM_ASAX];
+	/* read asay value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_BST_AKM_ASAY);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[AKM_ASAY],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	akm_asa_data.asay = v_data_u8[AKM_ASAY];
+	/* read asaz value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_BST_AKM_ASAZ);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[AKM_ASAZ],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	akm_asa_data.asaz = v_data_u8[AKM_ASAZ];
+
+	return com_rslt;
+}
+/*!
+ *	@brief This function is used to set the AKM09911 and AKM09912
+ *	power mode.
+ *	@note Before setting the AKM power mode
+ *	make sure the following two points are addressed
+ *	@note	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled then set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *	@param v_akm_pow_mode_u8 : The value of akm power mode
+ *  value   |    Description
+ * ---------|--------------------
+ *    0     |  AKM_POWER_DOWN_MODE
+ *    1     |  AKM_SINGLE_MEAS_MODE
+ *    2     |  FUSE_ROM_MODE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_akm_set_powermode(
+u8 v_akm_pow_mode_u8)
+{
+	/* variable is used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* set Mag interface manual mode*/
+	if (p_bmi160->mag_manual_enable != BMI160_MANUAL_ENABLE) {
+		com_rslt = bmi160_set_mag_manual_enable(
+		BMI160_MANUAL_ENABLE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+	switch (v_akm_pow_mode_u8) {
+	case AKM_POWER_DOWN_MODE:
+		/* Set the power mode of AKM as power down mode*/
+		com_rslt += bmi160_set_mag_write_data(
+		AKM_POWER_DOWN_MODE_DATA);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		AKM_POWER_MODE_REG);
+		p_bmi160->delay_msec(
+		BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	break;
+	case AKM_SINGLE_MEAS_MODE:
+		/* Set the power mode of AKM as
+		single measurement mode*/
+		com_rslt += bmi160_set_mag_write_data
+		(AKM_SINGLE_MEASUREMENT_MODE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		AKM_POWER_MODE_REG);
+		p_bmi160->delay_msec(
+		BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_read_addr(AKM_DATA_REGISTER);
+	break;
+	case FUSE_ROM_MODE:
+		/* Set the power mode of AKM as
+		Fuse ROM mode*/
+		com_rslt += bmi160_set_mag_write_data(
+		AKM_FUSE_ROM_MODE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		AKM_POWER_MODE_REG);
+		p_bmi160->delay_msec(
+		BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+		/* Sensitivity v_data_u8 */
+		com_rslt += bmi160_read_bst_akm_sensitivity_data();
+		p_bmi160->delay_msec(
+		BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+		/* power down mode*/
+		com_rslt += bmi160_set_mag_write_data(
+		AKM_POWER_DOWN_MODE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		AKM_POWER_MODE_REG);
+		p_bmi160->delay_msec(
+		BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+	break;
+	}
+	/* set Mag interface auto mode*/
+	if (p_bmi160->mag_manual_enable == BMI160_MANUAL_ENABLE) {
+		com_rslt += bmi160_set_mag_manual_enable(
+		BMI160_MANUAL_DISABLE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+	return com_rslt;
+}
+ /*!
+ *	@brief This function is used to set the Mag
+ *	power mode of AKM09911 and AKM09912
+ *	@note Before setting the Mag power mode
+ *	make sure the following two points are addressed
+ *		Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled then set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *
+ *	@param v_mag_sec_if_pow_mode_u8 : The value of secondary if power mode
+ *  value   |    Description
+ * ---------|--------------------
+ *    0     |  BMI160_MAG_FORCE_MODE
+ *    1     |  BMI160_MAG_SUSPEND_MODE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE
+bmi160_set_bst_akm_and_secondary_if_powermode(
+u8 v_mag_sec_if_pow_mode_u8)
+{
+	u8 v_accel_power_mode_status = BMI160_INIT_VALUE;
+	/* variable used to return the status of communication result*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+
+	com_rslt = bmi160_get_accel_power_mode_stat(
+		&v_accel_power_mode_status);
+
+	/* Accel operation mode to normal*/
+	if (v_accel_power_mode_status != BMI160_ACCEL_NORMAL_MODE) {
+		com_rslt += bmi160_set_command_register(ACCEL_MODE_NORMAL);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+	/* set Mag interface manual mode*/
+	if (p_bmi160->mag_manual_enable != BMI160_MANUAL_ENABLE) {
+		com_rslt += bmi160_set_mag_manual_enable(
+		BMI160_MANUAL_ENABLE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+	switch (v_mag_sec_if_pow_mode_u8) {
+	case BMI160_MAG_FORCE_MODE:
+		/* set the secondary Mag power mode as NORMAL*/
+		com_rslt += bmi160_set_mag_interface_normal();
+		/* set the akm power mode as single measurement mode*/
+		com_rslt += bmi160_bst_akm_set_powermode(
+		AKM_SINGLE_MEAS_MODE);
+		p_bmi160->delay_msec(
+		BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_read_addr(AKM_DATA_REGISTER);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	break;
+	case BMI160_MAG_SUSPEND_MODE:
+		/* set the akm power mode as power down mode*/
+		com_rslt += bmi160_bst_akm_set_powermode(
+		AKM_POWER_DOWN_MODE);
+		p_bmi160->delay_msec(
+		BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+		/* set the secondary Mag power mode as SUSPEND*/
+		com_rslt += bmi160_set_command_register(
+		MAG_MODE_SUSPEND);
+		p_bmi160->delay_msec(
+		BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	break;
+	default:
+		com_rslt = E_BMI160_OUT_OF_RANGE;
+	break;
+	}
+	/* set Mag interface auto mode*/
+	if (p_bmi160->mag_manual_enable == BMI160_MANUAL_ENABLE)
+		com_rslt += bmi160_set_mag_manual_enable(
+		BMI160_MANUAL_DISABLE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	switch (v_accel_power_mode_status) {
+
+	case BMI160_ACCEL_SUSPEND:
+		com_rslt += bmi160_set_command_register(ACCEL_SUSPEND);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		break;
+
+	case BMI160_ACCEL_LOW_POWER:
+		com_rslt += bmi160_set_command_register(ACCEL_LOWPOWER);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		break;
+
+	default:
+		break;
+	}
+	return com_rslt;
+}
+#endif
+#ifdef YAS532
+/***************************************************/
+/**\name	FUNCTIONS FOR YAMAHA-YAS532 */
+/***************************************************/
+/*!
+ *	@brief This function is used to initialize the YAMAHA-YAS532 sensor
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas532_mag_interface_init(
+void)
+{
+	/* This variable used to provide the communication
+	results*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	u8 v_data_u8 = BMI160_INIT_VALUE;
+	u8 i = BMI160_INIT_VALUE;
+	u8 v_accel_power_mode_status = BMI160_INIT_VALUE;
+
+	com_rslt = bmi160_get_accel_power_mode_stat(
+		&v_accel_power_mode_status);
+	/* Accel operation mode to normal*/
+	if (v_accel_power_mode_status != BMI160_ACCEL_NORMAL_MODE) {
+		com_rslt += bmi160_set_command_register(ACCEL_MODE_NORMAL);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+	/* write Mag power mode as NORMAL*/
+	com_rslt += bmi160_set_mag_interface_normal();
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* Write the YAS532 i2c address*/
+	com_rslt += bmi160_set_i2c_device_addr(BMI160_AUX_YAS532_I2C_ADDRESS);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* enable the Mag interface to manual mode*/
+	com_rslt += bmi160_set_mag_manual_enable(BMI160_MANUAL_ENABLE);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	bmi160_get_mag_manual_enable(&v_data_u8);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/*Enable the MAG interface */
+	com_rslt += bmi160_set_if_mode(BMI160_ENABLE_MAG_IF_MODE);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	bmi160_get_if_mode(&v_data_u8);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	v_data_u8 = BMI160_MANUAL_DISABLE;
+	/* Read the YAS532 device id is 0x02*/
+	com_rslt += bmi160_set_mag_read_addr(BMI160_YAS_DEVICE_ID_REG);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* Read the YAS532 calibration data*/
+	com_rslt += bmi160_bst_yamaha_yas532_calib_values();
+	p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	/* Assign the data acquisition mode*/
+	yas532_data.measure_state = YAS532_MAG_STATE_INIT_COIL;
+	/* Set the default offset as invalid offset*/
+	set_vector(yas532_data.v_hard_offset_s8, INVALID_OFFSET);
+	/* set the transform to zero */
+
+	yas532_data.transform = BMI160_NULL;
+	/* Assign overflow as zero*/
+	yas532_data.overflow = 0;
+	#if 1 < YAS532_MAG_TEMPERATURE_LOG
+		yas532_data.temp_data.num =
+		yas532_data.temp_data.idx = 0;
+	#endif
+	/* Assign the coefficient value*/
+	for (i = 0; i < 3; i++) {
+		yas532_data.coef[i] = yas532_version_ac_coef[i];
+		yas532_data.last_raw[i] = 0;
+	}
+	yas532_data.last_raw[3] = 0;
+	/* Set the initial values of yas532*/
+	com_rslt += bmi160_bst_yas532_set_initial_values();
+	/* write the Mag v_data_bw_u8 as 25Hz*/
+	com_rslt += bmi160_set_mag_output_data_rate(
+	BMI160_MAG_OUTPUT_DATA_RATE_25HZ);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* Enable Mag interface to auto mode*/
+	com_rslt += bmi160_set_mag_manual_enable(
+	BMI160_MANUAL_DISABLE);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	bmi160_get_mag_manual_enable(&v_data_u8);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		switch (v_accel_power_mode_status) {
+
+		case BMI160_ACCEL_SUSPEND:
+			com_rslt += bmi160_set_command_register(ACCEL_SUSPEND);
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+			break;
+
+		case BMI160_ACCEL_LOW_POWER:
+			com_rslt += bmi160_set_command_register(ACCEL_LOWPOWER);
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+			break;
+		default:
+			break;
+	}
+
+	return com_rslt;
+}
+/*!
+ *	@brief This function used to set the YAS532 initial values
+ *
+ *
+  *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_set_initial_values(void)
+{
+/* This variable is used to provide the communication
+	results*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* write testr1 as 0x00*/
+	com_rslt = bmi160_set_mag_write_data(
+	BMI160_YAS532_WRITE_TESTR1);
+	p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	com_rslt += bmi160_set_mag_write_addr(BMI160_YAS532_TESTR1);
+	p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	/* write testr2 as 0x00*/
+	com_rslt += bmi160_set_mag_write_data(
+	BMI160_YAS532_WRITE_TESTR2);
+	p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	com_rslt += bmi160_set_mag_write_addr(BMI160_YAS532_TESTR2);
+	p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	/* write Rcoil as 0x00*/
+	com_rslt += bmi160_set_mag_write_data(
+	BMI160_YAS532_WRITE_RCOIL);
+	p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	com_rslt += bmi160_set_mag_write_addr(BMI160_YAS532_RCOIL);
+	p_bmi160->delay_msec(BMI160_YAS532_SET_INITIAL_VALUE_DELAY);
+	/* check the valid offset*/
+	if (is_valid_offset(yas532_data.v_hard_offset_s8)) {
+		com_rslt += bmi160_bst_yas532_set_offset(
+		yas532_data.v_hard_offset_s8);
+		yas532_data.measure_state = YAS532_MAG_STATE_NORMAL;
+	} else {
+		/* set the default offset as invalid offset*/
+		set_vector(yas532_data.v_hard_offset_s8, INVALID_OFFSET);
+		/*Set the default measure state for offset correction*/
+		yas532_data.measure_state = YAS532_MAG_STATE_MEASURE_OFFSET;
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This function is used to perform YAS532 offset correction
+ *
+ *
+  *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_magnetic_measure_set_offset(
+void)
+{
+	/* This variable used to provide the communication
+	results*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* to set  the offset register*/
+	s8 v_hard_offset_s8[BMI160_HARD_OFFSET_DATA_SIZE] = {
+	BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	/* offset correction factors*/
+	static const u8 v_correct_u8[BMI160_YAS_CORRECT_DATA_SIZE] = {
+	16, 8, 4, 2, 1};
+	/* used to store the temperature */
+	u16 v_temp_u16 = BMI160_INIT_VALUE;
+	/* used to read for the xy1y2 value */
+	u16 v_xy1y2_u16[BMI160_YAS_XY1Y2_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	/* local flag for assigning the values*/
+	s32 v_flag_s32[BMI160_YAS_FLAG_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	u8 i, j, v_busy_u8, v_overflow_u8 = BMI160_INIT_VALUE;
+
+	for (i = 0; i < 5; i++) {
+		/* set the offset values*/
+		com_rslt = bmi160_bst_yas532_set_offset(v_hard_offset_s8);
+		/* read the sensor data*/
+		com_rslt += bmi160_bst_yas532_normal_measurement_data(
+		BMI160_YAS532_ACQ_START, &v_busy_u8, &v_temp_u16,
+		v_xy1y2_u16, &v_overflow_u8);
+		/* check the sensor busy status*/
+		if (v_busy_u8)
+			return E_BMI160_BUSY;
+		/* calculate the magnetic correction with
+		offset and assign the values
+		to the offset register */
+		for (j = 0; j < 3; j++) {
+			if (YAS532_DATA_CENTER == v_xy1y2_u16[j])
+				v_flag_s32[j] = 0;
+			if (YAS532_DATA_CENTER < v_xy1y2_u16[j])
+				v_flag_s32[j] = 1;
+			if (v_xy1y2_u16[j] < YAS532_DATA_CENTER)
+				v_flag_s32[j] = -1;
+		}
+		for (j = 0; j < 3; j++) {
+			if (v_flag_s32[j])
+				v_hard_offset_s8[j] = (s8)(v_hard_offset_s8[j]
+				+ v_flag_s32[j] * v_correct_u8[i]);
+		}
+	}
+	/* set the offset */
+	com_rslt += bmi160_bst_yas532_set_offset(v_hard_offset_s8);
+	return com_rslt;
+}
+/*!
+ *	@brief This function used to read the
+ *	YAMAHA YAS532 calibration data
+ *
+ *
+  *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas532_calib_values(void)
+{
+	/* This variable is used to provide the communication
+	results*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array holding the YAS532 calibration values */
+	u8 v_data_u8[BMI160_YAS532_CALIB_DATA_SIZE] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	/* Read the DX value */
+	com_rslt = bmi160_set_mag_read_addr(BMI160_YAS532_CALIB_CX);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[0], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	yas532_data.calib_yas532.cx = (s32)((v_data_u8[0]
+	* 10) - 1280);
+	/* Read the DY1 value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_YAS532_CALIB_CY1);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[1], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	yas532_data.calib_yas532.cy1 =
+	(s32)((v_data_u8[1] * 10) - 1280);
+	/* Read the DY2 value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_YAS532_CALIB_CY2);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[2], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	yas532_data.calib_yas532.cy2 =
+	(s32)((v_data_u8[2] * 10) - 1280);
+	/* Read the D2 and D3 value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_YAS532_CALIB1);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[3], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	yas532_data.calib_yas532.a2 =
+	(s32)(((v_data_u8[3] >>
+	BMI160_SHIFT_BIT_POSITION_BY_02_BITS)
+	& 0x03F) - 32);
+	/* Read the D3 and D4 value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_YAS532_CALIB2);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[4], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	/* calculate a3*/
+	yas532_data.calib_yas532.a3 = (s32)((((v_data_u8[3] <<
+	BMI160_SHIFT_BIT_POSITION_BY_02_BITS) & 0x0C) |
+	((v_data_u8[4]
+	>> BMI160_SHIFT_BIT_POSITION_BY_06_BITS)
+	& 0x03)) - 8);
+	/* calculate a4*/
+	yas532_data.calib_yas532.a4 = (s32)((v_data_u8[4]
+	& 0x3F) - 32);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+    /* Read the D5 and D6 value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_YAS532_CALIB3);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[5], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	/* calculate a5*/
+	yas532_data.calib_yas532.a5 =
+	(s32)(((v_data_u8[5]
+	>> BMI160_SHIFT_BIT_POSITION_BY_02_BITS)
+	& 0x3F) + 38);
+	/* Read the D6 and D7 value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_YAS532_CALIB4);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[6], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	/* calculate a6*/
+	yas532_data.calib_yas532.a6 =
+	(s32)((((v_data_u8[5]
+	<< BMI160_SHIFT_BIT_POSITION_BY_04_BITS)
+	& 0x30) | ((v_data_u8[6] >>
+	 BMI160_SHIFT_BIT_POSITION_BY_04_BITS)
+	 & 0x0F)) - 32);
+	 /* Read the D7 and D8 value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_YAS532_CALIB5);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[7], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	/* calculate a7*/
+	yas532_data.calib_yas532.a7 = (s32)((((v_data_u8[6]
+	<< BMI160_SHIFT_BIT_POSITION_BY_03_BITS)
+	& 0x78) |
+	((v_data_u8[7]
+	>> BMI160_SHIFT_BIT_POSITION_BY_05_BITS) &
+	0x07)) - 64);
+	/* Read the D8 and D9 value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_YAS532_CALIB6);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[8], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	/* calculate a8*/
+	yas532_data.calib_yas532.a8 = (s32)((((v_data_u8[7] <<
+	BMI160_GEN_READ_WRITE_DATA_LENGTH) & 0x3E) |
+	((v_data_u8[8] >>
+	BMI160_SHIFT_BIT_POSITION_BY_07_BITS) & 0x01)) -
+	32);
+
+	/* Read the D8 and D9 value */
+	com_rslt += bmi160_set_mag_read_addr(BMI160_YAS532_CALIB7);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[9], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	/* calculate a9*/
+	yas532_data.calib_yas532.a9 = (s32)(((v_data_u8[8] <<
+	BMI160_GEN_READ_WRITE_DATA_LENGTH) & 0xFE) |
+	 ((v_data_u8[9] >>
+	 BMI160_SHIFT_BIT_POSITION_BY_07_BITS) & 0x01));
+	/* calculate k*/
+	yas532_data.calib_yas532.k = (s32)((v_data_u8[9] >>
+	BMI160_SHIFT_BIT_POSITION_BY_02_BITS) & 0x1F);
+	/* Read the  value from register 0x9A*/
+	com_rslt += bmi160_set_mag_read_addr(BMI160_YAS532_CALIB8);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[10],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	/* Read the  value from register 0x9B*/
+	com_rslt += bmi160_set_mag_read_addr(BMI160_YAS532_CALIB9);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[11],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	/* Read the  value from register 0x9C*/
+	com_rslt += bmi160_set_mag_read_addr(BMI160_YAS532_CALIB10);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[12],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	/* Read the  value from register 0x9D*/
+	com_rslt += bmi160_set_mag_read_addr(BMI160_YAS532_CALIB11);
+	/* 0x04 is secondary read Mag x LSB register */
+	com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+	&v_data_u8[13],
+	BMI160_GEN_READ_WRITE_DATA_LENGTH);
+	/* Calculate the fxy1y2 and rxy1y1*/
+	yas532_data.calib_yas532.fxy1y2[0] =
+	(u8)(((v_data_u8[10]
+	& 0x01)
+	<< BMI160_SHIFT_BIT_POSITION_BY_01_BIT)
+	| ((v_data_u8[11] >>
+	BMI160_SHIFT_BIT_POSITION_BY_07_BITS) & 0x01));
+	yas532_data.calib_yas532.rxy1y2[0] =
+	((s8)(((v_data_u8[10]
+	>> BMI160_SHIFT_BIT_POSITION_BY_01_BIT) & 0x3F)
+	<< BMI160_SHIFT_BIT_POSITION_BY_02_BITS))
+	>> BMI160_SHIFT_BIT_POSITION_BY_02_BITS;
+	yas532_data.calib_yas532.fxy1y2[1] =
+	(u8)(((v_data_u8[11] & 0x01)
+	<< BMI160_SHIFT_BIT_POSITION_BY_01_BIT)
+	 | ((v_data_u8[12] >>
+	 BMI160_SHIFT_BIT_POSITION_BY_07_BITS) & 0x01));
+	yas532_data.calib_yas532.rxy1y2[1] =
+	((s8)(((v_data_u8[11]
+	>> BMI160_SHIFT_BIT_POSITION_BY_01_BIT) & 0x3F)
+	<< BMI160_SHIFT_BIT_POSITION_BY_02_BITS))
+	>> BMI160_SHIFT_BIT_POSITION_BY_02_BITS;
+	yas532_data.calib_yas532.fxy1y2[2] =
+	(u8)(((v_data_u8[12] & 0x01)
+	<< BMI160_SHIFT_BIT_POSITION_BY_01_BIT)
+	| ((v_data_u8[13]
+	>> BMI160_SHIFT_BIT_POSITION_BY_07_BITS) & 0x01));
+	yas532_data.calib_yas532.rxy1y2[2] =
+	((s8)(((v_data_u8[12]
+	>> BMI160_SHIFT_BIT_POSITION_BY_01_BIT) & 0x3F)
+	 << BMI160_SHIFT_BIT_POSITION_BY_02_BITS))
+	 >> BMI160_SHIFT_BIT_POSITION_BY_02_BITS;
+
+	return com_rslt;
+}
+/*!
+ *	@brief This function is used to calculate the
+ *	linear data in YAS532 sensor.
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_xy1y2_to_linear(
+u16 *v_xy1y2_u16, s32 *xy1y2_linear)
+{
+	/* This variable used to provide the communication
+	results*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = SUCCESS;
+	static const u16 v_calib_data[] = {
+	3721, 3971, 4221, 4471};
+	u8 i = BMI160_INIT_VALUE;
+
+	for (i = 0; i < 3; i++)
+		xy1y2_linear[i] = v_xy1y2_u16[i] -
+		 v_calib_data[yas532_data.calib_yas532.fxy1y2[i]]
+			+ (yas532_data.v_hard_offset_s8[i] -
+			yas532_data.calib_yas532.rxy1y2[i])
+			* yas532_data.coef[i];
+	return com_rslt;
+}
+/*!
+ *	@brief This function is used to read the YAS532 sensor data
+ *	@param	v_acquisition_command_u8: used to set the data acquisition
+ *	acquisition_command  |   operation
+ *  ---------------------|-------------------------
+ *         0x17          | turn on the acquisition coil
+ *         -             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Deferred acquisition mode
+ *        0x07           | turn on the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Normal acquisition mode
+ *        0x11           | turn OFF the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as plus(+))
+ *         _             | Deferred acquisition mode
+ *       0x01            | turn OFF the acquisition coil
+ *        _              | set direction of the coil
+ *        _              | (x and y as plus(+))
+ *        _              | Normal acquisition mode
+ *
+ *	@param	v_busy_u8 : used to get the busy flag for sensor data read
+ *	@param	v_temp_u16 : used to get the temperature data
+ *	@param	v_xy1y2_u16 : used to get the sensor xy1y2 data
+ *	@param	v_overflow_u8 : used to get the overflow data
+ *
+ *
+ *
+  *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_normal_measurement_data(
+u8 v_acquisition_command_u8, u8 *v_busy_u8,
+u16 *v_temp_u16, u16 *v_xy1y2_u16, u8 *v_overflow_u8)
+{
+	/* This variable is used to provide the communication
+	results*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array holding the YAS532 xyy1 data*/
+	u8 v_data_u8[BMI160_YAS_XY1Y2T_DATA_SIZE] = {
+	BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	u8 i = BMI160_INIT_VALUE;
+	/* check the p_bmi160 structure for NULL pointer assignment*/
+	if (p_bmi160 == BMI160_NULL) {
+		return E_BMI160_NULL_PTR;
+		} else {
+		/* read the sensor data */
+		com_rslt = bmi160_bst_yas532_acquisition_command_register(
+		v_acquisition_command_u8);
+		com_rslt +=
+		p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+		BMI160_USER_DATA_MAG_X_LSB__REG,
+		v_data_u8, BMI160_MAG_YAS_DATA_LENGTH);
+		/* read the xyy1 data*/
+		*v_busy_u8 =
+		((v_data_u8[0]
+		>> BMI160_SHIFT_BIT_POSITION_BY_07_BITS) & 0x01);
+		*v_temp_u16 =
+		(u16)((((s32)v_data_u8[0]
+		<< BMI160_SHIFT_BIT_POSITION_BY_03_BITS)
+		& 0x3F8) | ((v_data_u8[1]
+		>> BMI160_SHIFT_BIT_POSITION_BY_05_BITS) & 0x07));
+		v_xy1y2_u16[0] =
+		(u16)((((s32)v_data_u8[2]
+		<< BMI160_SHIFT_BIT_POSITION_BY_06_BITS) & 0x1FC0)
+		| ((v_data_u8[3] >>
+		BMI160_SHIFT_BIT_POSITION_BY_02_BITS) & 0x3F));
+		v_xy1y2_u16[1] =
+		(u16)((((s32)v_data_u8[4]
+		<< BMI160_SHIFT_BIT_POSITION_BY_06_BITS)
+		& 0x1FC0)
+		| ((v_data_u8[5]
+		>> BMI160_SHIFT_BIT_POSITION_BY_02_BITS) & 0x3F));
+		v_xy1y2_u16[2] =
+		(u16)((((s32)v_data_u8[6]
+		<< BMI160_SHIFT_BIT_POSITION_BY_06_BITS)
+		& 0x1FC0)
+		| ((v_data_u8[7]
+		>> BMI160_SHIFT_BIT_POSITION_BY_02_BITS) & 0x3F));
+		*v_overflow_u8 = 0;
+		for (i = 0; i < 3; i++) {
+			if (v_xy1y2_u16[i] == YAS532_DATA_OVERFLOW)
+				*v_overflow_u8 |= (1 << (i * 2));
+			if (v_xy1y2_u16[i] == YAS532_DATA_UNDERFLOW)
+				*v_overflow_u8 |= (1 << (i * 2 + 1));
+		}
+	}
+	return com_rslt;
+}
+/*!
+ *	@brief This function is used to read the YAS532 sensor data
+ *	@param	v_acquisition_command_u8	:	the value of CMDR
+ *	acquisition_command  |   operation
+ *  ---------------------|-------------------------
+ *         0x17          | turn on the acquisition coil
+ *         -             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Deferred acquisition mode
+ *        0x07           | turn on the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Normal acquisition mode
+ *        0x11           | turn OFF the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as plus(+))
+ *         _             | Deferred acquisition mode
+ *       0x01            | turn OFF the acquisition coil
+ *        _              | set direction of the coil
+ *        _              | (x and y as plus(+))
+ *        _              | Normal acquisition mode
+ *
+ * @param xyz_data : the vector xyz output
+ * @param v_overflow_s8 : the value of overflow
+ * @param v_temp_correction_u8 : the value of temperate correction enable
+ *
+ *
+  *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_measurement_xyz_data(
+struct yas532_vector *xyz_data, u8 *v_overflow_s8, u8 v_temp_correction_u8,
+u8 v_acquisition_command_u8)
+{
+	/* This variable is used to provide the communication
+	results*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array holding the linear calculation output*/
+	s32 v_xy1y2_linear_s32[BMI160_YAS_XY1Y2_DATA_SIZE] = {
+	BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	/* Array holding the temperature data */
+	s32 v_xyz_tmp_s32[BMI160_YAS_TEMP_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	s32 tmp = BMI160_INIT_VALUE;
+	s32 sx, sy1, sy2, sy, sz = BMI160_INIT_VALUE;
+	u8 i, v_busy_u8 = BMI160_INIT_VALUE;
+	u16 v_temp_u16 = BMI160_INIT_VALUE;
+	/* Array holding the xyy1 sensor raw data*/
+	u16 v_xy1y2_u16[BMI160_YAS_XY1Y2_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	#if 1 < YAS532_MAG_TEMPERATURE_LOG
+	s32 sum = BMI160_INIT_VALUE;
+	#endif
+	*v_overflow_s8 = BMI160_INIT_VALUE;
+	switch (yas532_data.measure_state) {
+	case YAS532_MAG_STATE_INIT_COIL:
+		if (p_bmi160->mag_manual_enable != BMI160_MANUAL_ENABLE)
+			com_rslt = bmi160_set_mag_manual_enable(
+			BMI160_MANUAL_ENABLE);
+		/* write Rcoil*/
+		com_rslt += bmi160_set_mag_write_data(
+		BMI160_YAS_DISABLE_RCOIL);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(BMI160_YAS532_RCOIL);
+		p_bmi160->delay_msec(BMI160_YAS532_MEASUREMENT_DELAY);
+		if (!yas532_data.overflow && is_valid_offset(
+		yas532_data.v_hard_offset_s8))
+			yas532_data.measure_state = 0;
+	break;
+	case YAS532_MAG_STATE_MEASURE_OFFSET:
+		com_rslt = bmi160_bst_yas532_magnetic_measure_set_offset();
+		yas532_data.measure_state = 0;
+	break;
+	default:
+	break;
+	}
+	/* Read sensor data*/
+	com_rslt += bmi160_bst_yas532_normal_measurement_data(
+	v_acquisition_command_u8, &v_busy_u8, &v_temp_u16,
+	v_xy1y2_u16, v_overflow_s8);
+	/* Calculate the linear data*/
+	com_rslt += bmi160_bst_yas532_xy1y2_to_linear(v_xy1y2_u16,
+	v_xy1y2_linear_s32);
+	/* Calculate temperature correction */
+	#if 1 < YAS532_MAG_TEMPERATURE_LOG
+		yas532_data.temp_data.log[yas532_data.temp_data.idx++] =
+		v_temp_u16;
+	if (YAS532_MAG_TEMPERATURE_LOG <= yas532_data.temp_data.idx)
+		yas532_data.temp_data.idx = 0;
+		yas532_data.temp_data.num++;
+	if (YAS532_MAG_TEMPERATURE_LOG <= yas532_data.temp_data.num)
+		yas532_data.temp_data.num = YAS532_MAG_TEMPERATURE_LOG;
+	for (i = 0; i < yas532_data.temp_data.num; i++)
+		sum += yas532_data.temp_data.log[i];
+		tmp = sum * 10 / yas532_data.temp_data.num
+		- YAS532_TEMP20DEGREE_TYPICAL * 10;
+	#else
+		tmp = (v_temp_u16 - YAS532_TEMP20DEGREE_TYPICAL)
+		* 10;
+	#endif
+	sx  = v_xy1y2_linear_s32[0];
+	sy1 = v_xy1y2_linear_s32[1];
+	sy2 = v_xy1y2_linear_s32[2];
+	/* Temperature correction */
+	if (v_temp_correction_u8) {
+		sx  -= (yas532_data.calib_yas532.cx  * tmp)
+		/ 1000;
+		sy1 -= (yas532_data.calib_yas532.cy1 * tmp)
+		/ 1000;
+		sy2 -= (yas532_data.calib_yas532.cy2 * tmp)
+		/ 1000;
+	}
+	sy = sy1 - sy2;
+	sz = -sy1 - sy2;
+	#if 1
+	xyz_data->yas532_vector_xyz[0] = yas532_data.calib_yas532.k *
+	((100 * sx + yas532_data.calib_yas532.a2 * sy +
+	yas532_data.calib_yas532.a3 * sz) / 10);
+	xyz_data->yas532_vector_xyz[1] = yas532_data.calib_yas532.k *
+	((yas532_data.calib_yas532.a4 * sx + yas532_data.calib_yas532.a5 * sy +
+	yas532_data.calib_yas532.a6 * sz) / 10);
+	xyz_data->yas532_vector_xyz[2] = yas532_data.calib_yas532.k *
+	((yas532_data.calib_yas532.a7 * sx + yas532_data.calib_yas532.a8 * sy +
+	yas532_data.calib_yas532.a9 * sz) / 10);
+	if (yas532_data.transform != BMI160_NULL) {
+		for (i = 0; i < 3; i++) {
+				v_xyz_tmp_s32[i] = yas532_data.transform[i
+				* 3] *
+				xyz_data->yas532_vector_xyz[0]
+				+ yas532_data.transform[i * 3 + 1] *
+				xyz_data->yas532_vector_xyz[1]
+				+ yas532_data.transform[i * 3 + 2] *
+				xyz_data->yas532_vector_xyz[2];
+		}
+		set_vector(xyz_data->yas532_vector_xyz, v_xyz_tmp_s32);
+	}
+	for (i = 0; i < 3; i++) {
+		xyz_data->yas532_vector_xyz[i] -=
+		xyz_data->yas532_vector_xyz[i] % 10;
+		if (*v_overflow_s8 & (1
+		<< (i * 2)))
+			xyz_data->yas532_vector_xyz[i] +=
+			1; /* set overflow */
+		if (*v_overflow_s8 & (1 <<
+		(i * 2 + 1)))
+			xyz_data->yas532_vector_xyz[i] += 2; /* set underflow */
+	}
+#else
+	xyz_data->yas532_vector_xyz[0] = sx;
+	xyz_data->yas532_vector_xyz[1] = sy;
+	xyz_data->yas532_vector_xyz[2] = sz;
+#endif
+if (v_busy_u8)
+		return com_rslt;
+	if (0 < *v_overflow_s8) {
+		if (!yas532_data.overflow)
+			yas532_data.overflow = 1;
+		yas532_data.measure_state = YAS532_MAG_STATE_INIT_COIL;
+	} else
+		yas532_data.overflow = 0;
+	for (i = 0; i < 3; i++)
+		yas532_data.last_raw[i] = v_xy1y2_u16[i];
+	  yas532_data.last_raw[i] = v_temp_u16;
+	return com_rslt;
+}
+/*!
+ *	@brief This function is used to read YAS532 sensor data
+ *
+ *
+ * @param v_xy1y2_u16 : the vector xyz output
+ * @param v_overflow_s8 : the value of overflow
+ * @param v_temp_correction_u8 : the value of temperate correction enable
+ * @param v_temp_u16 : the value of temperature
+ * @param v_busy_u8 : the value denoting the sensor is busy
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_fifo_xyz_data(
+u16 *v_xy1y2_u16, u8 v_temp_correction_u8,
+s8 v_overflow_s8, u16 v_temp_u16, u8 v_busy_u8)
+{
+	/* This variable is used to provide the communication
+	results*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array holding the linear calculation output*/
+	s32 v_xy1y2_linear_s32[BMI160_YAS_XY1Y2_DATA_SIZE] = {
+	BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	/* Array holding the temperature data */
+	s32 v_xyz_tmp_s32[BMI160_YAS_TEMP_DATA_SIZE] = {BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	s32 tmp = BMI160_INIT_VALUE;
+	s32 sx, sy1, sy2, sy, sz = BMI160_INIT_VALUE;
+	u8 i = BMI160_INIT_VALUE;
+	#if 1 < YAS532_MAG_TEMPERATURE_LOG
+	s32 sum = BMI160_INIT_VALUE;
+	#endif
+	v_overflow_s8 = BMI160_INIT_VALUE;
+	/* Calculate the linear data*/
+	com_rslt = bmi160_bst_yas532_xy1y2_to_linear(v_xy1y2_u16,
+	v_xy1y2_linear_s32);
+	/* Calculate temperature correction */
+	#if 1 < YAS532_MAG_TEMPERATURE_LOG
+		yas532_data.temp_data.log[yas532_data.temp_data.idx++] =
+		v_temp_u16;
+	if (YAS532_MAG_TEMPERATURE_LOG <= yas532_data.temp_data.idx)
+		yas532_data.temp_data.idx = 0;
+		yas532_data.temp_data.num++;
+	if (YAS532_MAG_TEMPERATURE_LOG <= yas532_data.temp_data.num)
+		yas532_data.temp_data.num = YAS532_MAG_TEMPERATURE_LOG;
+	for (i = 0; i < yas532_data.temp_data.num; i++)
+		sum += yas532_data.temp_data.log[i];
+		tmp = sum * 10 / yas532_data.temp_data.num
+		- YAS532_TEMP20DEGREE_TYPICAL * 10;
+	#else
+		tmp = (v_temp_u16 - YAS532_TEMP20DEGREE_TYPICAL)
+		* 10;
+	#endif
+	sx  = v_xy1y2_linear_s32[0];
+	sy1 = v_xy1y2_linear_s32[1];
+	sy2 = v_xy1y2_linear_s32[2];
+	/* Temperature correction */
+	if (v_temp_correction_u8) {
+		sx  -= (yas532_data.calib_yas532.cx  * tmp)
+		/ 1000;
+		sy1 -= (yas532_data.calib_yas532.cy1 * tmp)
+		/ 1000;
+		sy2 -= (yas532_data.calib_yas532.cy2 * tmp)
+		/ 1000;
+	}
+	sy = sy1 - sy2;
+	sz = -sy1 - sy2;
+	#if 1
+	fifo_xyz_data.yas532_vector_xyz[0] = yas532_data.calib_yas532.k *
+	((100 * sx + yas532_data.calib_yas532.a2 * sy +
+	yas532_data.calib_yas532.a3 * sz) / 10);
+	fifo_xyz_data.yas532_vector_xyz[1] = yas532_data.calib_yas532.k *
+	((yas532_data.calib_yas532.a4 * sx + yas532_data.calib_yas532.a5 * sy +
+	yas532_data.calib_yas532.a6 * sz) / 10);
+	fifo_xyz_data.yas532_vector_xyz[2] = yas532_data.calib_yas532.k *
+	((yas532_data.calib_yas532.a7 * sx + yas532_data.calib_yas532.a8 * sy +
+	yas532_data.calib_yas532.a9 * sz) / 10);
+	if (yas532_data.transform != BMI160_NULL) {
+		for (i = 0; i < 3; i++) {
+				v_xyz_tmp_s32[i] = yas532_data.transform[i
+				* 3] *
+				fifo_xyz_data.yas532_vector_xyz[0]
+				+ yas532_data.transform[i * 3 + 1] *
+				fifo_xyz_data.yas532_vector_xyz[1]
+				+ yas532_data.transform[i * 3 + 2] *
+				fifo_xyz_data.yas532_vector_xyz[2];
+		}
+		set_vector(fifo_xyz_data.yas532_vector_xyz, v_xyz_tmp_s32);
+	}
+	for (i = 0; i < 3; i++) {
+		fifo_xyz_data.yas532_vector_xyz[i] -=
+		fifo_xyz_data.yas532_vector_xyz[i] % 10;
+		if (v_overflow_s8 & (1
+		<< (i * 2)))
+			fifo_xyz_data.yas532_vector_xyz[i] +=
+			1; /* set overflow */
+		if (v_overflow_s8 & (1 <<
+		(i * 2 + 1)))
+			fifo_xyz_data.yas532_vector_xyz[i] += 2;
+	}
+#else
+	fifo_xyz_data.yas532_vector_xyz[0] = sx;
+	fifo_xyz_data.yas532_vector_xyz[1] = sy;
+	fifo_xyz_data.yas532_vector_xyz[2] = sz;
+#endif
+if (v_busy_u8)
+		return com_rslt;
+	if (0 < v_overflow_s8) {
+		if (!yas532_data.overflow)
+			yas532_data.overflow = 1;
+		yas532_data.measure_state = YAS532_MAG_STATE_INIT_COIL;
+	} else
+		yas532_data.overflow = 0;
+	for (i = 0; i < 3; i++)
+		yas532_data.last_raw[i] = v_xy1y2_u16[i];
+	  yas532_data.last_raw[i] = v_temp_u16;
+	return com_rslt;
+}
+
+/*!
+ *	@brief This function is used to write the data acquisition
+ *	command register in YAS532 sensor.
+ *	@param v_command_reg_data_u8	:	the value of data acquisition
+ *
+ *	acquisition_command  |   operation
+ *  ---------------------|-------------------------
+ *         0x17          | turn on the acquisition coil
+ *         -             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Deferred acquisition mode
+ *        0x07           | turn on the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Normal acquisition mode
+ *        0x11           | turn OFF the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as plus(+))
+ *         _             | Deferred acquisition mode
+ *       0x01            | turn OFF the acquisition coil
+ *        _              | set direction of the coil
+ *        _              | (x and y as plus(+))
+ *        _              | Normal acquisition mode
+ *
+ *
+ *
+  *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_acquisition_command_register(
+u8 v_command_reg_data_u8)
+{
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+
+	if (p_bmi160->mag_manual_enable != BMI160_MANUAL_ENABLE)
+			com_rslt = bmi160_set_mag_manual_enable(
+			BMI160_MANUAL_ENABLE);
+
+		com_rslt = bmi160_set_mag_write_data(v_command_reg_data_u8);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* YAMAHA YAS532-0x82*/
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_YAS532_COMMAND_REGISTER);
+		p_bmi160->delay_msec(BMI160_YAS_ACQ_COMMAND_DELAY);
+		com_rslt += bmi160_set_mag_read_addr(
+		BMI160_YAS532_DATA_REGISTER);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+	if (p_bmi160->mag_manual_enable == BMI160_MANUAL_ENABLE)
+		com_rslt += bmi160_set_mag_manual_enable(BMI160_MANUAL_DISABLE);
+
+	return com_rslt;
+
+}
+/*!
+ *	@brief This function is used write the offset for YAS532 sensor
+ *
+ *	@param	p_offset_s8	: The value of offset to write
+ *
+ *
+  *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_set_offset(
+const s8 *p_offset_s8)
+{
+	/* This variable is used to provide the communication
+	results*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+
+	if (p_bmi160->mag_manual_enable != BMI160_MANUAL_ENABLE)
+		com_rslt = bmi160_set_mag_manual_enable(BMI160_MANUAL_ENABLE);
+		p_bmi160->delay_msec(BMI160_YAS532_OFFSET_DELAY);
+
+	    /* Write offset X data*/
+		com_rslt = bmi160_set_mag_write_data(p_offset_s8[0]);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* YAS532 offset x write*/
+		com_rslt += bmi160_set_mag_write_addr(BMI160_YAS532_OFFSET_X);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+		/* Write offset Y data*/
+		com_rslt = bmi160_set_mag_write_data(p_offset_s8[1]);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* YAS532 offset y write*/
+		com_rslt += bmi160_set_mag_write_addr(BMI160_YAS532_OFFSET_Y);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+		/* Write offset Z data*/
+		com_rslt = bmi160_set_mag_write_data(p_offset_s8[2]);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* YAS532 offset z write*/
+		com_rslt += bmi160_set_mag_write_addr(BMI160_YAS532_OFFSET_Z);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		set_vector(yas532_data.v_hard_offset_s8, p_offset_s8);
+
+	if (p_bmi160->mag_manual_enable == BMI160_MANUAL_ENABLE)
+		com_rslt = bmi160_set_mag_manual_enable(BMI160_MANUAL_DISABLE);
+	return com_rslt;
+}
+#endif
+#ifdef YAS537
+/***************************************************/
+/**\name	FUNCTIONS FOR YAMAHA-YAS537 */
+/***************************************************/
+/*!
+ *	@brief This function used to init the YAMAHA-YAS537
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas537_mag_interface_init(
+void)
+{
+/* This variable is used to provide the communication
+results*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+u8 v_data_u8 = BMI160_INIT_VALUE;
+u8 i = BMI160_INIT_VALUE;
+u8 v_accel_power_mode_status = BMI160_INIT_VALUE;
+
+com_rslt = bmi160_get_accel_power_mode_stat(
+	&v_accel_power_mode_status);
+/* Accel operation mode to normal*/
+if (v_accel_power_mode_status != BMI160_ACCEL_NORMAL_MODE) {
+	com_rslt += bmi160_set_command_register(ACCEL_MODE_NORMAL);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+}
+/* write Mag power mode as NORMAL*/
+com_rslt += bmi160_set_mag_interface_normal();
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* Write the YAS532 i2c address*/
+com_rslt += bmi160_set_i2c_device_addr(BMI160_YAS537_I2C_ADDRESS);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* enable the Mag interface to manual mode*/
+com_rslt += bmi160_set_mag_manual_enable(BMI160_MANUAL_ENABLE);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+bmi160_get_mag_manual_enable(&v_data_u8);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/*Enable the MAG interface */
+com_rslt += bmi160_set_if_mode(BMI160_ENABLE_MAG_IF_MODE);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+bmi160_get_if_mode(&v_data_u8);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+v_data_u8 = BMI160_MANUAL_DISABLE;
+/* Read the YAS537 device id 0x07*/
+com_rslt += bmi160_set_mag_read_addr(BMI160_YAS_DEVICE_ID_REG);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&v_data_u8, BMI160_GEN_READ_WRITE_DATA_LENGTH);
+yas537_data.dev_id = v_data_u8;
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* Read the YAS537 calibration data*/
+
+com_rslt +=
+bmi160_bst_yamaha_yas537_calib_values(
+BMI160_GEN_READ_WRITE_DATA_LENGTH);
+p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+/* set the mode to NORMAL*/
+yas537_data.measure_state = YAS537_MAG_STATE_NORMAL;
+/* set the transform to zero */
+yas537_data.transform = BMI160_NULL;
+yas537_data.average = 32;
+for (i = 0; i < 3; i++) {
+	yas537_data.hard_offset[i] = -128;
+	yas537_data.last_after_rcoil[i] = 0;
+}
+for (i = 0; i < 4; i++)
+	yas537_data.last_raw[i] = 0;
+/* write the Mag bandwidth as 25Hz*/
+com_rslt += bmi160_set_mag_output_data_rate(
+BMI160_MAG_OUTPUT_DATA_RATE_25HZ);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* Enable Mag interface to auto mode*/
+com_rslt += bmi160_set_mag_manual_enable(
+BMI160_MANUAL_DISABLE);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+bmi160_get_mag_manual_enable(&v_data_u8);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+	switch (v_accel_power_mode_status) {
+
+	case BMI160_ACCEL_SUSPEND:
+		com_rslt += bmi160_set_command_register(ACCEL_SUSPEND);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		break;
+
+	case BMI160_ACCEL_LOW_POWER:
+		com_rslt += bmi160_set_command_register(ACCEL_LOWPOWER);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		break;
+
+	default:
+		break;
+}
+return com_rslt;
+}
+/*!
+*	@brief This function is used to read the
+*	YAMAHA YAS537 calibration data
+*
+*
+*	@param v_rcoil_u8 : The value of r coil
+*
+*
+*	@return results of bus communication function
+*	@retval 0 -> Success
+*	@retval -1 -> Error
+*
+*
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas537_calib_values(
+u8 v_rcoil_u8)
+{
+/* This variable is used to provide the communication
+results*/
+BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+/* Array holding the YAS532 calibration values */
+u8 a_data_u8[BMI160_YAS537_CALIB_DATA_SIZE] = {
+BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+};
+static const u8 v_avrr_u8[] = {0x50, 0x60, 0x70};
+u8 v_cal_valid_u8 = BMI160_INIT_VALUE, i;
+/* write soft reset as 0x02*/
+com_rslt = bmi160_set_mag_write_data(
+YAS537_SRSTR_DATA);
+p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+com_rslt += bmi160_set_mag_write_addr(YAS537_REG_SRSTR);
+p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+/* Read the DX value */
+com_rslt = bmi160_set_mag_read_addr(YAS537_REG_CALR_C0);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[0], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the DY1 value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_C1);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[1], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the DY2 value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_C2);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[2], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the D2 value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_C3);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[3], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the D3 value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_C4);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[4], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the D4 value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_C5);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[5], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the D5 value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_C6);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[6], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the D6 value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_C7);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[7], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the D7 value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_C8);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[8], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the D8 value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_C9);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[9], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the D9 value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_CA);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[10], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the RX value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_CB);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[11], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the RY1 value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_CC);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[12], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the RY2 value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_CD);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[13], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the RY2 value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_CE);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[14], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the CHF value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_CF);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[15], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* Read the VER value */
+com_rslt += bmi160_set_mag_read_addr(YAS537_REG_CALR_DO);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+/* 0x04 is secondary read Mag x LSB register */
+com_rslt += bmi160_read_reg(BMI160_MAG_DATA_READ_REG,
+&a_data_u8[16], BMI160_GEN_READ_WRITE_DATA_LENGTH);
+/* get the calib ver*/
+yas537_data.calib_yas537.ver =
+(a_data_u8[16] >> BMI160_SHIFT_BIT_POSITION_BY_06_BITS);
+for (i = 0; i < 17; i++) {
+	if (((i < 16 && a_data_u8[i]) != 0))
+		v_cal_valid_u8 = 1;
+	if ((i < 16 &&
+	(a_data_u8[i] & 0x3F)) != 0)
+		v_cal_valid_u8 = 1;
+}
+if (!v_cal_valid_u8)
+	return ERROR;
+if (yas537_data.calib_yas537.ver == 0) {
+	for (i = 0; i < 17; i++) {
+		if (i < 12) {
+			/* write offset*/
+			com_rslt += bmi160_set_mag_write_data(
+			a_data_u8[i]);
+			p_bmi160->delay_msec(
+			BMI160_GEN_READ_WRITE_DELAY);
+			com_rslt += bmi160_set_mag_write_addr(
+			YAS537_REG_MTCR + i);
+			p_bmi160->delay_msec(
+			BMI160_GEN_READ_WRITE_DELAY);
+		} else if (i < 15) {
+			/* write offset correction*/
+			com_rslt += bmi160_set_mag_write_data(
+			a_data_u8[i]);
+			p_bmi160->delay_msec(
+			BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+			com_rslt += bmi160_set_mag_write_addr((
+			(YAS537_REG_OXR + i) - 12));
+			p_bmi160->delay_msec(
+			BMI160_GEN_READ_WRITE_DELAY);
+			yas537_data.hard_offset[i - 12]
+			= a_data_u8[i];
+		} else {
+			/* write offset correction*/
+			com_rslt += bmi160_set_mag_write_data(
+			a_data_u8[i]);
+			p_bmi160->delay_msec(
+			BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+			com_rslt += bmi160_set_mag_write_addr((
+			(YAS537_REG_OXR + i) - 11));
+			p_bmi160->delay_msec(
+			BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+		}
+
+}
+} else if (yas537_data.calib_yas537.ver == 1) {
+	for (i = 0; i < 3; i++) {
+		/* write offset*/
+		com_rslt += bmi160_set_mag_write_data(
+		a_data_u8[i]);
+		p_bmi160->delay_msec(
+		BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(
+		YAS537_REG_MTCR + i);
+		p_bmi160->delay_msec(
+		BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+		if (com_rslt == SUCCESS) {
+			/* write offset*/
+			com_rslt += bmi160_set_mag_write_data(
+			a_data_u8[i + 12]);
+			p_bmi160->delay_msec(
+			BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+			com_rslt += bmi160_set_mag_write_addr(
+			YAS537_REG_OXR + i);
+			p_bmi160->delay_msec(
+			BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+			yas537_data.hard_offset[i] =
+			a_data_u8[i + 12];
+		} else {
+			com_rslt = ERROR;
+		}
+	}
+	/* write offset*/
+	com_rslt += bmi160_set_mag_write_data(
+	((a_data_u8[i] & 0xE0) | 0x10));
+	p_bmi160->delay_msec(
+	BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	com_rslt += bmi160_set_mag_write_addr(
+	YAS537_REG_MTCR + i);
+	p_bmi160->delay_msec(
+	BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	/* write offset*/
+	com_rslt += bmi160_set_mag_write_data(
+	((a_data_u8[15]
+	>> BMI160_SHIFT_BIT_POSITION_BY_03_BITS)
+	& 0x1E));
+	p_bmi160->delay_msec(
+	BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	com_rslt += bmi160_set_mag_write_addr(YAS537_REG_HCKR);
+	p_bmi160->delay_msec(
+	BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	/* write offset*/
+	com_rslt += bmi160_set_mag_write_data(
+	((a_data_u8[15] << 1) & 0x1E));
+	p_bmi160->delay_msec(
+	BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	com_rslt += bmi160_set_mag_write_addr(YAS537_REG_LCKR);
+	p_bmi160->delay_msec(
+	BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	/* write offset*/
+	com_rslt += bmi160_set_mag_write_data(
+	(a_data_u8[16] & 0x3F));
+	p_bmi160->delay_msec(
+	BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	com_rslt += bmi160_set_mag_write_addr(YAS537_REG_OCR);
+	p_bmi160->delay_msec(
+	BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+
+	/* Assign the calibration values*/
+	/* a2 */
+	yas537_data.calib_yas537.a2 =
+	((((a_data_u8[3]
+	<< BMI160_SHIFT_BIT_POSITION_BY_02_BITS)
+	& 0x7C)
+	| (a_data_u8[4]
+	>> BMI160_SHIFT_BIT_POSITION_BY_06_BITS)) - 64);
+	/* a3 */
+	yas537_data.calib_yas537.a3 =
+	((((a_data_u8[4] << BMI160_SHIFT_BIT_POSITION_BY_01_BIT)
+	& 0x7E)
+	| (a_data_u8[5]
+	>> BMI160_SHIFT_BIT_POSITION_BY_07_BITS)) - 64);
+	/* a4 */
+	yas537_data.calib_yas537.a4 =
+	((((a_data_u8[5]
+	<< BMI160_SHIFT_BIT_POSITION_BY_01_BIT)
+	& 0xFE)
+	| (a_data_u8[6]
+	>> BMI160_SHIFT_BIT_POSITION_BY_07_BITS))
+	- 128);
+	/* a5 */
+	yas537_data.calib_yas537.a5 =
+	((((a_data_u8[6]
+	<< BMI160_SHIFT_BIT_POSITION_BY_02_BITS)
+	& 0x1FC)
+	| (a_data_u8[7]
+	>> BMI160_SHIFT_BIT_POSITION_BY_06_BITS))
+	- 112);
+	/* a6 */
+	yas537_data.calib_yas537.a6 =
+	((((a_data_u8[7]
+	<< BMI160_SHIFT_BIT_POSITION_BY_01_BIT)
+	& 0x7E)
+	| (a_data_u8[8]
+	>> BMI160_SHIFT_BIT_POSITION_BY_07_BITS)) - 64);
+	/* a7 */
+	yas537_data.calib_yas537.a7 =
+	((((a_data_u8[8]
+	<< BMI160_SHIFT_BIT_POSITION_BY_01_BIT)
+	& 0xFE)
+	| (a_data_u8[9]
+	>> BMI160_SHIFT_BIT_POSITION_BY_07_BITS))
+	- 128);
+	/* a8 */
+	yas537_data.calib_yas537.a8 = ((a_data_u8[9] &
+	0x7F) - 64);
+	/* a9 */
+	yas537_data.calib_yas537.a9 = ((((a_data_u8[10]
+	<< BMI160_SHIFT_BIT_POSITION_BY_01_BIT) & 0x1FE)
+	| (a_data_u8[11]
+	>> BMI160_SHIFT_BIT_POSITION_BY_07_BITS))
+	- 112);
+	/* k */
+	yas537_data.calib_yas537.k = (
+	a_data_u8[11] & 0x7F);
+	} else {
+		return ERROR;
+	}
+/* write A/D converter*/
+com_rslt += bmi160_set_mag_write_data(
+YAS537_WRITE_A_D_CONVERTER);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+com_rslt += bmi160_set_mag_write_addr(YAS537_REG_ADCCALR);
+p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+/* write A/D converter second register*/
+com_rslt += bmi160_set_mag_write_data(
+YAS537_WRITE_A_D_CONVERTER2);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+com_rslt += bmi160_set_mag_write_addr(YAS537_REG_ADCCALR_ONE);
+p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+/* write temperature calibration register*/
+com_rslt += bmi160_set_mag_write_data(YAS537_WRITE_TEMP_CALIB);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+com_rslt += bmi160_set_mag_write_addr(YAS537_REG_TRMR);
+p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+/* write average filter register*/
+com_rslt += bmi160_set_mag_write_data(
+v_avrr_u8[yas537_data.average]);
+p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+com_rslt += bmi160_set_mag_write_addr(YAS537_REG_AVRR);
+p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+if (v_rcoil_u8) {
+	/* write average; filter register*/
+	com_rslt += bmi160_set_mag_write_data(
+	YAS537_WRITE_FILTER);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	com_rslt += bmi160_set_mag_write_addr(YAS537_REG_CONFR);
+	p_bmi160->delay_msec(
+	BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+}
+
+return com_rslt;
+
+}
+/*!
+ *	@brief This function is used for writing the data acquisition
+ *	command register write in YAS537
+ *	@param	v_command_reg_data_u8	:	the value of data acquisition
+ *	acquisition_command  |   operation
+ *  ---------------------|-------------------------
+ *         0x17          | turn on the acquisition coil
+ *         -             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Deferred acquisition mode
+ *        0x07           | turn on the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Normal acquisition mode
+ *        0x11           | turn OFF the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as plus(+))
+ *         _             | Deferred acquisition mode
+ *       0x01            | turn OFF the acquisition coil
+ *        _              | set direction of the coil
+ *        _              | (x and y as plus(+))
+ *        _              | Normal acquisition mode
+ *
+ *
+ *
+  *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas537_acquisition_command_register(
+u8 v_command_reg_data_u8)
+{
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+
+	if (p_bmi160->mag_manual_enable != BMI160_MANUAL_ENABLE)
+			com_rslt = bmi160_set_mag_manual_enable(
+			BMI160_MANUAL_ENABLE);
+			p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+		com_rslt = bmi160_set_mag_write_data(v_command_reg_data_u8);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		/* YAMAHA YAS532-0x82*/
+		com_rslt += bmi160_set_mag_write_addr(
+		BMI160_REG_YAS537_CMDR);
+		/* set the mode to RECORD*/
+		yas537_data.measure_state = YAS537_MAG_STATE_RECORD_DATA;
+		p_bmi160->delay_msec(BMI160_YAS_ACQ_COMMAND_DELAY);
+		com_rslt += bmi160_set_mag_read_addr(
+		YAS537_REG_TEMPERATURE_0);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+	if (p_bmi160->mag_manual_enable == BMI160_MANUAL_ENABLE)
+		com_rslt += bmi160_set_mag_manual_enable(
+		BMI160_MANUAL_DISABLE);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+
+	return com_rslt;
+
+}
+/*!
+ *	@brief This function is used for processing the
+ *	YAMAHA YAS537 xy1y2 raw data
+ *
+ *	@param xy1y2: The value of raw xy1y2 data
+ *	@param xyz: The value of  xyz data
+ *
+ *
+ *	@return None
+ *
+ *
+ */
+static void xy1y2_to_xyz(u16 *xy1y2, s32 *xyz)
+{
+	xyz[0] = ((xy1y2[0] - 8192)
+	* 300);
+	xyz[1] = (((xy1y2[1] - xy1y2[2])
+	* 1732) / 10);
+	xyz[2] = (((-xy1y2[2] - xy1y2[2])
+	+ 16384) * 300);
+}
+/*!
+ *	@brief This function is used to read the
+ *	YAMAHA YAS537 xy1y2 data
+ *
+ *	@param v_coil_stat_u8: The value of R coil status
+ *	@param v_busy_u8: The value of busy status
+ *	@param v_temperature_u16: The value of temperature
+ *	@param xy1y2: The value of raw xy1y2 data
+ *	@param v_outflow_u8: The value of overflow
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas537_read_xy1y2_data(
+u8 *v_coil_stat_u8, u8 *v_busy_u8,
+u16 *v_temperature_u16, u16 *xy1y2, u8 *v_outflow_u8)
+{
+	/* This variable is used to provide the communication
+	results*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;
+	/* Array holding the YAS532 calibration values */
+	u8 a_data_u8[BMI160_YAS_XY1Y2T_DATA_SIZE] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE,
+	};
+	u8 i = BMI160_INIT_VALUE;
+	s32 a_h_s32[BMI160_YAS_H_DATA_SIZE] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	s32 a_s_s32[BMI160_YAS_S_DATA_SIZE] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	/* set command register*/
+	com_rslt = bmi160_bst_yas537_acquisition_command_register(
+	YAS537_SET_COMMAND_REGISTER);
+	/* read the yas537 sensor data of xy1y2*/
+	com_rslt +=
+	p_bmi160->BMI160_BUS_READ_FUNC(p_bmi160->dev_addr,
+	BMI160_USER_DATA_MAG_X_LSB__REG,
+	a_data_u8, BMI160_MAG_YAS_DATA_LENGTH);
+	/* read the busy flag*/
+	*v_busy_u8 = a_data_u8[2]
+	>> BMI160_SHIFT_BIT_POSITION_BY_07_BITS;
+	/* read the coil status*/
+	*v_coil_stat_u8 =
+	((a_data_u8[2] >>
+	BMI160_SHIFT_BIT_POSITION_BY_06_BITS) & 0X01);
+	/* read temperature data*/
+	*v_temperature_u16 = (u16)((a_data_u8[0]
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS) | a_data_u8[1]);
+	/* read x data*/
+	xy1y2[0] = (u16)(((a_data_u8[2] &
+	0x3F)
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| (a_data_u8[3]));
+	/* read y1 data*/
+	xy1y2[1] = (u16)((a_data_u8[4]
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| a_data_u8[5]);
+	/* read y2 data*/
+	xy1y2[2] = (u16)((a_data_u8[6]
+	<< BMI160_SHIFT_BIT_POSITION_BY_08_BITS)
+	| a_data_u8[7]);
+	for (i = 0; i < 3; i++)
+		yas537_data.last_raw[i] = xy1y2[i];
+	yas537_data.last_raw[i] = *v_temperature_u16;
+	if (yas537_data.calib_yas537.ver == 1) {
+		for (i = 0; i < 3; i++)
+			a_s_s32[i] = xy1y2[i] - 8192;
+		/* read hx*/
+		a_h_s32[0] = ((yas537_data.calib_yas537.k * (
+		(128 * a_s_s32[0]) +
+		(yas537_data.calib_yas537.a2 * a_s_s32[1]) +
+		(yas537_data.calib_yas537.a3 * a_s_s32[2])))
+		/ (8192));
+		/* read hy1*/
+		a_h_s32[1] = ((yas537_data.calib_yas537.k * (
+		(yas537_data.calib_yas537.a4 * a_s_s32[0]) +
+		(yas537_data.calib_yas537.a5 * a_s_s32[1]) +
+		(yas537_data.calib_yas537.a6 * a_s_s32[2])))
+		/ (8192));
+		/* read hy2*/
+		a_h_s32[2] = ((yas537_data.calib_yas537.k * (
+		(yas537_data.calib_yas537.a7 * a_s_s32[0]) +
+		(yas537_data.calib_yas537.a8 * a_s_s32[1]) +
+		(yas537_data.calib_yas537.a9 * a_s_s32[2])))
+		/ (8192));
+
+		for (i = 0; i < 3; i++) {
+			if (a_h_s32[i] < -8192)
+				a_h_s32[i] = -8192;
+
+			if (8192 < a_h_s32[i])
+				a_h_s32[i] = 8192;
+
+			xy1y2[i] = a_h_s32[i] + 8192;
+
+		}
+	}
+	*v_outflow_u8 = 0;
+	for (i = 0; i < 3; i++) {
+		if (YAS537_DATA_OVERFLOW <= xy1y2[i])
+			*v_outflow_u8 |= (1 << (i * 2));
+		if (xy1y2[i] == YAS537_DATA_UNDERFLOW)
+			*v_outflow_u8 |= (1 << (i * 2 + 1));
+	}
+
+	return com_rslt;
+
+}
+/*!
+ *	@brief This function is used for detecting whether the mag
+ *  data obtained is valid or not
+ *
+ *
+ *	@param v_cur_u16: The value of current Mag data
+ *  @param v_last_u16: The value of last Mag data
+ *
+ *
+ *	@return results of magnetic field data's validity
+ *	@retval 0 -> VALID DATA
+ *	@retval 1 -> INVALID DATA
+ *
+ *
+ */
+static BMI160_RETURN_FUNCTION_TYPE invalid_magnetic_field(
+u16 *v_cur_u16, u16 *v_last_u16)
+{
+	s16 invalid_thresh[] = {1500, 1500, 1500};
+	u8 i = BMI160_INIT_VALUE;
+
+	for (i = 0; i < 3; i++)
+		if (invalid_thresh[i] < ABS(v_cur_u16[i] - v_last_u16[i]))
+			return 1;
+	return 0;
+}
+/*!
+ *	@brief This function is used to read the
+ *	YAMAHA YAS537 xy1y2 data
+ *
+ *	@param v_outflow_u8: The value of overflow
+ *	@param *vector_xyz : yas vector structure pointer
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas537_measure_xyz_data(
+u8 *v_outflow_u8, struct yas_vector *vector_xyz)
+{
+	s32 a_xyz_tmp_s32[BMI160_YAS_TEMP_DATA_SIZE] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	u8 i = BMI160_INIT_VALUE;
+	s8 com_rslt = BMI160_INIT_VALUE;
+	u8 v_busy_u8 = BMI160_INIT_VALUE;
+	u8 v_rcoil_u8 = BMI160_INIT_VALUE;
+	u16 v_temperature_u16 = BMI160_INIT_VALUE;
+	u16 a_xy1y2_u16[BMI160_YAS_XY1Y2_DATA_SIZE] = {
+	BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+	*v_outflow_u8 = 0;
+	/* read the yas537 xy1y2 data*/
+	com_rslt = bmi160_bst_yamaha_yas537_read_xy1y2_data(
+	&v_rcoil_u8, &v_busy_u8,
+	&v_temperature_u16, a_xy1y2_u16, v_outflow_u8);
+	/* linear calculation*/
+	xy1y2_to_xyz(a_xy1y2_u16, vector_xyz->yas537_vector_xyz);
+	if (yas537_data.transform != BMI160_NULL) {
+		for (i = 0; i < 3; i++) {
+			a_xyz_tmp_s32[i] = ((
+			yas537_data.transform[i + 3]
+			* vector_xyz->yas537_vector_xyz[0])
+			+ (yas537_data.transform[
+			i * 3 + 1]
+			* vector_xyz->yas537_vector_xyz[1])
+			+ (yas537_data.transform[
+			i * 3 + 2]
+			* vector_xyz->yas537_vector_xyz[2]));
+		}
+		yas537_set_vector(
+		vector_xyz->yas537_vector_xyz, a_xyz_tmp_s32);
+	}
+	for (i = 0; i < 3; i++) {
+		vector_xyz->yas537_vector_xyz[i] -=
+		vector_xyz->yas537_vector_xyz[i] % 10;
+		if (*v_outflow_u8 & (1 <<
+		(i * 2)))
+			vector_xyz->yas537_vector_xyz[i] +=
+			1; /* set overflow */
+		if (*v_outflow_u8 & (1 << (i * 2 + 1)))
+			/* set underflow */
+			vector_xyz->yas537_vector_xyz[i] += 2;
+	}
+	if (v_busy_u8)
+		return ERROR;
+	switch (yas537_data.measure_state) {
+	case YAS537_MAG_STATE_INIT_COIL:
+		if (p_bmi160->mag_manual_enable != BMI160_MANUAL_ENABLE)
+			com_rslt = bmi160_set_mag_manual_enable(
+			BMI160_MANUAL_ENABLE);
+		com_rslt += bmi160_set_mag_write_data(YAS537_WRITE_CONFR);
+		p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+		com_rslt += bmi160_set_mag_write_addr(YAS537_REG_CONFR);
+		p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+		yas537_data.measure_state = YAS537_MAG_STATE_RECORD_DATA;
+		if (p_bmi160->mag_manual_enable == BMI160_MANUAL_ENABLE)
+			com_rslt = bmi160_set_mag_manual_enable(
+			BMI160_MANUAL_DISABLE);
+	break;
+	case YAS537_MAG_STATE_RECORD_DATA:
+		if (v_rcoil_u8)
+			break;
+		yas537_set_vector(yas537_data.last_after_rcoil, a_xy1y2_u16);
+		yas537_data.measure_state = YAS537_MAG_STATE_NORMAL;
+	break;
+	case YAS537_MAG_STATE_NORMAL:
+		if (BMI160_INIT_VALUE < v_outflow_u8
+		|| invalid_magnetic_field(a_xy1y2_u16,
+		yas537_data.last_after_rcoil)) {
+			yas537_data.measure_state = YAS537_MAG_STATE_INIT_COIL;
+			for (i = 0; i < 3; i++) {
+				if (!*v_outflow_u8)
+					vector_xyz->yas537_vector_xyz[i] += 3;
+			}
+		}
+	break;
+	}
+
+	return com_rslt;
+}
+/*!
+ *	@brief This function is used to read the
+ *	YAMAHA YAS537 xy1y2 data of fifo
+ *
+ *	@param a_xy1y2_u16: The value of xyy1 data
+ *	@param v_over_flow_u8: The value of overflow
+ *	@param v_rcoil_u8: The value of rcoil
+ *	@param v_busy_u8: The value of busy flag
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas537_fifo_xyz_data(
+u16 *a_xy1y2_u16, u8 v_over_flow_u8, u8 v_rcoil_u8, u8 v_busy_u8)
+{
+
+s32 a_xyz_tmp_s32[BMI160_YAS_TEMP_DATA_SIZE] = {
+BMI160_INIT_VALUE, BMI160_INIT_VALUE, BMI160_INIT_VALUE};
+u8 i = BMI160_INIT_VALUE;
+s8 com_rslt = BMI160_INIT_VALUE;
+/* linear calculation*/
+xy1y2_to_xyz(a_xy1y2_u16, fifo_vector_xyz.yas537_vector_xyz);
+if (yas537_data.transform != BMI160_NULL) {
+	for (i = 0; i < 3; i++) {
+		a_xyz_tmp_s32[i] = ((
+		yas537_data.transform[i + 3]
+		* fifo_vector_xyz.yas537_vector_xyz[0])
+		+ (yas537_data.transform[
+		i * 3 + 1]
+		* fifo_vector_xyz.yas537_vector_xyz[1])
+		+ (yas537_data.transform[
+		i * 3 + 2]
+		* fifo_vector_xyz.yas537_vector_xyz[2]));
+	}
+	yas537_set_vector(
+	fifo_vector_xyz.yas537_vector_xyz, a_xyz_tmp_s32);
+}
+for (i = 0; i < 3; i++) {
+	fifo_vector_xyz.yas537_vector_xyz[i] -=
+	fifo_vector_xyz.yas537_vector_xyz[i] % 10;
+	if (v_over_flow_u8 & (1 <<
+	(i * 2)))
+		fifo_vector_xyz.yas537_vector_xyz[i] +=
+		1; /* set overflow */
+	if (v_over_flow_u8 & (1 << (i * 2 + 1)))
+		/* set underflow */
+		fifo_vector_xyz.yas537_vector_xyz[i] += 2;
+}
+if (v_busy_u8)
+	return ERROR;
+switch (yas537_data.measure_state) {
+case YAS537_MAG_STATE_INIT_COIL:
+	if (p_bmi160->mag_manual_enable != BMI160_MANUAL_ENABLE)
+		com_rslt = bmi160_set_mag_manual_enable(
+		BMI160_MANUAL_ENABLE);
+	com_rslt += bmi160_set_mag_write_data(YAS537_WRITE_CONFR);
+	p_bmi160->delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	com_rslt += bmi160_set_mag_write_addr(YAS537_REG_CONFR);
+	p_bmi160->delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	yas537_data.measure_state = YAS537_MAG_STATE_RECORD_DATA;
+	if (p_bmi160->mag_manual_enable == BMI160_MANUAL_ENABLE)
+		com_rslt = bmi160_set_mag_manual_enable(
+		BMI160_MANUAL_DISABLE);
+break;
+case YAS537_MAG_STATE_RECORD_DATA:
+	if (v_rcoil_u8)
+		break;
+	yas537_set_vector(yas537_data.last_after_rcoil, a_xy1y2_u16);
+	yas537_data.measure_state = YAS537_MAG_STATE_NORMAL;
+break;
+case YAS537_MAG_STATE_NORMAL:
+	if (BMI160_INIT_VALUE < v_over_flow_u8
+	|| invalid_magnetic_field(a_xy1y2_u16,
+	yas537_data.last_after_rcoil)) {
+		yas537_data.measure_state = YAS537_MAG_STATE_INIT_COIL;
+		for (i = 0; i < 3; i++) {
+			if (!v_over_flow_u8)
+				fifo_vector_xyz.yas537_vector_xyz[i]
+				+= 3;
+		}
+	}
+break;
+}
+
+return com_rslt;
+
+}
+#endif

bmi160.h

@@ -0,0 +1,11802 @@
+/** \mainpage
+*
+****************************************************************************
+* Copyright (C) 2016 Bosch Sensortec GmbH
+*
+* File : bmi160.h
+*
+* Date : 2016/06/27
+*
+* Revision : 2.2.1 $
+*
+* Usage: Sensor Driver for BMI160 sensor
+*
+****************************************************************************
+*
+* \section License
+*
+* 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
+    \brief BMI160 Sensor Driver Support Header File */
+/* user defined code to be added here ... */
+#ifndef __BMI160_H__
+#define __BMI160_H__
+
+/*!
+* @brief The following definition is used to define the data types
+*
+* @note While porting the API please consider the following
+* @note Please check the version of C standard
+* @note Are you using Linux platform
+*/
+
+/*!
+* @brief For the Linux platform support
+* Please use the types.h for your data types definitions
+*/
+#ifdef	__KERNEL__
+
+#include <linux/types.h>
+/* singed integer type*/
+typedef	int8_t s8;/**< used for signed 8bit */
+typedef	int16_t s16;/**< used for signed 16bit */
+typedef	int32_t s32;/**< used for signed 32bit */
+typedef	int64_t s64;/**< used for signed 64bit */
+
+typedef	u_int8_t u8;/**< used for unsigned 8bit */
+typedef	u_int16_t u16;/**< used for unsigned 16bit */
+typedef	u_int32_t u32;/**< used for unsigned 32bit */
+typedef	u_int64_t u64;/**< used for unsigned 64bit */
+
+
+
+#else /* ! __KERNEL__ */
+/**********************************************************
+* below definitions are used to define the C
+* standard version data types
+***********************************************************/
+# if !defined(__STDC_VERSION__)
+
+/************************************************
+ * compiler is C11 C standard
+************************************************/
+#if (__STDC_VERSION__ == 201112L)
+
+/************************************************/
+#include <stdint.h>
+/************************************************/
+
+/*unsigned integer types*/
+typedef	uint8_t u8;/**< used for unsigned 8bit */
+typedef	uint16_t u16;/**< used for unsigned 16bit */
+typedef	uint32_t u32;/**< used for unsigned 32bit */
+typedef	uint64_t u64;/**< used for unsigned 64bit */
+
+/*signed integer types*/
+typedef	int8_t s8;/**< used for signed 8bit */
+typedef	int16_t s16;/**< used for signed 16bit */
+typedef	int32_t s32;/**< used for signed 32bit */
+typedef	int64_t s64;/**< used for signed 64bit */
+/************************************************
+ * compiler is C99 C standard
+************************************************/
+
+#elif (__STDC_VERSION__ == 199901L)
+
+/* stdint.h is a C99 supported c library.
+which is used to fix the integer size*/
+/************************************************/
+#include <stdint.h>
+/************************************************/
+
+/*unsigned integer types*/
+typedef	uint8_t u8;/**< used for unsigned 8bit */
+typedef	uint16_t u16;/**< used for unsigned 16bit */
+typedef	uint32_t u32;/**< used for unsigned 32bit */
+typedef	uint64_t u64;/**< used for unsigned 64bit */
+
+/*signed integer types*/
+typedef int8_t s8;/**< used for signed 8bit */
+typedef	int16_t s16;/**< used for signed 16bit */
+typedef	int32_t s32;/**< used for signed 32bit */
+typedef	int64_t s64;/**< used for signed 64bit */
+/************************************************
+ * compiler is C89 or other C standard
+************************************************/
+
+#else /*  !defined(__STDC_VERSION__) */
+/*!
+* @brief By default it is defined as 32 bit machine configuration
+*	define your data types based on your
+*	machine/compiler/controller configuration
+*/
+#define  MACHINE_32_BIT
+
+/*! @brief
+ *	If your machine support 16 bit
+ *	define the MACHINE_16_BIT
+ */
+#ifdef MACHINE_16_BIT
+#include <limits.h>
+/*signed integer types*/
+typedef	signed char  s8;/**< used for signed 8bit */
+typedef	signed short int s16;/**< used for signed 16bit */
+typedef	signed long int s32;/**< used for signed 32bit */
+
+#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
+typedef long int s64;/**< used for signed 64bit */
+typedef unsigned long int u64;/**< used for unsigned 64bit */
+#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
+typedef long long int s64;/**< used for signed 64bit */
+typedef unsigned long long int u64;/**< used for unsigned 64bit */
+#else
+#warning Either the correct data type for signed 64 bit integer \
+could not be found, or 64 bit integers are not supported in your environment.
+#warning If 64 bit integers are supported on your platform, \
+please set s64 manually.
+#endif
+
+/*unsigned integer types*/
+typedef	unsigned char u8;/**< used for unsigned 8bit */
+typedef	unsigned short int u16;/**< used for unsigned 16bit */
+typedef	unsigned long int u32;/**< used for unsigned 32bit */
+
+/* If your machine support 32 bit
+define the MACHINE_32_BIT*/
+#elif defined MACHINE_32_BIT
+/*signed integer types*/
+typedef	signed char  s8;/**< used for signed 8bit */
+typedef	signed short int s16;/**< used for signed 16bit */
+typedef	signed int s32;/**< used for signed 32bit */
+typedef	signed long long int s64;/**< used for signed 64bit */
+
+/*unsigned integer types*/
+typedef	unsigned char u8;/**< used for unsigned 8bit */
+typedef	unsigned short int u16;/**< used for unsigned 16bit */
+typedef	unsigned int u32;/**< used for unsigned 32bit */
+typedef	unsigned long long int u64;/**< used for unsigned 64bit */
+
+/* If your machine support 64 bit
+define the MACHINE_64_BIT*/
+#elif defined MACHINE_64_BIT
+/*signed integer types*/
+typedef	signed char  s8;/**< used for signed 8bit */
+typedef	signed short int s16;/**< used for signed 16bit */
+typedef	signed int s32;/**< used for signed 32bit */
+typedef	signed long int s64;/**< used for signed 64bit */
+
+/*unsigned integer types*/
+typedef	unsigned char u8;/**< used for unsigned 8bit */
+typedef	unsigned short int u16;/**< used for unsigned 16bit */
+typedef	unsigned int u32;/**< used for unsigned 32bit */
+typedef	unsigned long int u64;/**< used for unsigned 64bit */
+
+#else
+#warning The data types defined above which not supported \
+define the data types manually
+#endif
+#endif
+
+/* This else part will be executed for the compilers
+which does not support the C89/C99/C11 standards ***/
+#else
+/*!
+* @brief By default it is defined as 32 bit machine configuration
+*	define your data types based on your
+*	machine/compiler/controller configuration
+*/
+#define  MACHINE_32_BIT
+
+/* If your machine support 16 bit
+define the MACHINE_16_BIT*/
+#ifdef MACHINE_16_BIT
+#include <limits.h>
+/*signed integer types*/
+typedef	signed char  s8;/**< used for signed 8bit */
+typedef	signed short int s16;/**< used for signed 16bit */
+typedef	signed long int s32;/**< used for signed 32bit */
+
+#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
+typedef long int s64;/**< used for signed 64bit */
+typedef unsigned long int u64;/**< used for unsigned 64bit */
+#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
+typedef long long int s64;/**< used for signed 64bit */
+typedef unsigned long long int u64;/**< used for unsigned 64bit */
+#else
+#warning Either the correct data type for signed 64 bit integer \
+could not be found, or 64 bit integers are not supported in your environment.
+#warning If 64 bit integers are supported on your platform, \
+please set s64 manually.
+#endif
+
+/*unsigned integer types*/
+typedef	unsigned char u8;/**< used for unsigned 8bit */
+typedef	unsigned short int u16;/**< used for unsigned 16bit */
+typedef	unsigned long int u32;/**< used for unsigned 32bit */
+
+/*! @brief If your machine support 32 bit
+define the MACHINE_32_BIT*/
+#elif defined MACHINE_32_BIT
+/*signed integer types*/
+typedef	signed char  s8;/**< used for signed 8bit */
+typedef	signed short int s16;/**< used for signed 16bit */
+typedef	signed int s32;/**< used for signed 32bit */
+typedef	signed long long int s64;/**< used for signed 64bit */
+
+/*unsigned integer types*/
+typedef	unsigned char u8;/**< used for unsigned 8bit */
+typedef	unsigned short int u16;/**< used for unsigned 16bit */
+typedef	unsigned int u32;/**< used for unsigned 32bit */
+typedef	unsigned long long int u64;/**< used for unsigned 64bit */
+
+/* If your machine support 64 bit
+define the MACHINE_64_BIT*/
+#elif defined MACHINE_64_BIT
+/*signed integer types*/
+typedef	signed char  s8;/**< used for signed 8bit */
+typedef	signed short int s16;/**< used for signed 16bit */
+typedef	signed int s32;/**< used for signed 32bit */
+typedef	signed long int s64;/**< used for signed 64bit */
+
+/*unsigned integer types*/
+typedef	unsigned char u8;/**< used for unsigned 8bit */
+typedef	unsigned short int u16;/**< used for unsigned 16bit */
+typedef	unsigned int u32;/**< used for unsigned 32bit */
+typedef	unsigned long int u64;/**< used for unsigned 64bit */
+
+#else
+#warning If the data types defined above are not supported \
+then define the data types manually
+#endif
+#endif
+#endif
+/***************************************************************/
+/**\name	BUS READ AND WRITE FUNCTION POINTERS        */
+/***************************************************************/
+/*!
+	@brief Define the calling convention of your bus communication routine.
+	@note This includes types of parameters. This example shows the
+	configuration for an SPI bus link.
+
+    If your communication function looks like this:
+
+    write_my_bus_xy(u8 device_addr, u8 register_addr,
+    u8 * data, u8 length);
+
+    The BMI160_WR_FUNC_PTR would equal:
+
+    BMI160_WR_FUNC_PTR s8 (* bus_write)(u8,
+    u8, u8 *, u8)
+
+    Parameters can be mixed as needed refer to the
+    @ref BMI160_BUS_WRITE_FUNC  macro.
+
+
+*/
+#define BMI160_WR_FUNC_PTR s8 (*bus_write)(u8, u8,\
+u8 *, u8)
+/**< link macro between API function calls and bus write function
+	@note The bus write function can change since this is a
+	system dependant issue.
+
+    If the bus_write parameter calling order is like: reg_addr,
+    reg_data, wr_len it would be as it is here.
+
+    If the parameters are differently ordered or your communication
+    function like I2C need to know the device address,
+    you can change this macro accordingly.
+
+
+    BMI160_BUS_WRITE_FUNC(dev_addr, reg_addr, reg_data, wr_len)\
+    bus_write(dev_addr, reg_addr, reg_data, wr_len)
+
+    This macro lets all API functions call your communication routine in a
+    way that equals your definition in the
+    @ref BMI160_WR_FUNC_PTR definition.
+
+*/
+#define BMI160_BUS_WRITE_FUNC(dev_addr, reg_addr, reg_data, wr_len)\
+				bus_write(dev_addr, reg_addr, reg_data, wr_len)
+
+/**< Define the calling convention of your bus communication routine.
+	@note This includes types of parameters. This example shows the
+	configuration for an SPI bus link.
+
+    If your communication function looks like this:
+
+    read_my_bus_xy(u8 device_addr, u8 register_addr,
+    u8 * data, u8 length);
+
+    The BMI160_RD_FUNC_PTR would equal:
+
+    BMI160_RD_FUNC_PTR s8 (* bus_read)(u8,
+    u8, u8 *, u8)
+
+    Parameters can be mixed as needed refer to the
+    refer BMI160_BUS_READ_FUNC  macro.
+
+*/
+#define BMI160_SPI_RD_MASK (0x80)   /* for spi read transactions on SPI the
+			MSB has to be set */
+#define BMI160_RD_FUNC_PTR s8 (*bus_read)(u8,\
+			u8, u8 *, u8)
+
+#define BMI160_BRD_FUNC_PTR s8 \
+(*burst_read)(u8, u8, u8 *, u32)
+
+/**< link macro between API function calls and bus read function
+	@note The bus write function can change since this is a
+	system dependant issue.
+
+    If the bus_read parameter calling order is like: reg_addr,
+    reg_data, wr_len it would be as it is here.
+
+    If the parameters are differently ordered or your communication
+    function like I2C need to know the device address,
+    you can change this macro accordingly.
+
+
+    BMI160_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, wr_len)\
+    bus_read(dev_addr, reg_addr, reg_data, wr_len)
+
+    This macro lets all API functions call your communication routine in a
+    way that equals your definition in the
+    refer BMI160_WR_FUNC_PTR definition.
+
+    @note: this macro also includes the "MSB='1'
+    for reading BMI160 addresses.
+
+*/
+#define BMI160_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, r_len)\
+				bus_read(dev_addr, reg_addr, reg_data, r_len)
+
+#define BMI160_BURST_READ_FUNC(device_addr, \
+register_addr, register_data, rd_len)\
+burst_read(device_addr, register_addr, register_data, rd_len)
+
+/* enable the macro for FIFO functionalities when FIFO is used*/
+#define FIFO_ENABLE
+/* enable the macro of the secondary interface which is used */
+
+#define YAS537 /* used to select the secondary interface as YAS537 */
+#define YAS532  /* used to select the secondary interface as YAS532 */
+#define AKM09911 /* used to select the secondary interface as AKM09911 */
+#define AKM09912 /* used to select the secondary interface as AKM09912 */
+
+#define BMI160_MDELAY_DATA_TYPE                 u32
+
+/***************************************************************/
+/**\name	BUS READ AND WRITE FUNCTION POINTERS        */
+/***************************************************************/
+#define BMI160_I2C_ADDR1                   (0x68)
+/**< I2C Address needs to be changed */
+#define BMI160_I2C_ADDR2                    (0x69)
+ /**< I2C Address needs to be changed */
+#define BMI160_AUX_BMM150_I2C_ADDRESS       (0x10)
+/**< I2C address of BMM150*/
+#define BMI160_AUX_YAS532_I2C_ADDRESS       (0x2E)
+/**< I2C address of YAS532*/
+#define	BMI160_AUX_AKM09911_I2C_ADDR_1		(0x0C)
+/**< I2C address of AKM09911*/
+#define	BMI160_AUX_AKM09911_I2C_ADDR_2		(0x0D)
+/**< I2C address of AKM09911*/
+#define	BMI160_AUX_AKM09912_I2C_ADDR_1		(0x0C)
+/**< I2C address of AKM09912*/
+#define	BMI160_AUX_AKM09912_I2C_ADDR_2		(0x0D)
+/**< I2C address of AKM09912*/
+#define	BMI160_AUX_AKM09912_I2C_ADDR_3		(0x0E)
+/**< I2C address of AKM09912*/
+#define	BMI160_AUX_AKM09912_I2C_ADDR_4		(0x0F)
+/**< I2C address of AKM09912*/
+/*******************************************/
+/**\name	CONSTANTS        */
+/******************************************/
+#define  BMI160_INIT_VALUE					(0)
+#define  BMI160_ASSIGN_DATA                 (1)
+#define  BMI160_GEN_READ_WRITE_DATA_LENGTH	(1)
+#define  BMI160_MAXIMUM_TIMEOUT             (10)
+
+/* output data rate condition check*/
+#define  BMI160_OUTPUT_DATA_RATE0	(0)
+#define  BMI160_OUTPUT_DATA_RATE1	(1)
+#define  BMI160_OUTPUT_DATA_RATE2	(2)
+#define  BMI160_OUTPUT_DATA_RATE3	(3)
+#define  BMI160_OUTPUT_DATA_RATE4	(4)
+#define  BMI160_OUTPUT_DATA_RATE5	(5)
+#define  BMI160_OUTPUT_DATA_RATE6	(14)
+#define  BMI160_OUTPUT_DATA_RATE7	(15)
+
+/*unmap significant motion*/
+#define V_ANY_MOTION_INTR_STAT   (4)
+#define V_ANY_MOTION_AXIS_STAT   (7)
+
+/* Accel range check*/
+#define BMI160_ACCEL_RANGE0  (3)
+#define BMI160_ACCEL_RANGE1  (5)
+#define BMI160_ACCEL_RANGE3  (8)
+#define BMI160_ACCEL_RANGE4  (12)
+
+/* check the status of registers*/
+#define  BMI160_FOC_STAT_HIGH			(1)
+#define  BMI160_SIG_MOTION_STAT_HIGH	(1)
+#define  BMI160_STEP_DET_STAT_HIGH		(1)
+
+/*condition check for reading and writing data*/
+#define	BMI160_MAX_VALUE_SIGNIFICANT_MOTION      (1)
+#define	BMI160_MAX_VALUE_FIFO_FILTER    (1)
+#define	BMI160_MAX_VALUE_FIFO_TIME      (1)
+#define	BMI160_MAX_VALUE_FIFO_INTR      (1)
+#define	BMI160_MAX_VALUE_FIFO_HEADER    (1)
+#define	BMI160_MAX_VALUE_FIFO_MAG       (1)
+#define	BMI160_MAX_VALUE_FIFO_ACCEL     (1)
+#define	BMI160_MAX_VALUE_FIFO_GYRO      (1)
+#define	BMI160_MAX_VALUE_SOURCE_INTR    (1)
+#define	BMI160_MAX_VALUE_LOW_G_MODE     (1)
+#define	BMI160_MAX_VALUE_NO_MOTION      (1)
+#define	BMI160_MAX_VALUE_TAP_SHOCK      (1)
+#define	BMI160_MAX_VALUE_TAP_QUIET      (1)
+#define	BMI160_MAX_VALUE_ORIENT_UD      (1)
+#define	BMI160_MAX_VALUE_ORIENT_AXES    (1)
+
+#define	BMI160_MAX_VALUE_SPI3           (1)
+#define	BMI160_MAX_VALUE_I2C_WDT        (1)
+#define	BMI160_MAX_VALUE_SLEEP_STATE    (1)
+#define	BMI160_MAX_VALUE_WAKEUP_INTR    (1)
+#define	BMI160_MAX_VALUE_SELFTEST_SIGN  (1)
+#define	BMI160_MAX_VALUE_SELFTEST_AMP   (1)
+#define	BMI160_MAX_VALUE_SELFTEST_START (1)
+
+#define BMI160_MAX_GYRO_WAKEUP_TRIGGER		(3)
+#define BMI160_MAX_ACCEL_SELFTEST_AXIS	    (3)
+#define BMI160_MAX_GYRO_STEP_COUNTER        (1)
+#define BMI160_MAX_GYRO_BW                  (3)
+#define BMI160_MAX_ACCEL_BW                 (7)
+#define BMI160_MAX_ORIENT_MODE              (3)
+#define BMI160_MAX_ORIENT_BLOCKING          (3)
+#define BMI160_MAX_FLAT_HOLD                (3)
+#define BMI160_MAX_ACCEL_FOC                (3)
+#define BMI160_MAX_IF_MODE                  (3)
+
+#define BMI160_MAX_GYRO_RANGE               (4)
+#define BMI160_MAX_GYRO_SLEEP_TRIGGER        (7)
+#define BMI160_MAX_TAP_TURN                 (7)
+#define BMI160_MAX_UNDER_SAMPLING           (1)
+#define BMI160_MAX_UNDER_SIG_MOTION         (3)
+#define BMI160_MAX_ACCEL_OUTPUT_DATA_RATE   (12)
+#define BMI160_MAX_LATCH_INTR               (15)
+#define BMI160_MAX_FLAT_HYST                (15)
+#define BMI160_MAX_ORIENT_THETA             (63)
+#define BMI160_MAX_FLAT_THETA               (63)
+
+#ifdef FIFO_ENABLE
+/* FIFO index definitions*/
+#define BMI160_FIFO_X_LSB_DATA			(0)
+#define BMI160_FIFO_X_MSB_DATA			(1)
+#define BMI160_FIFO_Y_LSB_DATA			(2)
+#define BMI160_FIFO_Y_MSB_DATA			(3)
+#define BMI160_FIFO_Z_LSB_DATA			(4)
+#define BMI160_FIFO_Z_MSB_DATA			(5)
+#define BMI160_FIFO_R_LSB_DATA			(6)
+#define BMI160_FIFO_R_MSB_DATA			(7)
+/* FIFO Gyro  definition*/
+#define BMI160_GA_FIFO_G_X_LSB		(0)
+#define BMI160_GA_FIFO_G_X_MSB		(1)
+#define BMI160_GA_FIFO_G_Y_LSB		(2)
+#define BMI160_GA_FIFO_G_Y_MSB		(3)
+#define BMI160_GA_FIFO_G_Z_LSB		(4)
+#define BMI160_GA_FIFO_G_Z_MSB		(5)
+#define BMI160_GA_FIFO_A_X_LSB		(6)
+#define BMI160_GA_FIFO_A_X_MSB		(7)
+#define BMI160_GA_FIFO_A_Y_LSB		(8)
+#define BMI160_GA_FIFO_A_Y_MSB		(9)
+#define BMI160_GA_FIFO_A_Z_LSB		(10)
+#define BMI160_GA_FIFO_A_Z_MSB		(11)
+/* FIFO mag/gyro/accel definition*/
+#define BMI160_MGA_FIFO_M_X_LSB		(0)
+#define BMI160_MGA_FIFO_M_X_MSB		(1)
+#define BMI160_MGA_FIFO_M_Y_LSB		(2)
+#define BMI160_MGA_FIFO_M_Y_MSB		(3)
+#define BMI160_MGA_FIFO_M_Z_LSB		(4)
+#define BMI160_MGA_FIFO_M_Z_MSB		(5)
+#define BMI160_MGA_FIFO_M_R_LSB		(6)
+#define BMI160_MGA_FIFO_M_R_MSB		(7)
+#define BMI160_MGA_FIFO_G_X_LSB		(8)
+#define BMI160_MGA_FIFO_G_X_MSB		(9)
+#define BMI160_MGA_FIFO_G_Y_LSB		(10)
+#define BMI160_MGA_FIFO_G_Y_MSB		(11)
+#define BMI160_MGA_FIFO_G_Z_LSB		(12)
+#define BMI160_MGA_FIFO_G_Z_MSB		(13)
+#define BMI160_MGA_FIFO_A_X_LSB		(14)
+#define BMI160_MGA_FIFO_A_X_MSB		(15)
+#define BMI160_MGA_FIFO_A_Y_LSB		(16)
+#define BMI160_MGA_FIFO_A_Y_MSB		(17)
+#define BMI160_MGA_FIFO_A_Z_LSB		(18)
+#define BMI160_MGA_FIFO_A_Z_MSB		(19)
+/* FIFO Mag definition*/
+#define BMI160_MA_FIFO_M_X_LSB		(0)
+#define BMI160_MA_FIFO_M_X_MSB		(1)
+#define BMI160_MA_FIFO_M_Y_LSB		(2)
+#define BMI160_MA_FIFO_M_Y_MSB		(3)
+#define BMI160_MA_FIFO_M_Z_LSB		(4)
+#define BMI160_MA_FIFO_M_Z_MSB		(5)
+#define BMI160_MA_FIFO_M_R_LSB		(6)
+#define BMI160_MA_FIFO_M_R_MSB		(7)
+#define BMI160_MA_FIFO_A_X_LSB		(8)
+#define BMI160_MA_FIFO_A_X_MSB		(9)
+#define BMI160_MA_FIFO_A_Y_LSB		(10)
+#define BMI160_MA_FIFO_A_Y_MSB		(11)
+#define BMI160_MA_FIFO_A_Z_LSB		(12)
+#define BMI160_MA_FIFO_A_Z_MSB		(13)
+/* FIFO mag/gyro definition*/
+#define BMI160_MG_FIFO_M_X_LSB		(0)
+#define BMI160_MG_FIFO_M_X_MSB		(1)
+#define BMI160_MG_FIFO_M_Y_LSB		(2)
+#define BMI160_MG_FIFO_M_Y_MSB		(3)
+#define BMI160_MG_FIFO_M_Z_LSB		(4)
+#define BMI160_MG_FIFO_M_Z_MSB		(5)
+#define BMI160_MG_FIFO_M_R_LSB		(6)
+#define BMI160_MG_FIFO_M_R_MSB		(7)
+#define BMI160_MG_FIFO_G_X_LSB		(8)
+#define BMI160_MG_FIFO_G_X_MSB		(9)
+#define BMI160_MG_FIFO_G_Y_LSB		(10)
+#define BMI160_MG_FIFO_G_Y_MSB		(11)
+#define BMI160_MG_FIFO_G_Z_LSB		(12)
+#define BMI160_MG_FIFO_G_Z_MSB		(13)
+/* FIFO length definitions*/
+#define BMI160_FIFO_SENSOR_TIME_LSB     (0)
+#define BMI160_FIFO_SENSOR_TIME_XLSB    (1)
+#define BMI160_FIFO_SENSOR_TIME_MSB     (2)
+#define BMI160_FIFO_SENSOR_TIME_LENGTH  (3)
+#define BMI160_FIFO_A_LENGTH            (6)
+#define BMI160_FIFO_G_LENGTH            (6)
+#define BMI160_FIFO_M_LENGTH            (8)
+#define BMI160_FIFO_AG_LENGTH           (12)
+#define BMI160_FIFO_AMG_LENGTH          (20)
+#define BMI160_FIFO_MA_OR_MG_LENGTH     (14)
+#define	BMI160_FIFO_LENGTH_LSB_BYTE    (0)
+#define	BMI160_FIFO_LENGTH_MSB_BYTE    (1)
+
+#endif
+
+/* bus read and write length for mag, Accel and gyro*/
+#define BMI160_MAG_X_DATA_LENGTH     (2)
+#define BMI160_MAG_Y_DATA_LENGTH     (2)
+#define BMI160_MAG_Z_DATA_LENGTH     (2)
+#define BMI160_MAG_R_DATA_LENGTH     (2)
+#define BMI160_MAG_XYZ_DATA_LENGTH	 (6)
+#define BMI160_MAG_XYZR_DATA_LENGTH	 (8)
+#define BMI160_MAG_YAS_DATA_LENGTH	 (8)
+#define BMI160_GYRO_DATA_LENGTH		 (2)
+#define BMI160_GYRO_XYZ_DATA_LENGTH	 (6)
+#define BMI160_ACCEL_DATA_LENGTH	 (2)
+#define BMI160_ACCEL_XYZ_DATA_LENGTH (6)
+#define BMI160_TEMP_DATA_LENGTH		 (2)
+#define BMI160_FIFO_DATA_LENGTH		 (2)
+#define BMI160_STEP_COUNTER_LENGTH	 (2)
+#define BMI160_SENSOR_TIME_LENGTH	 (3)
+
+/* Delay definitions*/
+#define BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY    (5)
+#define BMI160_BMM150_WAKEUP_DELAY1                  (2)
+#define BMI160_BMM150_WAKEUP_DELAY2                  (3)
+#define BMI160_BMM150_WAKEUP_DELAY3                  (1)
+#define BMI160_YAS532_OFFSET_DELAY                   (2)
+#define BMI160_GEN_READ_WRITE_DELAY                  (1)
+#define BMI160_YAS532_MEASUREMENT_DELAY              (25)
+#define BMI160_YAS_ACQ_COMMAND_DELAY                 (50)
+#define BMI160_YAS532_SET_INITIAL_VALUE_DELAY        (200)
+#define BMI160_AKM_INIT_DELAY                        (60)
+/****************************************************/
+/**\name	ARRAY SIZE DEFINITIONS      */
+/***************************************************/
+#define	BMI160_ACCEL_X_DATA_SIZE   (2)
+#define	BMI160_ACCEL_Y_DATA_SIZE   (2)
+#define	BMI160_ACCEL_Z_DATA_SIZE   (2)
+#define	BMI160_ACCEL_XYZ_DATA_SIZE (6)
+
+#define	BMI160_GYRO_X_DATA_SIZE    (2)
+#define	BMI160_GYRO_Y_DATA_SIZE    (2)
+#define	BMI160_GYRO_Z_DATA_SIZE    (2)
+#define	BMI160_GYRO_XYZ_DATA_SIZE  (6)
+
+#define	BMI160_MAG_X_DATA_SIZE      (2)
+#define	BMI160_MAG_Y_DATA_SIZE      (2)
+#define	BMI160_MAG_Z_DATA_SIZE      (2)
+#define	BMI160_MAG_R_DATA_SIZE      (2)
+#define	BMI160_MAG_XYZ_DATA_SIZE    (6)
+#define	BMI160_MAG_XYZR_DATA_SIZE   (8)
+#define	BMI160_MAG_TRIM_DATA_SIZE   (16)
+
+
+#define	BMI160_TEMP_DATA_SIZE       (2)
+#define	BMI160_FIFO_DATA_SIZE       (2)
+#define	BMI160_STEP_COUNT_DATA_SIZE (2)
+
+#define	BMI160_SENSOR_TIME_DATA_SIZE      (3)
+#define	BMI160_AKM_SENSITIVITY_DATA_SIZE  (3)
+#define	BMI160_HARD_OFFSET_DATA_SIZE      (3)
+#define	BMI160_YAS_XY1Y2_DATA_SIZE        (3)
+#define	BMI160_YAS_FLAG_DATA_SIZE         (3)
+#define	BMI160_YAS_TEMP_DATA_SIZE         (3)
+#define	BMI160_YAS_H_DATA_SIZE            (3)
+#define	BMI160_YAS_S_DATA_SIZE            (3)
+#define BMI160_YAS_CORRECT_DATA_SIZE      (5)
+#define BMI160_YAS_XY1Y2T_DATA_SIZE       (8)
+#define BMI160_YAS537_CALIB_DATA_SIZE     (17)
+#define BMI160_YAS532_CALIB_DATA_SIZE     (14)
+#define BMI160_GYRO_ACCEL_SENSORTIME_DATA_SIZE		(15)
+#define BMI160_ACCEL_SENSORTIME_DATA_SIZE			(9)
+
+
+#define BMI160_GYRO_ACCEL_SENSORTIME_DATA (1)
+#define BMI160_ACCEL_SENSORTIME_DATA (0)
+
+
+
+/****************************************************/
+/**\name	ARRAY PARAMETER DEFINITIONS      */
+/***************************************************/
+#define BMI160_SENSOR_TIME_MSB_BYTE   (2)
+#define BMI160_SENSOR_TIME_XLSB_BYTE  (1)
+#define BMI160_SENSOR_TIME_LSB_BYTE   (0)
+
+#define BMI160_MAG_X_LSB_BYTE	          (0)
+#define BMI160_MAG_X_MSB_BYTE              (1)
+#define BMI160_MAG_Y_LSB_BYTE	           (0)
+#define BMI160_MAG_Y_MSB_BYTE              (1)
+#define BMI160_MAG_Z_LSB_BYTE	           (0)
+#define BMI160_MAG_Z_MSB_BYTE              (1)
+#define BMI160_MAG_R_LSB_BYTE	           (0)
+#define BMI160_MAG_R_MSB_BYTE              (1)
+#define BMI160_DATA_FRAME_MAG_X_LSB_BYTE   (0)
+#define BMI160_DATA_FRAME_MAG_X_MSB_BYTE   (1)
+#define BMI160_DATA_FRAME_MAG_Y_LSB_BYTE   (2)
+#define BMI160_DATA_FRAME_MAG_Y_MSB_BYTE   (3)
+#define BMI160_DATA_FRAME_MAG_Z_LSB_BYTE   (4)
+#define BMI160_DATA_FRAME_MAG_Z_MSB_BYTE   (5)
+#define BMI160_DATA_FRAME_MAG_R_LSB_BYTE   (6)
+#define BMI160_DATA_FRAME_MAG_R_MSB_BYTE   (7)
+
+#define BMI160_GYRO_X_LSB_BYTE              (0)
+#define BMI160_GYRO_X_MSB_BYTE              (1)
+#define BMI160_GYRO_Y_LSB_BYTE              (0)
+#define BMI160_GYRO_Y_MSB_BYTE              (1)
+#define BMI160_GYRO_Z_LSB_BYTE              (0)
+#define BMI160_GYRO_Z_MSB_BYTE              (1)
+#define BMI160_DATA_FRAME_GYRO_X_LSB_BYTE   (0)
+#define BMI160_DATA_FRAME_GYRO_X_MSB_BYTE   (1)
+#define BMI160_DATA_FRAME_GYRO_Y_LSB_BYTE   (2)
+#define BMI160_DATA_FRAME_GYRO_Y_MSB_BYTE   (3)
+#define BMI160_DATA_FRAME_GYRO_Z_LSB_BYTE   (4)
+#define BMI160_DATA_FRAME_GYRO_Z_MSB_BYTE   (5)
+
+#define BMI160_ACCEL_X_LSB_BYTE              (0)
+#define BMI160_ACCEL_X_MSB_BYTE              (1)
+#define BMI160_ACCEL_Y_LSB_BYTE              (0)
+#define BMI160_ACCEL_Y_MSB_BYTE              (1)
+#define BMI160_ACCEL_Z_LSB_BYTE              (0)
+#define BMI160_ACCEL_Z_MSB_BYTE              (1)
+#define BMI160_DATA_FRAME_ACCEL_X_LSB_BYTE   (0)
+#define BMI160_DATA_FRAME_ACCEL_X_MSB_BYTE   (1)
+#define BMI160_DATA_FRAME_ACCEL_Y_LSB_BYTE   (2)
+#define BMI160_DATA_FRAME_ACCEL_Y_MSB_BYTE   (3)
+#define BMI160_DATA_FRAME_ACCEL_Z_LSB_BYTE   (4)
+#define BMI160_DATA_FRAME_ACCEL_Z_MSB_BYTE   (5)
+
+#define	BMI160_TEMP_LSB_BYTE    (0)
+#define	BMI160_TEMP_MSB_BYTE    (1)
+#define	BMI160_STEP_COUNT_LSB_BYTE    (0)
+#define	BMI160_STEP_COUNT_MSB_BYTE    (1)
+/****************************************************/
+/**\name	ERROR CODES       */
+/***************************************************/
+
+#define E_BMI160_NULL_PTR			((s8)-127)
+#define E_BMI160_COMM_RES			((s8)-1)
+#define E_BMI160_OUT_OF_RANGE		((s8)-2)
+#define E_BMI160_BUSY				((s8)-3)
+#define	SUCCESS						((u8)0)
+#define	ERROR						((s8)-1)
+
+/* Constants */
+#define BMI160_NULL						(0)
+#define BMI160_DELAY_SETTLING_TIME		(5)
+/*This refers BMI160 return type as s8 */
+#define BMI160_RETURN_FUNCTION_TYPE		s8
+/****************************************************/
+/**\name	REGISTER DEFINITIONS       */
+/***************************************************/
+/*******************/
+/**\name CHIP ID */
+/*******************/
+#define BMI160_USER_CHIP_ID_ADDR				(0x00)
+/*******************/
+/**\name ERROR STATUS */
+/*******************/
+#define BMI160_USER_ERROR_ADDR					(0X02)
+/*******************/
+/**\name POWER MODE STATUS */
+/*******************/
+#define BMI160_USER_PMU_STAT_ADDR				(0X03)
+#define BMI160_ACCEL_GYRO_PMU_MASK				(0X3C)
+#define BMI160_NORMAL_MODE					(0X14)
+/*******************/
+/**\name MAG DATA REGISTERS */
+/*******************/
+#define BMI160_USER_DATA_0_ADDR					(0X04)
+#define BMI160_USER_DATA_1_ADDR					(0X05)
+#define BMI160_USER_DATA_2_ADDR					(0X06)
+#define BMI160_USER_DATA_3_ADDR					(0X07)
+#define BMI160_USER_DATA_4_ADDR					(0X08)
+#define BMI160_USER_DATA_5_ADDR					(0X09)
+#define BMI160_USER_DATA_6_ADDR					(0X0A)
+#define BMI160_USER_DATA_7_ADDR					(0X0B)
+/*******************/
+/**\name GYRO DATA REGISTERS */
+/*******************/
+#define BMI160_USER_DATA_8_ADDR					(0X0C)
+#define BMI160_USER_DATA_9_ADDR					(0X0D)
+#define BMI160_USER_DATA_10_ADDR				(0X0E)
+#define BMI160_USER_DATA_11_ADDR				(0X0F)
+#define BMI160_USER_DATA_12_ADDR				(0X10)
+#define BMI160_USER_DATA_13_ADDR				(0X11)
+/*******************/
+/**\name ACCEL DATA REGISTERS */
+/*******************/
+#define BMI160_USER_DATA_14_ADDR				(0X12)
+#define BMI160_USER_DATA_15_ADDR				(0X13)
+#define BMI160_USER_DATA_16_ADDR				(0X14)
+#define BMI160_USER_DATA_17_ADDR				(0X15)
+#define BMI160_USER_DATA_18_ADDR				(0X16)
+#define BMI160_USER_DATA_19_ADDR				(0X17)
+/*******************/
+/**\name SENSOR TIME REGISTERS */
+/*******************/
+#define BMI160_USER_SENSORTIME_0_ADDR			(0X18)
+#define BMI160_USER_SENSORTIME_1_ADDR			(0X19)
+#define BMI160_USER_SENSORTIME_2_ADDR			(0X1A)
+/*******************/
+/**\name STATUS REGISTER FOR SENSOR STATUS FLAG */
+/*******************/
+#define BMI160_USER_STAT_ADDR					(0X1B)
+/*******************/
+/**\name INTERRUPT STATUS REGISTERS */
+/*******************/
+#define BMI160_USER_INTR_STAT_0_ADDR			(0X1C)
+#define BMI160_USER_INTR_STAT_1_ADDR			(0X1D)
+#define BMI160_USER_INTR_STAT_2_ADDR			(0X1E)
+#define BMI160_USER_INTR_STAT_3_ADDR			(0X1F)
+/*******************/
+/**\name TEMPERATURE REGISTERS */
+/*******************/
+#define BMI160_USER_TEMPERATURE_0_ADDR			(0X20)
+#define BMI160_USER_TEMPERATURE_1_ADDR			(0X21)
+/*******************/
+/**\name FIFO REGISTERS */
+/*******************/
+#define BMI160_USER_FIFO_LENGTH_0_ADDR			(0X22)
+#define BMI160_USER_FIFO_LENGTH_1_ADDR			(0X23)
+#define BMI160_USER_FIFO_DATA_ADDR				(0X24)
+/***************************************************/
+/**\name ACCEL CONFIG REGISTERS  FOR ODR, BANDWIDTH AND UNDERSAMPLING*/
+/******************************************************/
+#define BMI160_USER_ACCEL_CONFIG_ADDR			(0X40)
+/*******************/
+/**\name ACCEL RANGE */
+/*******************/
+#define BMI160_USER_ACCEL_RANGE_ADDR            (0X41)
+/***************************************************/
+/**\name GYRO CONFIG REGISTERS  FOR ODR AND BANDWIDTH */
+/******************************************************/
+#define BMI160_USER_GYRO_CONFIG_ADDR            (0X42)
+/*******************/
+/**\name GYRO RANGE */
+/*******************/
+#define BMI160_USER_GYRO_RANGE_ADDR             (0X43)
+/***************************************************/
+/**\name MAG CONFIG REGISTERS  FOR ODR*/
+/******************************************************/
+#define BMI160_USER_MAG_CONFIG_ADDR				(0X44)
+#ifdef FIFO_ENABLE
+/***************************************************/
+/**\name REGISTER FOR GYRO AND ACCEL DOWNSAMPLING RATES FOR FIFO*/
+/******************************************************/
+#define BMI160_USER_FIFO_DOWN_ADDR              (0X45)
+/***************************************************/
+/**\name FIFO CONFIG REGISTERS*/
+/******************************************************/
+#define BMI160_USER_FIFO_CONFIG_0_ADDR          (0X46)
+#define BMI160_USER_FIFO_CONFIG_1_ADDR          (0X47)
+#endif
+
+/***************************************************/
+/**\name MAG INTERFACE REGISTERS*/
+/******************************************************/
+#define BMI160_USER_MAG_IF_0_ADDR				(0X4B)
+#define BMI160_USER_MAG_IF_1_ADDR				(0X4C)
+#define BMI160_USER_MAG_IF_2_ADDR				(0X4D)
+#define BMI160_USER_MAG_IF_3_ADDR				(0X4E)
+#define BMI160_USER_MAG_IF_4_ADDR				(0X4F)
+/***************************************************/
+/**\name INTERRUPT ENABLE REGISTERS*/
+/******************************************************/
+#define BMI160_USER_INTR_ENABLE_0_ADDR			(0X50)
+#define BMI160_USER_INTR_ENABLE_1_ADDR			(0X51)
+#define BMI160_USER_INTR_ENABLE_2_ADDR			(0X52)
+#define BMI160_USER_INTR_OUT_CTRL_ADDR			(0X53)
+/***************************************************/
+/**\name LATCH DURATION REGISTERS*/
+/******************************************************/
+#define BMI160_USER_INTR_LATCH_ADDR				(0X54)
+/***************************************************/
+/**\name MAP INTERRUPT 1 and 2 REGISTERS*/
+/******************************************************/
+#define BMI160_USER_INTR_MAP_0_ADDR				(0X55)
+#define BMI160_USER_INTR_MAP_1_ADDR				(0X56)
+#define BMI160_USER_INTR_MAP_2_ADDR				(0X57)
+/***************************************************/
+/**\name DATA SOURCE REGISTERS*/
+/******************************************************/
+#define BMI160_USER_INTR_DATA_0_ADDR			(0X58)
+#define BMI160_USER_INTR_DATA_1_ADDR			(0X59)
+/***************************************************/
+/**\name
+INTERRUPT THRESHOLD, HYSTERESIS, DURATION, MODE CONFIGURATION REGISTERS*/
+/******************************************************/
+#define BMI160_USER_INTR_LOWHIGH_0_ADDR			(0X5A)
+#define BMI160_USER_INTR_LOWHIGH_1_ADDR			(0X5B)
+#define BMI160_USER_INTR_LOWHIGH_2_ADDR			(0X5C)
+#define BMI160_USER_INTR_LOWHIGH_3_ADDR			(0X5D)
+#define BMI160_USER_INTR_LOWHIGH_4_ADDR			(0X5E)
+#define BMI160_USER_INTR_MOTION_0_ADDR			(0X5F)
+#define BMI160_USER_INTR_MOTION_1_ADDR			(0X60)
+#define BMI160_USER_INTR_MOTION_2_ADDR			(0X61)
+#define BMI160_USER_INTR_MOTION_3_ADDR			(0X62)
+#define BMI160_USER_INTR_TAP_0_ADDR				(0X63)
+#define BMI160_USER_INTR_TAP_1_ADDR				(0X64)
+#define BMI160_USER_INTR_ORIENT_0_ADDR			(0X65)
+#define BMI160_USER_INTR_ORIENT_1_ADDR			(0X66)
+#define BMI160_USER_INTR_FLAT_0_ADDR			(0X67)
+#define BMI160_USER_INTR_FLAT_1_ADDR			(0X68)
+/***************************************************/
+/**\name FAST OFFSET CONFIGURATION REGISTER*/
+/******************************************************/
+#define BMI160_USER_FOC_CONFIG_ADDR				(0X69)
+/***************************************************/
+/**\name MISCELLANEOUS CONFIGURATION REGISTER*/
+/******************************************************/
+#define BMI160_USER_CONFIG_ADDR					(0X6A)
+/***************************************************/
+/**\name SERIAL INTERFACE SETTINGS REGISTER*/
+/******************************************************/
+#define BMI160_USER_IF_CONFIG_ADDR				(0X6B)
+/***************************************************/
+/**\name GYRO POWER MODE TRIGGER REGISTER */
+/******************************************************/
+#define BMI160_USER_PMU_TRIGGER_ADDR			(0X6C)
+/***************************************************/
+/**\name SELF_TEST REGISTER*/
+/******************************************************/
+#define BMI160_USER_SELF_TEST_ADDR				(0X6D)
+/***************************************************/
+/**\name SPI,I2C SELECTION REGISTER*/
+/******************************************************/
+#define BMI160_USER_NV_CONFIG_ADDR				(0x70)
+/***************************************************/
+/**\name ACCEL AND GYRO OFFSET REGISTERS*/
+/******************************************************/
+#define BMI160_USER_OFFSET_0_ADDR				(0X71)
+#define BMI160_USER_OFFSET_1_ADDR				(0X72)
+#define BMI160_USER_OFFSET_2_ADDR				(0X73)
+#define BMI160_USER_OFFSET_3_ADDR				(0X74)
+#define BMI160_USER_OFFSET_4_ADDR				(0X75)
+#define BMI160_USER_OFFSET_5_ADDR				(0X76)
+#define BMI160_USER_OFFSET_6_ADDR				(0X77)
+/***************************************************/
+/**\name STEP COUNTER INTERRUPT REGISTERS*/
+/******************************************************/
+#define BMI160_USER_STEP_COUNT_0_ADDR			(0X78)
+#define BMI160_USER_STEP_COUNT_1_ADDR			(0X79)
+/***************************************************/
+/**\name STEP COUNTER CONFIGURATION REGISTERS*/
+/******************************************************/
+#define BMI160_USER_STEP_CONFIG_0_ADDR			(0X7A)
+#define BMI160_USER_STEP_CONFIG_1_ADDR			(0X7B)
+/***************************************************/
+/**\name COMMAND REGISTER*/
+/******************************************************/
+#define BMI160_CMD_COMMANDS_ADDR				(0X7E)
+
+/****************************************************/
+/**\name	SHIFT VALUE DEFINITION       */
+/***************************************************/
+#define BMI160_SHIFT_BIT_POSITION_BY_01_BIT      (1)
+#define BMI160_SHIFT_BIT_POSITION_BY_02_BITS     (2)
+#define BMI160_SHIFT_BIT_POSITION_BY_03_BITS     (3)
+#define BMI160_SHIFT_BIT_POSITION_BY_04_BITS     (4)
+#define BMI160_SHIFT_BIT_POSITION_BY_05_BITS     (5)
+#define BMI160_SHIFT_BIT_POSITION_BY_06_BITS     (6)
+#define BMI160_SHIFT_BIT_POSITION_BY_07_BITS     (7)
+#define BMI160_SHIFT_BIT_POSITION_BY_08_BITS     (8)
+#define BMI160_SHIFT_BIT_POSITION_BY_09_BITS     (9)
+#define BMI160_SHIFT_BIT_POSITION_BY_12_BITS     (12)
+#define BMI160_SHIFT_BIT_POSITION_BY_13_BITS     (13)
+#define BMI160_SHIFT_BIT_POSITION_BY_14_BITS     (14)
+#define BMI160_SHIFT_BIT_POSITION_BY_15_BITS     (15)
+#define BMI160_SHIFT_BIT_POSITION_BY_16_BITS     (16)
+
+/****************************************************/
+/**\name	 DEFINITIONS USED FOR YAMAHA-YAS532 */
+/***************************************************/
+#define YAS532_MAG_STATE_NORMAL				(0)
+#define YAS532_MAG_STATE_INIT_COIL			(1)
+#define YAS532_MAG_STATE_MEASURE_OFFSET		(2)
+#define YAS532_MAG_INITCOIL_TIMEOUT			(1000)
+#define YAS532_MAG_NOTRANS_POSITION			(3)
+#define YAS532_DEFAULT_SENSOR_DELAY			(50)
+#define YAS532_DATA_OVERFLOW				(8190)
+#define YAS532_DATA_UNDERFLOW				(0)
+#define YAS532_MAG_TEMPERATURE_LOG			(10)
+#define YAS532_TEMP20DEGREE_TYPICAL			(390)
+#define YAS532_VERSION_AC_COEF_X			(850)
+#define YAS532_VERSION_AC_COEF_Y1			(750)
+#define YAS532_VERSION_AC_COEF_Y2			(750)
+#define YAS532_DATA_CENTER					(4096)
+/****************************************************/
+/**\name	YAMAHA-YAS532 OFFSET DEFINITION */
+/***************************************************/
+static const s8 INVALID_OFFSET[] = {0x7f, 0x7f, 0x7f};
+#define set_vector(to, from) \
+	{int _l; for (_l = 0; _l < 3; _l++) (to)[_l] = (from)[_l]; }
+#define is_valid_offset(a) \
+	(((a)[0] <= 31) && ((a)[1] <= 31) && ((a)[2] <= 31) \
+		&& (-31 <= (a)[0]) && (-31 <= (a)[1]) && (-31 <= (a)[2]))
+
+/**************************************************/
+/**\name	YAS532 CALIB DATA DEFINITIONS  */
+/*************************************************/
+
+
+/* register address of YAS532*/
+#define BMI160_YAS532_TESTR1			(0x88)
+#define BMI160_YAS532_TESTR2			(0x89)
+#define BMI160_YAS532_RCOIL				(0x81)
+#define BMI160_YAS532_COMMAND_REGISTER	(0x82)
+#define BMI160_YAS532_DATA_REGISTER		(0xB0)
+/* calib data register definition*/
+#define BMI160_YAS532_CALIB_CX	        (0x90)
+#define BMI160_YAS532_CALIB_CY1	        (0x91)
+#define BMI160_YAS532_CALIB_CY2	        (0x92)
+#define BMI160_YAS532_CALIB1	        (0x93)
+#define BMI160_YAS532_CALIB2	        (0x94)
+#define BMI160_YAS532_CALIB3	        (0x95)
+#define BMI160_YAS532_CALIB4	        (0x96)
+#define BMI160_YAS532_CALIB5	        (0x97)
+#define BMI160_YAS532_CALIB6	        (0x98)
+#define BMI160_YAS532_CALIB7	        (0x99)
+#define BMI160_YAS532_CALIB8	        (0x9A)
+#define BMI160_YAS532_CALIB9	        (0x9B)
+#define BMI160_YAS532_CALIB10	        (0x9C)
+#define BMI160_YAS532_CALIB11	        (0x9D)
+/* offset definition */
+#define BMI160_YAS532_OFFSET_X	        (0x85)
+#define BMI160_YAS532_OFFSET_Y	        (0x86)
+#define BMI160_YAS532_OFFSET_Z	        (0x87)
+/* data to write register for yas532*/
+#define BMI160_YAS532_WRITE_TESTR1	    (0x00)
+#define BMI160_YAS532_WRITE_TESTR2	    (0x00)
+#define BMI160_YAS532_WRITE_RCOIL       (0x00)
+/**************************************************/
+/**\name	YAS537 DEFINITION  */
+/*************************************************/
+
+#define	YAS537_SRSTR_DATA		        (0x02)
+#define	YAS537_WRITE_A_D_CONVERTER		(0x03)
+#define	YAS537_WRITE_A_D_CONVERTER2		(0xF8)
+#define	YAS537_WRITE_FILTER             (0x08)
+#define	YAS537_WRITE_CONFR              (0x08)
+#define	YAS537_WRITE_TEMP_CALIB         (0xFF)
+#define	YAS537_SET_COMMAND_REGISTER     (0x01)
+
+/**************************************************/
+/**\name	YAS537 REGISTER DEFINITION  */
+/*************************************************/
+#define	YAS537_REG_SRSTR				(0x90)
+#define	YAS537_REG_CALR_C0				(0xC0)
+#define	YAS537_REG_CALR_C1				(0xC1)
+#define	YAS537_REG_CALR_C2				(0xC2)
+#define	YAS537_REG_CALR_C3				(0xC3)
+#define	YAS537_REG_CALR_C4				(0xC4)
+#define	YAS537_REG_CALR_C5				(0xC5)
+#define	YAS537_REG_CALR_C6				(0xC6)
+#define	YAS537_REG_CALR_C7				(0xC7)
+#define	YAS537_REG_CALR_C8				(0xC8)
+#define	YAS537_REG_CALR_C9				(0xC9)
+#define	YAS537_REG_CALR_CA				(0xCA)
+#define	YAS537_REG_CALR_CB				(0xCB)
+#define	YAS537_REG_CALR_CC				(0xCC)
+#define	YAS537_REG_CALR_CD				(0xCD)
+#define	YAS537_REG_CALR_CE				(0xCE)
+#define	YAS537_REG_CALR_CF				(0xCF)
+#define	YAS537_REG_CALR_DO				(0xD0)
+#define	YAS537_REG_MTCR					(0x93)
+#define	YAS537_REG_CONFR				(0x82)
+#define	BMI160_REG_YAS537_CMDR			(0x81)
+#define	YAS537_REG_OXR					(0x84)
+#define	YAS537_REG_AVRR					(0x87)
+#define	YAS537_REG_HCKR					(0x88)
+#define	YAS537_REG_LCKR					(0x89)
+#define	YAS537_REG_ADCCALR				(0x91)
+#define	YAS537_REG_ADCCALR_ONE			(0x92)
+#define	YAS537_REG_OCR					(0x9E)
+#define	YAS537_REG_TRMR			        (0x9F)
+#define	YAS537_REG_TEMPERATURE_0		(0xB0)
+#define	YAS537_REG_TEMPERATURE_1		(0xB1)
+#define	YAS537_REG_DATA_X_0				(0xB2)
+#define	YAS537_REG_DATA_X_1				(0xB3)
+#define	YAS537_REG_DATA_Y1_0			(0xB4)
+#define	YAS537_REG_DATA_Y1_1			(0xB5)
+#define	YAS537_REG_DATA_Y2_0			(0xB6)
+#define	YAS537_REG_DATA_Y2_1			(0xB7)
+#define YAS537_MAG_STATE_NORMAL			(0)
+#define YAS537_MAG_STATE_INIT_COIL		(1)
+#define YAS537_MAG_STATE_RECORD_DATA	(2)
+#define YAS537_DATA_UNDERFLOW			(0)
+#define YAS537_DATA_OVERFLOW			(16383)
+/****************************************************/
+/**\name	YAS537_set vector */
+/***************************************************/
+#define yas537_set_vector(to, from) \
+	{int _l; for (_l = 0; _l < 3; _l++) (to)[_l] = (from)[_l]; }
+
+#ifndef ABS
+#define ABS(a)		((a) > 0 ? (a) : -(a)) /*!< Absolute value */
+#endif
+/****************************************************/
+/**\name	AKM09911 AND AKM09912 DEFINITION */
+/***************************************************/
+#define AKM09912_SENSITIVITY_DIV	(256)
+#define AKM09912_SENSITIVITY		(128)
+#define AKM09911_SENSITIVITY_DIV	(128)
+#define AKM_ASAX			(0)
+#define AKM_ASAY			(1)
+#define AKM_ASAZ			(2)
+#define AKM_POWER_DOWN_MODE_DATA	(0x00)
+#define AKM_FUSE_ROM_MODE		(0x1F)
+#define AKM_POWER_MODE_REG		(0x31)
+#define	AKM_SINGLE_MEASUREMENT_MODE	(0x01)
+#define AKM_DATA_REGISTER		(0x11)
+/*! AKM09912 Register definition */
+#define AKM_CHIP_ID_REG			(0x01)
+/****************************************************/
+/**\name	BMM150 DEFINITION */
+/***************************************************/
+#define BMI160_BMM150_SET_POWER_CONTROL		(0x01)
+#define BMI160_BMM150_MAX_RETRY_WAKEUP		(5)
+#define BMI160_BMM150_POWER_ON			(0x01)
+#define BMI160_BMM150_POWER_OFF			(0x00)
+#define BMI160_BMM150_FORCE_MODE		(0x02)
+#define BMI160_BMM150_POWER_ON_SUCCESS		(0)
+#define BMI160_BMM150_POWER_ON_FAIL		((s8)-1)
+
+#define	BMI160_BMM150_DIG_X1			(0)
+#define	BMI160_BMM150_DIG_Y1			(1)
+#define	BMI160_BMM150_DIG_X2			(2)
+#define	BMI160_BMM150_DIG_Y3			(3)
+#define	BMI160_BMM150_DIG_XY1			(4)
+#define	BMI160_BMM150_DIG_XY2			(5)
+#define	BMI160_BMM150_DIG_Z1_LSB		(6)
+#define	BMI160_BMM150_DIG_Z1_MSB		(7)
+#define	BMI160_BMM150_DIG_Z2_LSB		(8)
+#define	BMI160_BMM150_DIG_Z2_MSB		(9)
+#define	BMI160_BMM150_DIG_DIG_Z3_LSB	(10)
+#define	BMI160_BMM150_DIG_DIG_Z3_MSB	(11)
+#define	BMI160_BMM150_DIG_DIG_Z4_LSB	(12)
+#define	BMI160_BMM150_DIG_DIG_Z4_MSB	(13)
+#define	BMI160_BMM150_DIG_DIG_XYZ1_LSB	(14)
+#define	BMI160_BMM150_DIG_DIG_XYZ1_MSB	(15)
+#define BMI160_FIFO_FRAME_CNT		(146)
+#define	BMI160_FRAME_COUNT		(1)
+
+/**************************************************************/
+/**\name	STRUCTURE DEFINITIONS                         */
+/**************************************************************/
+/*!
+*	@brief bmi160 structure
+*	This structure holds all relevant information about bmi160
+*/
+struct bmi160_t {
+u8 chip_id;/**< chip id of BMI160 */
+u8 dev_addr;/**< device address of BMI160 */
+s8 mag_manual_enable;/**< used to check the Mag manual/auto mode status */
+BMI160_WR_FUNC_PTR;/**< bus write function pointer */
+BMI160_RD_FUNC_PTR;/**< bus read function pointer */
+BMI160_BRD_FUNC_PTR;/**< burst write function pointer */
+void (*delay_msec)(BMI160_MDELAY_DATA_TYPE);/**< delay function pointer */
+};
+/*!
+ * @brief Structure containing bmm150 and akm09911
+ *	magnetometer values for x,y and
+ *	z-axis in s16
+ */
+struct bmi160_mag_t {
+s32 x;/**< BMM150 and AKM09911 and AKM09912 X raw data*/
+s32 y;/**< BMM150 and AKM09911 and AKM09912 Y raw data*/
+s32 z;/**< BMM150 and AKM09911 and AKM09912 Z raw data*/
+};
+/*!
+ * @brief Structure containing bmm150 xyz data and temperature
+ */
+struct bmi160_mag_xyzr_t {
+s16 x;/**< BMM150 X raw data*/
+s16 y;/**< BMM150 Y raw data*/
+s16 z;/**<BMM150 Z raw data*/
+u16 r;/**<BMM150 R raw data*/
+};
+/*!
+ * @brief Structure containing Gyro  xyz data
+ */
+struct bmi160_gyro_t {
+s16 x;/**<gyro X  data*/
+s16 y;/**<gyro Y  data*/
+s16 z;/**<gyro Z  data*/
+};
+/*!
+ * @brief Structure containing Accel xyz data
+ */
+struct bmi160_accel_t {
+s16 x;/**<accel X  data*/
+s16 y;/**<accel Y  data*/
+s16 z;/**<accel Z  data*/
+};
+/*!
+ * @brief Structure containing Accel Gyro  data and sensor time
+ */
+struct bmi160_sensortime_accel_gyro_data {
+struct bmi160_gyro_t gyro; /**<gyro data structure*/
+struct bmi160_accel_t accel;/**<accel data structure*/
+u32 v_sensor_time_u32;/**<Sensor time value*/
+};
+/*!
+ * @brief Structure bmm150 Mag compensated data with s32 output
+ */
+struct bmi160_mag_xyz_s32_t {
+s32 x;/**<BMM150 X compensated data*/
+s32 y;/**<BMM150 Y compensated data*/
+s32 z;/**<BMM150 Z compensated data*/
+};
+/*!
+ * @brief Structure bmm150 Mag trim data
+ */
+struct trim_data_t {
+s8 dig_x1;/**<BMM150 trim x1 data*/
+s8 dig_y1;/**<BMM150 trim y1 data*/
+
+s8 dig_x2;/**<BMM150 trim x2 data*/
+s8 dig_y2;/**<BMM150 trim y2 data*/
+
+u16 dig_z1;/**<BMM150 trim z1 data*/
+s16 dig_z2;/**<BMM150 trim z2 data*/
+s16 dig_z3;/**<BMM150 trim z3 data*/
+s16 dig_z4;/**<BMM150 trim z4 data*/
+
+u8 dig_xy1;/**<BMM150 trim xy1 data*/
+s8 dig_xy2;/**<BMM150 trim xy2 data*/
+
+u16 dig_xyz1;/**<BMM150 trim xyz1 data*/
+};
+#ifdef FIFO_ENABLE
+/*!
+* @brief FIFO used to store the FIFO header less data
+*/
+struct bmi160_fifo_data_header_less_t {
+
+struct bmi160_accel_t accel_fifo[BMI160_FIFO_FRAME_CNT];/**<
+Accel data of XYZ */
+struct bmi160_mag_t mag_fifo[BMI160_FIFO_FRAME_CNT];/**<
+Mag data of XYZ */
+struct bmi160_gyro_t gyro_fifo[BMI160_FIFO_FRAME_CNT];/**<
+Gyro data of XYZ */
+u8 accel_frame_count;/**< The total number of Accel frame stored
+in the FIFO*/
+u8 gyro_frame_count;/**< The total number of Gyro  frame stored
+in the FIFO*/
+u8 mag_frame_count;/**< The total number of Mag frame stored
+in the FIFO*/
+};
+/*!
+* @brief Struct used to store the FIFO header data
+*/
+struct bmi160_fifo_data_header_t {
+struct bmi160_accel_t accel_fifo[BMI160_FIFO_FRAME_CNT];/**<
+Accel data of XYZ */
+struct bmi160_mag_t mag_fifo[BMI160_FIFO_FRAME_CNT];/**<
+Mag data of XYZ */
+struct bmi160_gyro_t gyro_fifo[BMI160_FIFO_FRAME_CNT];/**<
+Gyro data of XYZ */
+u32 fifo_time;/**< Value of FIFO time*/
+u8 skip_frame;/**< The value of skip frame information */
+u8 fifo_input_config_info; /**< FIFO input config info*/
+u8 accel_frame_count; /**< The total number of Accel frame stored
+in the FIFO*/
+u8 gyro_frame_count; /**< The total number of Gyro  frame stored
+in the FIFO*/
+u8 mag_frame_count; /**< The total number of Mag frame stored
+in the FIFO*/
+u8 fifo_header[BMI160_FIFO_FRAME_CNT]; /**< FIFO header info*/
+};
+/*!
+* @brief Struct used to store the FIFO Mag data
+*/
+struct bmi160_mag_fifo_data_t {
+u8 mag_x_lsb;/**< The value of Mag x LSB data*/
+u8 mag_x_msb;/**< The value of Mag x MSB data*/
+u8 mag_y_lsb;/**< The value of Mag y LSB data*/
+u8 mag_y_msb;/**< The value of Mag y MSB data*/
+u8 mag_z_lsb;/**< The value of Mag z LSB data*/
+u8 mag_z_msb;/**< The value of Mag z MSB data*/
+u8 mag_r_y2_lsb;
+/**< The value of Mag r for BMM150 Y2 for YAMAHA LSB data*/
+u8 mag_r_y2_msb;
+/**< The value of Mag r for BMM150 Y2 for YAMAHA MSB data*/
+};
+#endif
+/**************************************************************/
+/**\name	USER DATA REGISTERS DEFINITION START    */
+/**************************************************************/
+
+/**************************************************************/
+/**\name	CHIP ID LENGTH, POSITION AND MASK    */
+/**************************************************************/
+/* Chip ID Description - Reg Addr --> (0x00), Bit --> 0...7 */
+#define BMI160_USER_CHIP_ID__POS             (0)
+#define BMI160_USER_CHIP_ID__MSK            (0xFF)
+#define BMI160_USER_CHIP_ID__LEN             (8)
+#define BMI160_USER_CHIP_ID__REG             (BMI160_USER_CHIP_ID_ADDR)
+/**************************************************************/
+/**\name	ERROR STATUS LENGTH, POSITION AND MASK    */
+/**************************************************************/
+/* Error Description - Reg Addr --> (0x02), Bit --> 0 */
+#define BMI160_USER_ERR_STAT__POS               (0)
+#define BMI160_USER_ERR_STAT__LEN               (8)
+#define BMI160_USER_ERR_STAT__MSK               (0xFF)
+#define BMI160_USER_ERR_STAT__REG               (BMI160_USER_ERROR_ADDR)
+
+#define BMI160_USER_FATAL_ERR__POS               (0)
+#define BMI160_USER_FATAL_ERR__LEN               (1)
+#define BMI160_USER_FATAL_ERR__MSK               (0x01)
+#define BMI160_USER_FATAL_ERR__REG               (BMI160_USER_ERROR_ADDR)
+
+/* Error Description - Reg Addr --> (0x02), Bit --> 1...4 */
+#define BMI160_USER_ERR_CODE__POS               (1)
+#define BMI160_USER_ERR_CODE__LEN               (4)
+#define BMI160_USER_ERR_CODE__MSK               (0x1E)
+#define BMI160_USER_ERR_CODE__REG               (BMI160_USER_ERROR_ADDR)
+
+/* Error Description - Reg Addr --> (0x02), Bit --> 5 */
+#define BMI160_USER_I2C_FAIL_ERR__POS               (5)
+#define BMI160_USER_I2C_FAIL_ERR__LEN               (1)
+#define BMI160_USER_I2C_FAIL_ERR__MSK               (0x20)
+#define BMI160_USER_I2C_FAIL_ERR__REG               (BMI160_USER_ERROR_ADDR)
+
+/* Error Description - Reg Addr --> (0x02), Bit --> 6 */
+#define BMI160_USER_DROP_CMD_ERR__POS              (6)
+#define BMI160_USER_DROP_CMD_ERR__LEN              (1)
+#define BMI160_USER_DROP_CMD_ERR__MSK              (0x40)
+#define BMI160_USER_DROP_CMD_ERR__REG              (BMI160_USER_ERROR_ADDR)
+/**************************************************************/
+/**\name	MAG DATA READY LENGTH, POSITION AND MASK    */
+/**************************************************************/
+/* Error Description - Reg Addr --> (0x02), Bit --> 7 */
+#define BMI160_USER_MAG_DATA_RDY_ERR__POS               (7)
+#define BMI160_USER_MAG_DATA_RDY_ERR__LEN               (1)
+#define BMI160_USER_MAG_DATA_RDY_ERR__MSK               (0x80)
+#define BMI160_USER_MAG_DATA_RDY_ERR__REG               (BMI160_USER_ERROR_ADDR)
+/**************************************************************/
+/**\name	MAG POWER MODE LENGTH, POSITION AND MASK    */
+/**************************************************************/
+/* PMU_Status Description of MAG - Reg Addr --> (0x03), Bit --> 1..0 */
+#define BMI160_USER_MAG_POWER_MODE_STAT__POS		(0)
+#define BMI160_USER_MAG_POWER_MODE_STAT__LEN		(2)
+#define BMI160_USER_MAG_POWER_MODE_STAT__MSK		(0x03)
+#define BMI160_USER_MAG_POWER_MODE_STAT__REG		\
+(BMI160_USER_PMU_STAT_ADDR)
+/**************************************************************/
+/**\name	GYRO POWER MODE LENGTH, POSITION AND MASK    */
+/**************************************************************/
+/* PMU_Status Description of GYRO - Reg Addr --> (0x03), Bit --> 3...2 */
+#define BMI160_USER_GYRO_POWER_MODE_STAT__POS               (2)
+#define BMI160_USER_GYRO_POWER_MODE_STAT__LEN               (2)
+#define BMI160_USER_GYRO_POWER_MODE_STAT__MSK               (0x0C)
+#define BMI160_USER_GYRO_POWER_MODE_STAT__REG		      \
+(BMI160_USER_PMU_STAT_ADDR)
+/**************************************************************/
+/**\name	ACCEL POWER MODE LENGTH, POSITION AND MASK    */
+/**************************************************************/
+/* PMU_Status Description of ACCEL - Reg Addr --> (0x03), Bit --> 5...4 */
+#define BMI160_USER_ACCEL_POWER_MODE_STAT__POS               (4)
+#define BMI160_USER_ACCEL_POWER_MODE_STAT__LEN               (2)
+#define BMI160_USER_ACCEL_POWER_MODE_STAT__MSK               (0x30)
+#define BMI160_USER_ACCEL_POWER_MODE_STAT__REG		    \
+(BMI160_USER_PMU_STAT_ADDR)
+/**************************************************************/
+/**\name	MAG DATA XYZ LENGTH, POSITION AND MASK    */
+/**************************************************************/
+/* Mag_X(LSB) Description - Reg Addr --> (0x04), Bit --> 0...7 */
+#define BMI160_USER_DATA_0_MAG_X_LSB__POS           (0)
+#define BMI160_USER_DATA_0_MAG_X_LSB__LEN           (8)
+#define BMI160_USER_DATA_0_MAG_X_LSB__MSK          (0xFF)
+#define BMI160_USER_DATA_0_MAG_X_LSB__REG          (BMI160_USER_DATA_0_ADDR)
+
+/* Mag_X(LSB) Description - Reg Addr --> (0x04), Bit --> 3...7 */
+#define BMI160_USER_DATA_MAG_X_LSB__POS           (3)
+#define BMI160_USER_DATA_MAG_X_LSB__LEN           (5)
+#define BMI160_USER_DATA_MAG_X_LSB__MSK          (0xF8)
+#define BMI160_USER_DATA_MAG_X_LSB__REG          (BMI160_USER_DATA_0_ADDR)
+
+/* Mag_X(MSB) Description - Reg Addr --> (0x05), Bit --> 0...7 */
+#define BMI160_USER_DATA_1_MAG_X_MSB__POS           (0)
+#define BMI160_USER_DATA_1_MAG_X_MSB__LEN           (8)
+#define BMI160_USER_DATA_1_MAG_X_MSB__MSK          (0xFF)
+#define BMI160_USER_DATA_1_MAG_X_MSB__REG          (BMI160_USER_DATA_1_ADDR)
+
+/* Mag_Y(LSB) Description - Reg Addr --> (0x06), Bit --> 0...7 */
+#define BMI160_USER_DATA_2_MAG_Y_LSB__POS           (0)
+#define BMI160_USER_DATA_2_MAG_Y_LSB__LEN           (8)
+#define BMI160_USER_DATA_2_MAG_Y_LSB__MSK          (0xFF)
+#define BMI160_USER_DATA_2_MAG_Y_LSB__REG          (BMI160_USER_DATA_2_ADDR)
+
+/* Mag_Y(LSB) Description - Reg Addr --> (0x06), Bit --> 3...7 */
+#define BMI160_USER_DATA_MAG_Y_LSB__POS           (3)
+#define BMI160_USER_DATA_MAG_Y_LSB__LEN           (5)
+#define BMI160_USER_DATA_MAG_Y_LSB__MSK          (0xF8)
+#define BMI160_USER_DATA_MAG_Y_LSB__REG          (BMI160_USER_DATA_2_ADDR)
+
+/* Mag_Y(MSB) Description - Reg Addr --> (0x07), Bit --> 0...7 */
+#define BMI160_USER_DATA_3_MAG_Y_MSB__POS           (0)
+#define BMI160_USER_DATA_3_MAG_Y_MSB__LEN           (8)
+#define BMI160_USER_DATA_3_MAG_Y_MSB__MSK          (0xFF)
+#define BMI160_USER_DATA_3_MAG_Y_MSB__REG          (BMI160_USER_DATA_3_ADDR)
+
+/* Mag_Z(LSB) Description - Reg Addr --> (0x08), Bit --> 0...7 */
+#define BMI160_USER_DATA_4_MAG_Z_LSB__POS           (0)
+#define BMI160_USER_DATA_4_MAG_Z_LSB__LEN           (8)
+#define BMI160_USER_DATA_4_MAG_Z_LSB__MSK          (0xFF)
+#define BMI160_USER_DATA_4_MAG_Z_LSB__REG          (BMI160_USER_DATA_4_ADDR)
+
+/* Mag_X(LSB) Description - Reg Addr --> (0x08), Bit --> 3...7 */
+#define BMI160_USER_DATA_MAG_Z_LSB__POS           (1)
+#define BMI160_USER_DATA_MAG_Z_LSB__LEN           (7)
+#define BMI160_USER_DATA_MAG_Z_LSB__MSK          (0xFE)
+#define BMI160_USER_DATA_MAG_Z_LSB__REG          (BMI160_USER_DATA_4_ADDR)
+
+/* Mag_Z(MSB) Description - Reg Addr --> (0x09), Bit --> 0...7 */
+#define BMI160_USER_DATA_5_MAG_Z_MSB__POS           (0)
+#define BMI160_USER_DATA_5_MAG_Z_MSB__LEN           (8)
+#define BMI160_USER_DATA_5_MAG_Z_MSB__MSK          (0xFF)
+#define BMI160_USER_DATA_5_MAG_Z_MSB__REG          (BMI160_USER_DATA_5_ADDR)
+
+/* RHALL(LSB) Description - Reg Addr --> (0x0A), Bit --> 0...7 */
+#define BMI160_USER_DATA_6_RHALL_LSB__POS           (0)
+#define BMI160_USER_DATA_6_RHALL_LSB__LEN           (8)
+#define BMI160_USER_DATA_6_RHALL_LSB__MSK          (0xFF)
+#define BMI160_USER_DATA_6_RHALL_LSB__REG          (BMI160_USER_DATA_6_ADDR)
+
+/* Mag_R(LSB) Description - Reg Addr --> (0x0A), Bit --> 3...7 */
+#define BMI160_USER_DATA_MAG_R_LSB__POS           (2)
+#define BMI160_USER_DATA_MAG_R_LSB__LEN           (6)
+#define BMI160_USER_DATA_MAG_R_LSB__MSK          (0xFC)
+#define BMI160_USER_DATA_MAG_R_LSB__REG          (BMI160_USER_DATA_6_ADDR)
+
+/* RHALL(MSB) Description - Reg Addr --> (0x0B), Bit --> 0...7 */
+#define BMI160_USER_DATA_7_RHALL_MSB__POS           (0)
+#define BMI160_USER_DATA_7_RHALL_MSB__LEN           (8)
+#define BMI160_USER_DATA_7_RHALL_MSB__MSK          (0xFF)
+#define BMI160_USER_DATA_7_RHALL_MSB__REG          (BMI160_USER_DATA_7_ADDR)
+/**************************************************************/
+/**\name	GYRO DATA XYZ LENGTH, POSITION AND MASK    */
+/**************************************************************/
+/* GYR_X (LSB) Description - Reg Addr --> (0x0C), Bit --> 0...7 */
+#define BMI160_USER_DATA_8_GYRO_X_LSB__POS           (0)
+#define BMI160_USER_DATA_8_GYRO_X_LSB__LEN           (8)
+#define BMI160_USER_DATA_8_GYRO_X_LSB__MSK          (0xFF)
+#define BMI160_USER_DATA_8_GYRO_X_LSB__REG          (BMI160_USER_DATA_8_ADDR)
+
+/* GYR_X (MSB) Description - Reg Addr --> (0x0D), Bit --> 0...7 */
+#define BMI160_USER_DATA_9_GYRO_X_MSB__POS           (0)
+#define BMI160_USER_DATA_9_GYRO_X_MSB__LEN           (8)
+#define BMI160_USER_DATA_9_GYRO_X_MSB__MSK          (0xFF)
+#define BMI160_USER_DATA_9_GYRO_X_MSB__REG          (BMI160_USER_DATA_9_ADDR)
+
+/* GYR_Y (LSB) Description - Reg Addr --> 0x0E, Bit --> 0...7 */
+#define BMI160_USER_DATA_10_GYRO_Y_LSB__POS           (0)
+#define BMI160_USER_DATA_10_GYRO_Y_LSB__LEN           (8)
+#define BMI160_USER_DATA_10_GYRO_Y_LSB__MSK          (0xFF)
+#define BMI160_USER_DATA_10_GYRO_Y_LSB__REG          (BMI160_USER_DATA_10_ADDR)
+
+/* GYR_Y (MSB) Description - Reg Addr --> (0x0F), Bit --> 0...7 */
+#define BMI160_USER_DATA_11_GYRO_Y_MSB__POS           (0)
+#define BMI160_USER_DATA_11_GYRO_Y_MSB__LEN           (8)
+#define BMI160_USER_DATA_11_GYRO_Y_MSB__MSK          (0xFF)
+#define BMI160_USER_DATA_11_GYRO_Y_MSB__REG          (BMI160_USER_DATA_11_ADDR)
+
+/* GYR_Z (LSB) Description - Reg Addr --> (0x10), Bit --> 0...7 */
+#define BMI160_USER_DATA_12_GYRO_Z_LSB__POS           (0)
+#define BMI160_USER_DATA_12_GYRO_Z_LSB__LEN           (8)
+#define BMI160_USER_DATA_12_GYRO_Z_LSB__MSK          (0xFF)
+#define BMI160_USER_DATA_12_GYRO_Z_LSB__REG          (BMI160_USER_DATA_12_ADDR)
+
+/* GYR_Z (MSB) Description - Reg Addr --> (0x11), Bit --> 0...7 */
+#define BMI160_USER_DATA_13_GYRO_Z_MSB__POS           (0)
+#define BMI160_USER_DATA_13_GYRO_Z_MSB__LEN           (8)
+#define BMI160_USER_DATA_13_GYRO_Z_MSB__MSK          (0xFF)
+#define BMI160_USER_DATA_13_GYRO_Z_MSB__REG          (BMI160_USER_DATA_13_ADDR)
+/**************************************************************/
+/**\name	ACCEL DATA XYZ LENGTH, POSITION AND MASK    */
+/**************************************************************/
+/* ACC_X (LSB) Description - Reg Addr --> (0x12), Bit --> 0...7 */
+#define BMI160_USER_DATA_14_ACCEL_X_LSB__POS           (0)
+#define BMI160_USER_DATA_14_ACCEL_X_LSB__LEN           (8)
+#define BMI160_USER_DATA_14_ACCEL_X_LSB__MSK          (0xFF)
+#define BMI160_USER_DATA_14_ACCEL_X_LSB__REG          (BMI160_USER_DATA_14_ADDR)
+
+/* ACC_X (MSB) Description - Reg Addr --> 0x13, Bit --> 0...7 */
+#define BMI160_USER_DATA_15_ACCEL_X_MSB__POS           (0)
+#define BMI160_USER_DATA_15_ACCEL_X_MSB__LEN           (8)
+#define BMI160_USER_DATA_15_ACCEL_X_MSB__MSK          (0xFF)
+#define BMI160_USER_DATA_15_ACCEL_X_MSB__REG          (BMI160_USER_DATA_15_ADDR)
+
+/* ACC_Y (LSB) Description - Reg Addr --> (0x14), Bit --> 0...7 */
+#define BMI160_USER_DATA_16_ACCEL_Y_LSB__POS           (0)
+#define BMI160_USER_DATA_16_ACCEL_Y_LSB__LEN           (8)
+#define BMI160_USER_DATA_16_ACCEL_Y_LSB__MSK          (0xFF)
+#define BMI160_USER_DATA_16_ACCEL_Y_LSB__REG          (BMI160_USER_DATA_16_ADDR)
+
+/* ACC_Y (MSB) Description - Reg Addr --> (0x15), Bit --> 0...7 */
+#define BMI160_USER_DATA_17_ACCEL_Y_MSB__POS           (0)
+#define BMI160_USER_DATA_17_ACCEL_Y_MSB__LEN           (8)
+#define BMI160_USER_DATA_17_ACCEL_Y_MSB__MSK          (0xFF)
+#define BMI160_USER_DATA_17_ACCEL_Y_MSB__REG          (BMI160_USER_DATA_17_ADDR)
+
+/* ACC_Z (LSB) Description - Reg Addr --> 0x16, Bit --> 0...7 */
+#define BMI160_USER_DATA_18_ACCEL_Z_LSB__POS           (0)
+#define BMI160_USER_DATA_18_ACCEL_Z_LSB__LEN           (8)
+#define BMI160_USER_DATA_18_ACCEL_Z_LSB__MSK          (0xFF)
+#define BMI160_USER_DATA_18_ACCEL_Z_LSB__REG          (BMI160_USER_DATA_18_ADDR)
+
+/* ACC_Z (MSB) Description - Reg Addr --> (0x17), Bit --> 0...7 */
+#define BMI160_USER_DATA_19_ACCEL_Z_MSB__POS           (0)
+#define BMI160_USER_DATA_19_ACCEL_Z_MSB__LEN           (8)
+#define BMI160_USER_DATA_19_ACCEL_Z_MSB__MSK          (0xFF)
+#define BMI160_USER_DATA_19_ACCEL_Z_MSB__REG          (BMI160_USER_DATA_19_ADDR)
+/**************************************************************/
+/**\name	SENSOR TIME LENGTH, POSITION AND MASK    */
+/**************************************************************/
+/* SENSORTIME_0 (LSB) Description - Reg Addr --> (0x18), Bit --> 0...7 */
+#define BMI160_USER_SENSORTIME_0_SENSOR_TIME_LSB__POS           (0)
+#define BMI160_USER_SENSORTIME_0_SENSOR_TIME_LSB__LEN           (8)
+#define BMI160_USER_SENSORTIME_0_SENSOR_TIME_LSB__MSK          (0xFF)
+#define BMI160_USER_SENSORTIME_0_SENSOR_TIME_LSB__REG          \
+		(BMI160_USER_SENSORTIME_0_ADDR)
+
+/* SENSORTIME_1 (MSB) Description - Reg Addr --> (0x19), Bit --> 0...7 */
+#define BMI160_USER_SENSORTIME_1_SENSOR_TIME_MSB__POS           (0)
+#define BMI160_USER_SENSORTIME_1_SENSOR_TIME_MSB__LEN           (8)
+#define BMI160_USER_SENSORTIME_1_SENSOR_TIME_MSB__MSK          (0xFF)
+#define BMI160_USER_SENSORTIME_1_SENSOR_TIME_MSB__REG          \
+		(BMI160_USER_SENSORTIME_1_ADDR)
+
+/* SENSORTIME_2 (MSB) Description - Reg Addr --> (0x1A), Bit --> 0...7 */
+#define BMI160_USER_SENSORTIME_2_SENSOR_TIME_MSB__POS           (0)
+#define BMI160_USER_SENSORTIME_2_SENSOR_TIME_MSB__LEN           (8)
+#define BMI160_USER_SENSORTIME_2_SENSOR_TIME_MSB__MSK          (0xFF)
+#define BMI160_USER_SENSORTIME_2_SENSOR_TIME_MSB__REG          \
+		(BMI160_USER_SENSORTIME_2_ADDR)
+/**************************************************************/
+/**\name	GYRO SELF TEST LENGTH, POSITION AND MASK    */
+/**************************************************************/
+/* Status Description - Reg Addr --> 0x1B, Bit --> 1 */
+#define BMI160_USER_STAT_GYRO_SELFTEST_OK__POS          (1)
+#define BMI160_USER_STAT_GYRO_SELFTEST_OK__LEN          (1)
+#define BMI160_USER_STAT_GYRO_SELFTEST_OK__MSK          (0x02)
+#define BMI160_USER_STAT_GYRO_SELFTEST_OK__REG         \
+		(BMI160_USER_STAT_ADDR)
+/**************************************************************/
+/**\name	MAG MANUAL OPERATION LENGTH, POSITION AND MASK    */
+/**************************************************************/
+/* Status Description - Reg Addr --> 0x1B, Bit --> 2 */
+#define BMI160_USER_STAT_MAG_MANUAL_OPERATION__POS          (2)
+#define BMI160_USER_STAT_MAG_MANUAL_OPERATION__LEN          (1)
+#define BMI160_USER_STAT_MAG_MANUAL_OPERATION__MSK          (0x04)
+#define BMI160_USER_STAT_MAG_MANUAL_OPERATION__REG          \
+		(BMI160_USER_STAT_ADDR)
+/**************************************************************/
+/**\name	FOC STATUS LENGTH, POSITION AND MASK    */
+/**************************************************************/
+/* Status Description - Reg Addr --> 0x1B, Bit --> 3 */
+#define BMI160_USER_STAT_FOC_RDY__POS          (3)
+#define BMI160_USER_STAT_FOC_RDY__LEN          (1)
+#define BMI160_USER_STAT_FOC_RDY__MSK          (0x08)
+#define BMI160_USER_STAT_FOC_RDY__REG          (BMI160_USER_STAT_ADDR)
+
+/**************************************************************/
+/**\name	DATA READY LENGTH, POSITION AND MASK FOR ACCEL, MAG AND GYRO*/
+/**************************************************************/
+/* Status Description - Reg Addr --> 0x1B, Bit --> 5 */
+#define BMI160_USER_STAT_DATA_RDY_MAG__POS           (5)
+#define BMI160_USER_STAT_DATA_RDY_MAG__LEN           (1)
+#define BMI160_USER_STAT_DATA_RDY_MAG__MSK           (0x20)
+#define BMI160_USER_STAT_DATA_RDY_MAG__REG           (BMI160_USER_STAT_ADDR)
+
+/* Status Description - Reg Addr --> 0x1B, Bit --> 6 */
+#define BMI160_USER_STAT_DATA_RDY_GYRO__POS           (6)
+#define BMI160_USER_STAT_DATA_RDY_GYRO__LEN           (1)
+#define BMI160_USER_STAT_DATA_RDY_GYRO__MSK           (0x40)
+#define BMI160_USER_STAT_DATA_RDY_GYRO__REG           (BMI160_USER_STAT_ADDR)
+
+/* Status Description - Reg Addr --> 0x1B, Bit --> 7 */
+#define BMI160_USER_STAT_DATA_RDY_ACCEL__POS           (7)
+#define BMI160_USER_STAT_DATA_RDY_ACCEL__LEN           (1)
+#define BMI160_USER_STAT_DATA_RDY_ACCEL__MSK           (0x80)
+#define BMI160_USER_STAT_DATA_RDY_ACCEL__REG           (BMI160_USER_STAT_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT STATUS LENGTH, POSITION AND MASK    */
+/**************************************************************/
+/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 0 */
+#define BMI160_USER_INTR_STAT_0_STEP_INTR__POS           (0)
+#define BMI160_USER_INTR_STAT_0_STEP_INTR__LEN           (1)
+#define BMI160_USER_INTR_STAT_0_STEP_INTR__MSK          (0x01)
+#define BMI160_USER_INTR_STAT_0_STEP_INTR__REG          \
+		(BMI160_USER_INTR_STAT_0_ADDR)
+/**************************************************************/
+/**\name	SIGNIFICANT INTERRUPT STATUS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 1 */
+#define BMI160_USER_INTR_STAT_0_SIGNIFICANT_INTR__POS		(1)
+#define BMI160_USER_INTR_STAT_0_SIGNIFICANT_INTR__LEN		(1)
+#define BMI160_USER_INTR_STAT_0_SIGNIFICANT_INTR__MSK		(0x02)
+#define BMI160_USER_INTR_STAT_0_SIGNIFICANT_INTR__REG       \
+		(BMI160_USER_INTR_STAT_0_ADDR)
+/**************************************************************/
+/**\name	ANY_MOTION INTERRUPT STATUS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 2 */
+#define BMI160_USER_INTR_STAT_0_ANY_MOTION__POS           (2)
+#define BMI160_USER_INTR_STAT_0_ANY_MOTION__LEN           (1)
+#define BMI160_USER_INTR_STAT_0_ANY_MOTION__MSK          (0x04)
+#define BMI160_USER_INTR_STAT_0_ANY_MOTION__REG          \
+		(BMI160_USER_INTR_STAT_0_ADDR)
+/**************************************************************/
+/**\name	PMU TRIGGER INTERRUPT STATUS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 3 */
+#define BMI160_USER_INTR_STAT_0_PMU_TRIGGER__POS           3
+#define BMI160_USER_INTR_STAT_0_PMU_TRIGGER__LEN           (1)
+#define BMI160_USER_INTR_STAT_0_PMU_TRIGGER__MSK          (0x08)
+#define BMI160_USER_INTR_STAT_0_PMU_TRIGGER__REG          \
+		(BMI160_USER_INTR_STAT_0_ADDR)
+/**************************************************************/
+/**\name	DOUBLE TAP INTERRUPT STATUS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 4 */
+#define BMI160_USER_INTR_STAT_0_DOUBLE_TAP_INTR__POS           4
+#define BMI160_USER_INTR_STAT_0_DOUBLE_TAP_INTR__LEN           (1)
+#define BMI160_USER_INTR_STAT_0_DOUBLE_TAP_INTR__MSK          (0x10)
+#define BMI160_USER_INTR_STAT_0_DOUBLE_TAP_INTR__REG          \
+		(BMI160_USER_INTR_STAT_0_ADDR)
+/**************************************************************/
+/**\name	SINGLE TAP INTERRUPT STATUS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 5 */
+#define BMI160_USER_INTR_STAT_0_SINGLE_TAP_INTR__POS           5
+#define BMI160_USER_INTR_STAT_0_SINGLE_TAP_INTR__LEN           (1)
+#define BMI160_USER_INTR_STAT_0_SINGLE_TAP_INTR__MSK          (0x20)
+#define BMI160_USER_INTR_STAT_0_SINGLE_TAP_INTR__REG          \
+		(BMI160_USER_INTR_STAT_0_ADDR)
+/**************************************************************/
+/**\name	ORIENT INTERRUPT STATUS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 6 */
+#define BMI160_USER_INTR_STAT_0_ORIENT__POS           (6)
+#define BMI160_USER_INTR_STAT_0_ORIENT__LEN           (1)
+#define BMI160_USER_INTR_STAT_0_ORIENT__MSK          (0x40)
+#define BMI160_USER_INTR_STAT_0_ORIENT__REG          \
+		(BMI160_USER_INTR_STAT_0_ADDR)
+/**************************************************************/
+/**\name	FLAT INTERRUPT STATUS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 7 */
+#define BMI160_USER_INTR_STAT_0_FLAT__POS           (7)
+#define BMI160_USER_INTR_STAT_0_FLAT__LEN           (1)
+#define BMI160_USER_INTR_STAT_0_FLAT__MSK          (0x80)
+#define BMI160_USER_INTR_STAT_0_FLAT__REG          \
+		(BMI160_USER_INTR_STAT_0_ADDR)
+/**************************************************************/
+/**\name	HIGH_G INTERRUPT STATUS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_1 Description - Reg Addr --> 0x1D, Bit --> 2 */
+#define BMI160_USER_INTR_STAT_1_HIGH_G_INTR__POS               (2)
+#define BMI160_USER_INTR_STAT_1_HIGH_G_INTR__LEN               (1)
+#define BMI160_USER_INTR_STAT_1_HIGH_G_INTR__MSK              (0x04)
+#define BMI160_USER_INTR_STAT_1_HIGH_G_INTR__REG              \
+		(BMI160_USER_INTR_STAT_1_ADDR)
+/**************************************************************/
+/**\name	LOW_G INTERRUPT STATUS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_1 Description - Reg Addr --> 0x1D, Bit --> 3 */
+#define BMI160_USER_INTR_STAT_1_LOW_G_INTR__POS               (3)
+#define BMI160_USER_INTR_STAT_1_LOW_G_INTR__LEN               (1)
+#define BMI160_USER_INTR_STAT_1_LOW_G_INTR__MSK              (0x08)
+#define BMI160_USER_INTR_STAT_1_LOW_G_INTR__REG              \
+		(BMI160_USER_INTR_STAT_1_ADDR)
+/**************************************************************/
+/**\name	DATA READY INTERRUPT STATUS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_1 Description - Reg Addr --> 0x1D, Bit --> 4 */
+#define BMI160_USER_INTR_STAT_1_DATA_RDY_INTR__POS               (4)
+#define BMI160_USER_INTR_STAT_1_DATA_RDY_INTR__LEN               (1)
+#define BMI160_USER_INTR_STAT_1_DATA_RDY_INTR__MSK               (0x10)
+#define BMI160_USER_INTR_STAT_1_DATA_RDY_INTR__REG               \
+		(BMI160_USER_INTR_STAT_1_ADDR)
+/**************************************************************/
+/**\name	FIFO FULL INTERRUPT STATUS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_1 Description - Reg Addr --> 0x1D, Bit --> 5 */
+#define BMI160_USER_INTR_STAT_1_FIFO_FULL_INTR__POS               (5)
+#define BMI160_USER_INTR_STAT_1_FIFO_FULL_INTR__LEN               (1)
+#define BMI160_USER_INTR_STAT_1_FIFO_FULL_INTR__MSK               (0x20)
+#define BMI160_USER_INTR_STAT_1_FIFO_FULL_INTR__REG               \
+		(BMI160_USER_INTR_STAT_1_ADDR)
+/**************************************************************/
+/**\name FIFO WATERMARK INTERRUPT STATUS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_1 Description - Reg Addr --> 0x1D, Bit --> 6 */
+#define BMI160_USER_INTR_STAT_1_FIFO_WM_INTR__POS               (6)
+#define BMI160_USER_INTR_STAT_1_FIFO_WM_INTR__LEN               (1)
+#define BMI160_USER_INTR_STAT_1_FIFO_WM_INTR__MSK               (0x40)
+#define BMI160_USER_INTR_STAT_1_FIFO_WM_INTR__REG               \
+		(BMI160_USER_INTR_STAT_1_ADDR)
+/**************************************************************/
+/**\name	NO MOTION INTERRUPT STATUS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_1 Description - Reg Addr --> 0x1D, Bit --> 7 */
+#define BMI160_USER_INTR_STAT_1_NOMOTION_INTR__POS               (7)
+#define BMI160_USER_INTR_STAT_1_NOMOTION_INTR__LEN               (1)
+#define BMI160_USER_INTR_STAT_1_NOMOTION_INTR__MSK               (0x80)
+#define BMI160_USER_INTR_STAT_1_NOMOTION_INTR__REG               \
+		(BMI160_USER_INTR_STAT_1_ADDR)
+/**************************************************************/
+/**\name	ANY MOTION-XYZ AXIS INTERRUPT STATUS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 0 */
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_X__POS               (0)
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_X__LEN               (1)
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_X__MSK               (0x01)
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_X__REG               \
+		(BMI160_USER_INTR_STAT_2_ADDR)
+
+/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 1 */
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Y__POS               (1)
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Y__LEN               (1)
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Y__MSK               (0x02)
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Y__REG               \
+		(BMI160_USER_INTR_STAT_2_ADDR)
+
+/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 2 */
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Z__POS               (2)
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Z__LEN               (1)
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Z__MSK               (0x04)
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Z__REG               \
+		(BMI160_USER_INTR_STAT_2_ADDR)
+/**************************************************************/
+/**\name	ANY MOTION SIGN LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 3 */
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_SIGN__POS               (3)
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_SIGN__LEN               (1)
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_SIGN__MSK               (0x08)
+#define BMI160_USER_INTR_STAT_2_ANY_MOTION_SIGN__REG               \
+		(BMI160_USER_INTR_STAT_2_ADDR)
+/**************************************************************/
+/**\name	TAP_XYZ AND SIGN LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 4 */
+#define BMI160_USER_INTR_STAT_2_TAP_FIRST_X__POS               (4)
+#define BMI160_USER_INTR_STAT_2_TAP_FIRST_X__LEN               (1)
+#define BMI160_USER_INTR_STAT_2_TAP_FIRST_X__MSK               (0x10)
+#define BMI160_USER_INTR_STAT_2_TAP_FIRST_X__REG               \
+		(BMI160_USER_INTR_STAT_2_ADDR)
+
+/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 5 */
+#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Y__POS               (5)
+#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Y__LEN               (1)
+#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Y__MSK               (0x20)
+#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Y__REG               \
+		(BMI160_USER_INTR_STAT_2_ADDR)
+
+/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 6 */
+#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Z__POS               (6)
+#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Z__LEN               (1)
+#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Z__MSK               (0x40)
+#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Z__REG               \
+		(BMI160_USER_INTR_STAT_2_ADDR)
+
+/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 7 */
+#define BMI160_USER_INTR_STAT_2_TAP_SIGN__POS               (7)
+#define BMI160_USER_INTR_STAT_2_TAP_SIGN__LEN               (1)
+#define BMI160_USER_INTR_STAT_2_TAP_SIGN__MSK               (0x80)
+#define BMI160_USER_INTR_STAT_2_TAP_SIGN__REG               \
+		(BMI160_USER_INTR_STAT_2_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT STATUS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 0...7 */
+#define BMI160_USER_INTR_STAT_2__POS               (0)
+#define BMI160_USER_INTR_STAT_2__LEN               (8)
+#define BMI160_USER_INTR_STAT_2__MSK               (0xFF)
+#define BMI160_USER_INTR_STAT_2__REG               \
+		(BMI160_USER_INTR_STAT_2_ADDR)
+/**************************************************************/
+/**\name	HIGH_G-XYZ AND SIGN LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_3 Description - Reg Addr --> (0x1F), Bit --> 0 */
+#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_X__POS               (0)
+#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_X__LEN               (1)
+#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_X__MSK               (0x01)
+#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_X__REG               \
+		(BMI160_USER_INTR_STAT_3_ADDR)
+
+/* Int_Status_3 Description - Reg Addr --> 0x1E, Bit --> 1 */
+#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Y__POS               (1)
+#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Y__LEN               (1)
+#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Y__MSK               (0x02)
+#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Y__REG               \
+		(BMI160_USER_INTR_STAT_3_ADDR)
+
+/* Int_Status_3 Description - Reg Addr --> (0x1F), Bit --> 2 */
+#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Z__POS               (2)
+#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Z__LEN               (1)
+#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Z__MSK               (0x04)
+#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Z__REG               \
+		(BMI160_USER_INTR_STAT_3_ADDR)
+
+/* Int_Status_3 Description - Reg Addr --> (0x1F), Bit --> 3 */
+#define BMI160_USER_INTR_STAT_3_HIGH_G_SIGN__POS               (3)
+#define BMI160_USER_INTR_STAT_3_HIGH_G_SIGN__LEN               (1)
+#define BMI160_USER_INTR_STAT_3_HIGH_G_SIGN__MSK               (0x08)
+#define BMI160_USER_INTR_STAT_3_HIGH_G_SIGN__REG               \
+		(BMI160_USER_INTR_STAT_3_ADDR)
+/**************************************************************/
+/**\name	ORIENT XY and Z AXIS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_3 Description - Reg Addr --> (0x1F), Bit --> 4...5 */
+#define BMI160_USER_INTR_STAT_3_ORIENT_XY__POS               (4)
+#define BMI160_USER_INTR_STAT_3_ORIENT_XY__LEN               (2)
+#define BMI160_USER_INTR_STAT_3_ORIENT_XY__MSK               (0x30)
+#define BMI160_USER_INTR_STAT_3_ORIENT_XY__REG               \
+		(BMI160_USER_INTR_STAT_3_ADDR)
+
+/* Int_Status_3 Description - Reg Addr --> (0x1F), Bit --> 6 */
+#define BMI160_USER_INTR_STAT_3_ORIENT_Z__POS               (6)
+#define BMI160_USER_INTR_STAT_3_ORIENT_Z__LEN               (1)
+#define BMI160_USER_INTR_STAT_3_ORIENT_Z__MSK               (0x40)
+#define BMI160_USER_INTR_STAT_3_ORIENT_Z__REG               \
+		(BMI160_USER_INTR_STAT_3_ADDR)
+/**************************************************************/
+/**\name	FLAT LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_3 Description - Reg Addr --> (0x1F), Bit --> 7 */
+#define BMI160_USER_INTR_STAT_3_FLAT__POS               (7)
+#define BMI160_USER_INTR_STAT_3_FLAT__LEN               (1)
+#define BMI160_USER_INTR_STAT_3_FLAT__MSK               (0x80)
+#define BMI160_USER_INTR_STAT_3_FLAT__REG               \
+		(BMI160_USER_INTR_STAT_3_ADDR)
+/**************************************************************/
+/**\name	(0x1F) LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Status_3 Description - Reg Addr --> (0x1F), Bit --> 0...7 */
+#define BMI160_USER_INTR_STAT_3__POS               (0)
+#define BMI160_USER_INTR_STAT_3__LEN               (8)
+#define BMI160_USER_INTR_STAT_3__MSK               (0xFF)
+#define BMI160_USER_INTR_STAT_3__REG               \
+		(BMI160_USER_INTR_STAT_3_ADDR)
+/**************************************************************/
+/**\name	TEMPERATURE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Temperature Description - LSB Reg Addr --> (0x20), Bit --> 0...7 */
+#define BMI160_USER_TEMP_LSB_VALUE__POS               (0)
+#define BMI160_USER_TEMP_LSB_VALUE__LEN               (8)
+#define BMI160_USER_TEMP_LSB_VALUE__MSK               (0xFF)
+#define BMI160_USER_TEMP_LSB_VALUE__REG               \
+		(BMI160_USER_TEMPERATURE_0_ADDR)
+
+/* Temperature Description - LSB Reg Addr --> 0x21, Bit --> 0...7 */
+#define BMI160_USER_TEMP_MSB_VALUE__POS               (0)
+#define BMI160_USER_TEMP_MSB_VALUE__LEN               (8)
+#define BMI160_USER_TEMP_MSB_VALUE__MSK               (0xFF)
+#define BMI160_USER_TEMP_MSB_VALUE__REG               \
+		(BMI160_USER_TEMPERATURE_1_ADDR)
+
+#ifdef FIFO_ENABLE
+/**************************************************************/
+/**\name	FIFO BYTE COUNTER LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Fifo_Length0 Description - Reg Addr --> 0x22, Bit --> 0...7 */
+#define BMI160_USER_FIFO_BYTE_COUNTER_LSB__POS           (0)
+#define BMI160_USER_FIFO_BYTE_COUNTER_LSB__LEN           (8)
+#define BMI160_USER_FIFO_BYTE_COUNTER_LSB__MSK          (0xFF)
+#define BMI160_USER_FIFO_BYTE_COUNTER_LSB__REG          \
+		(BMI160_USER_FIFO_LENGTH_0_ADDR)
+
+/*Fifo_Length1 Description - Reg Addr --> 0x23, Bit --> 0...2 */
+#define BMI160_USER_FIFO_BYTE_COUNTER_MSB__POS           (0)
+#define BMI160_USER_FIFO_BYTE_COUNTER_MSB__LEN           3
+#define BMI160_USER_FIFO_BYTE_COUNTER_MSB__MSK          (0x07)
+#define BMI160_USER_FIFO_BYTE_COUNTER_MSB__REG          \
+		(BMI160_USER_FIFO_LENGTH_1_ADDR)
+
+/**************************************************************/
+/**\name	FIFO DATA LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Fifo_Data Description - Reg Addr --> 0x24, Bit --> 0...7 */
+#define BMI160_USER_FIFO_DATA__POS           (0)
+#define BMI160_USER_FIFO_DATA__LEN           (8)
+#define BMI160_USER_FIFO_DATA__MSK          (0xFF)
+#define BMI160_USER_FIFO_DATA__REG          (BMI160_USER_FIFO_DATA_ADDR)
+#endif
+/**************************************************************/
+/**\name	ACCEL CONFIGURATION LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Acc_Conf Description - Reg Addr --> (0x40), Bit --> 0...3 */
+#define BMI160_USER_ACCEL_CONFIG_OUTPUT_DATA_RATE__POS               (0)
+#define BMI160_USER_ACCEL_CONFIG_OUTPUT_DATA_RATE__LEN               (4)
+#define BMI160_USER_ACCEL_CONFIG_OUTPUT_DATA_RATE__MSK               (0x0F)
+#define BMI160_USER_ACCEL_CONFIG_OUTPUT_DATA_RATE__REG		       \
+(BMI160_USER_ACCEL_CONFIG_ADDR)
+
+/* Acc_Conf Description - Reg Addr --> (0x40), Bit --> 4...6 */
+#define BMI160_USER_ACCEL_CONFIG_ACCEL_BW__POS               (4)
+#define BMI160_USER_ACCEL_CONFIG_ACCEL_BW__LEN               (3)
+#define BMI160_USER_ACCEL_CONFIG_ACCEL_BW__MSK               (0x70)
+#define BMI160_USER_ACCEL_CONFIG_ACCEL_BW__REG	(BMI160_USER_ACCEL_CONFIG_ADDR)
+
+/* Acc_Conf Description - Reg Addr --> (0x40), Bit --> 7 */
+#define BMI160_USER_ACCEL_CONFIG_ACCEL_UNDER_SAMPLING__POS           (7)
+#define BMI160_USER_ACCEL_CONFIG_ACCEL_UNDER_SAMPLING__LEN           (1)
+#define BMI160_USER_ACCEL_CONFIG_ACCEL_UNDER_SAMPLING__MSK           (0x80)
+#define BMI160_USER_ACCEL_CONFIG_ACCEL_UNDER_SAMPLING__REG	\
+(BMI160_USER_ACCEL_CONFIG_ADDR)
+
+/* Acc_Range Description - Reg Addr --> 0x41, Bit --> 0...3 */
+#define BMI160_USER_ACCEL_RANGE__POS               (0)
+#define BMI160_USER_ACCEL_RANGE__LEN               (4)
+#define BMI160_USER_ACCEL_RANGE__MSK               (0x0F)
+#define BMI160_USER_ACCEL_RANGE__REG              \
+(BMI160_USER_ACCEL_RANGE_ADDR)
+/**************************************************************/
+/**\name	GYRO CONFIGURATION LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Gyro_Conf Description - Reg Addr --> (0x42), Bit --> 0...3 */
+#define BMI160_USER_GYRO_CONFIG_OUTPUT_DATA_RATE__POS               (0)
+#define BMI160_USER_GYRO_CONFIG_OUTPUT_DATA_RATE__LEN               (4)
+#define BMI160_USER_GYRO_CONFIG_OUTPUT_DATA_RATE__MSK               (0x0F)
+#define BMI160_USER_GYRO_CONFIG_OUTPUT_DATA_RATE__REG               \
+(BMI160_USER_GYRO_CONFIG_ADDR)
+
+/* Gyro_Conf Description - Reg Addr --> (0x42), Bit --> 4...5 */
+#define BMI160_USER_GYRO_CONFIG_BW__POS               (4)
+#define BMI160_USER_GYRO_CONFIG_BW__LEN               (2)
+#define BMI160_USER_GYRO_CONFIG_BW__MSK               (0x30)
+#define BMI160_USER_GYRO_CONFIG_BW__REG               \
+(BMI160_USER_GYRO_CONFIG_ADDR)
+
+/* Gyr_Range Description - Reg Addr --> 0x43, Bit --> 0...2 */
+#define BMI160_USER_GYRO_RANGE__POS               (0)
+#define BMI160_USER_GYRO_RANGE__LEN               (3)
+#define BMI160_USER_GYRO_RANGE__MSK               (0x07)
+#define BMI160_USER_GYRO_RANGE__REG               (BMI160_USER_GYRO_RANGE_ADDR)
+/**************************************************************/
+/**\name	MAG CONFIGURATION LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Mag_Conf Description - Reg Addr --> (0x44), Bit --> 0...3 */
+#define BMI160_USER_MAG_CONFIG_OUTPUT_DATA_RATE__POS               (0)
+#define BMI160_USER_MAG_CONFIG_OUTPUT_DATA_RATE__LEN               (4)
+#define BMI160_USER_MAG_CONFIG_OUTPUT_DATA_RATE__MSK               (0x0F)
+#define BMI160_USER_MAG_CONFIG_OUTPUT_DATA_RATE__REG               \
+(BMI160_USER_MAG_CONFIG_ADDR)
+
+#ifdef FIFO_ENABLE
+/**************************************************************/
+/**\name	FIFO DOWNS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Fifo_Downs Description - Reg Addr --> 0x45, Bit --> 0...2 */
+#define BMI160_USER_FIFO_DOWN_GYRO__POS               (0)
+#define BMI160_USER_FIFO_DOWN_GYRO__LEN               (3)
+#define BMI160_USER_FIFO_DOWN_GYRO__MSK               (0x07)
+#define BMI160_USER_FIFO_DOWN_GYRO__REG	(BMI160_USER_FIFO_DOWN_ADDR)
+/**************************************************************/
+/**\name	FIFO FILTER FOR ACCEL AND GYRO LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Fifo_filter Description - Reg Addr --> 0x45, Bit --> 3 */
+#define BMI160_USER_FIFO_FILTER_GYRO__POS               (3)
+#define BMI160_USER_FIFO_FILTER_GYRO__LEN               (1)
+#define BMI160_USER_FIFO_FILTER_GYRO__MSK               (0x08)
+#define BMI160_USER_FIFO_FILTER_GYRO__REG	  (BMI160_USER_FIFO_DOWN_ADDR)
+
+/* Fifo_Downs Description - Reg Addr --> 0x45, Bit --> 4...6 */
+#define BMI160_USER_FIFO_DOWN_ACCEL__POS               (4)
+#define BMI160_USER_FIFO_DOWN_ACCEL__LEN               (3)
+#define BMI160_USER_FIFO_DOWN_ACCEL__MSK               (0x70)
+#define BMI160_USER_FIFO_DOWN_ACCEL__REG	(BMI160_USER_FIFO_DOWN_ADDR)
+
+/* Fifo_FILT Description - Reg Addr --> 0x45, Bit --> 7 */
+#define BMI160_USER_FIFO_FILTER_ACCEL__POS               (7)
+#define BMI160_USER_FIFO_FILTER_ACCEL__LEN               (1)
+#define BMI160_USER_FIFO_FILTER_ACCEL__MSK               (0x80)
+#define BMI160_USER_FIFO_FILTER_ACCEL__REG	(BMI160_USER_FIFO_DOWN_ADDR)
+/**************************************************************/
+/**\name	FIFO WATER MARK LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Fifo_Config_0 Description - Reg Addr --> 0x46, Bit --> 0...7 */
+#define BMI160_USER_FIFO_WM__POS               (0)
+#define BMI160_USER_FIFO_WM__LEN               (8)
+#define BMI160_USER_FIFO_WM__MSK               (0xFF)
+#define BMI160_USER_FIFO_WM__REG	(BMI160_USER_FIFO_CONFIG_0_ADDR)
+/**************************************************************/
+/**\name	FIFO TIME LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Fifo_Config_1 Description - Reg Addr --> 0x47, Bit --> 1 */
+#define BMI160_USER_FIFO_TIME_ENABLE__POS               (1)
+#define BMI160_USER_FIFO_TIME_ENABLE__LEN               (1)
+#define BMI160_USER_FIFO_TIME_ENABLE__MSK               (0x02)
+#define BMI160_USER_FIFO_TIME_ENABLE__REG	(BMI160_USER_FIFO_CONFIG_1_ADDR)
+/**************************************************************/
+/**\name	FIFO TAG INTERRUPT LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Fifo_Config_1 Description - Reg Addr --> 0x47, Bit --> 2 */
+#define BMI160_USER_FIFO_TAG_INTR2_ENABLE__POS               (2)
+#define BMI160_USER_FIFO_TAG_INTR2_ENABLE__LEN               (1)
+#define BMI160_USER_FIFO_TAG_INTR2_ENABLE__MSK               (0x04)
+#define BMI160_USER_FIFO_TAG_INTR2_ENABLE__REG	(BMI160_USER_FIFO_CONFIG_1_ADDR)
+
+/* Fifo_Config_1 Description - Reg Addr --> 0x47, Bit --> 3 */
+#define BMI160_USER_FIFO_TAG_INTR1_ENABLE__POS               (3)
+#define BMI160_USER_FIFO_TAG_INTR1_ENABLE__LEN               (1)
+#define BMI160_USER_FIFO_TAG_INTR1_ENABLE__MSK               (0x08)
+#define BMI160_USER_FIFO_TAG_INTR1_ENABLE__REG	(BMI160_USER_FIFO_CONFIG_1_ADDR)
+/**************************************************************/
+/**\name	FIFO HEADER LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Fifo_Config_1 Description - Reg Addr --> 0x47, Bit --> 4 */
+#define BMI160_USER_FIFO_HEADER_ENABLE__POS               (4)
+#define BMI160_USER_FIFO_HEADER_ENABLE__LEN               (1)
+#define BMI160_USER_FIFO_HEADER_ENABLE__MSK               (0x10)
+#define BMI160_USER_FIFO_HEADER_ENABLE__REG		         \
+(BMI160_USER_FIFO_CONFIG_1_ADDR)
+/**************************************************************/
+/**\name	FIFO MAG ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Fifo_Config_1 Description - Reg Addr --> 0x47, Bit --> 5 */
+#define BMI160_USER_FIFO_MAG_ENABLE__POS               (5)
+#define BMI160_USER_FIFO_MAG_ENABLE__LEN               (1)
+#define BMI160_USER_FIFO_MAG_ENABLE__MSK               (0x20)
+#define BMI160_USER_FIFO_MAG_ENABLE__REG		     \
+(BMI160_USER_FIFO_CONFIG_1_ADDR)
+/**************************************************************/
+/**\name	FIFO ACCEL ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Fifo_Config_1 Description - Reg Addr --> 0x47, Bit --> 6 */
+#define BMI160_USER_FIFO_ACCEL_ENABLE__POS               (6)
+#define BMI160_USER_FIFO_ACCEL_ENABLE__LEN               (1)
+#define BMI160_USER_FIFO_ACCEL_ENABLE__MSK               (0x40)
+#define BMI160_USER_FIFO_ACCEL_ENABLE__REG		        \
+(BMI160_USER_FIFO_CONFIG_1_ADDR)
+/**************************************************************/
+/**\name	FIFO GYRO ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Fifo_Config_1 Description - Reg Addr --> 0x47, Bit --> 7 */
+#define BMI160_USER_FIFO_GYRO_ENABLE__POS               (7)
+#define BMI160_USER_FIFO_GYRO_ENABLE__LEN               (1)
+#define BMI160_USER_FIFO_GYRO_ENABLE__MSK               (0x80)
+#define BMI160_USER_FIFO_GYRO_ENABLE__REG		       \
+(BMI160_USER_FIFO_CONFIG_1_ADDR)
+#endif
+/**************************************************************/
+/**\name	MAG I2C ADDRESS SELECTION LENGTH, POSITION AND MASK*/
+/**************************************************************/
+
+/* Mag_IF_0 Description - Reg Addr --> 0x4b, Bit --> 1...7 */
+#define BMI160_USER_I2C_DEVICE_ADDR__POS               (1)
+#define BMI160_USER_I2C_DEVICE_ADDR__LEN               (7)
+#define BMI160_USER_I2C_DEVICE_ADDR__MSK               (0xFE)
+#define BMI160_USER_I2C_DEVICE_ADDR__REG	(BMI160_USER_MAG_IF_0_ADDR)
+/**************************************************************/
+/**\name MAG CONFIGURATION FOR SECONDARY
+	INTERFACE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Mag_IF_1 Description - Reg Addr --> 0x4c, Bit --> 0...1 */
+#define BMI160_USER_MAG_BURST__POS               (0)
+#define BMI160_USER_MAG_BURST__LEN               (2)
+#define BMI160_USER_MAG_BURST__MSK               (0x03)
+#define BMI160_USER_MAG_BURST__REG               (BMI160_USER_MAG_IF_1_ADDR)
+
+/* Mag_IF_1 Description - Reg Addr --> 0x4c, Bit --> 2...5 */
+#define BMI160_USER_MAG_OFFSET__POS               (2)
+#define BMI160_USER_MAG_OFFSET__LEN               (4)
+#define BMI160_USER_MAG_OFFSET__MSK               (0x3C)
+#define BMI160_USER_MAG_OFFSET__REG               (BMI160_USER_MAG_IF_1_ADDR)
+
+/* Mag_IF_1 Description - Reg Addr --> 0x4c, Bit --> 7 */
+#define BMI160_USER_MAG_MANUAL_ENABLE__POS               (7)
+#define BMI160_USER_MAG_MANUAL_ENABLE__LEN               (1)
+#define BMI160_USER_MAG_MANUAL_ENABLE__MSK               (0x80)
+#define BMI160_USER_MAG_MANUAL_ENABLE__REG               \
+(BMI160_USER_MAG_IF_1_ADDR)
+
+/* Mag_IF_2 Description - Reg Addr --> 0x4d, Bit -->0... 7 */
+#define BMI160_USER_READ_ADDR__POS               (0)
+#define BMI160_USER_READ_ADDR__LEN               (8)
+#define BMI160_USER_READ_ADDR__MSK               (0xFF)
+#define BMI160_USER_READ_ADDR__REG               (BMI160_USER_MAG_IF_2_ADDR)
+
+/* Mag_IF_3 Description - Reg Addr --> 0x4e, Bit -->0... 7 */
+#define BMI160_USER_WRITE_ADDR__POS               (0)
+#define BMI160_USER_WRITE_ADDR__LEN               (8)
+#define BMI160_USER_WRITE_ADDR__MSK               (0xFF)
+#define BMI160_USER_WRITE_ADDR__REG               (BMI160_USER_MAG_IF_3_ADDR)
+
+/* Mag_IF_4 Description - Reg Addr --> 0x4f, Bit -->0... 7 */
+#define BMI160_USER_WRITE_DATA__POS               (0)
+#define BMI160_USER_WRITE_DATA__LEN               (8)
+#define BMI160_USER_WRITE_DATA__MSK               (0xFF)
+#define BMI160_USER_WRITE_DATA__REG               (BMI160_USER_MAG_IF_4_ADDR)
+/**************************************************************/
+/**\name	ANY MOTION XYZ AXIS ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_En_0 Description - Reg Addr --> 0x50, Bit -->0 */
+#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_X_ENABLE__POS               (0)
+#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_X_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_X_ENABLE__MSK               (0x01)
+#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_X_ENABLE__REG	              \
+(BMI160_USER_INTR_ENABLE_0_ADDR)
+
+/* Int_En_0 Description - Reg Addr --> 0x50, Bit -->1 */
+#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Y_ENABLE__POS               (1)
+#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Y_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Y_ENABLE__MSK               (0x02)
+#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Y_ENABLE__REG	          \
+(BMI160_USER_INTR_ENABLE_0_ADDR)
+
+/* Int_En_0 Description - Reg Addr --> 0x50, Bit -->2 */
+#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Z_ENABLE__POS               (2)
+#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Z_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Z_ENABLE__MSK               (0x04)
+#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Z_ENABLE__REG	            \
+(BMI160_USER_INTR_ENABLE_0_ADDR)
+/**************************************************************/
+/**\name	DOUBLE TAP ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_En_0 Description - Reg Addr --> 0x50, Bit -->4 */
+#define BMI160_USER_INTR_ENABLE_0_DOUBLE_TAP_ENABLE__POS               (4)
+#define BMI160_USER_INTR_ENABLE_0_DOUBLE_TAP_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_0_DOUBLE_TAP_ENABLE__MSK               (0x10)
+#define BMI160_USER_INTR_ENABLE_0_DOUBLE_TAP_ENABLE__REG	        \
+(BMI160_USER_INTR_ENABLE_0_ADDR)
+/**************************************************************/
+/**\name	SINGLE TAP ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_En_0 Description - Reg Addr --> 0x50, Bit -->5 */
+#define BMI160_USER_INTR_ENABLE_0_SINGLE_TAP_ENABLE__POS               (5)
+#define BMI160_USER_INTR_ENABLE_0_SINGLE_TAP_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_0_SINGLE_TAP_ENABLE__MSK               (0x20)
+#define BMI160_USER_INTR_ENABLE_0_SINGLE_TAP_ENABLE__REG	       \
+(BMI160_USER_INTR_ENABLE_0_ADDR)
+/**************************************************************/
+/**\name	ORIENT ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_En_0 Description - Reg Addr --> 0x50, Bit -->6 */
+#define BMI160_USER_INTR_ENABLE_0_ORIENT_ENABLE__POS               (6)
+#define BMI160_USER_INTR_ENABLE_0_ORIENT_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_0_ORIENT_ENABLE__MSK               (0x40)
+#define BMI160_USER_INTR_ENABLE_0_ORIENT_ENABLE__REG	           \
+(BMI160_USER_INTR_ENABLE_0_ADDR)
+/**************************************************************/
+/**\name	FLAT ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_En_0 Description - Reg Addr --> 0x50, Bit -->7 */
+#define BMI160_USER_INTR_ENABLE_0_FLAT_ENABLE__POS               (7)
+#define BMI160_USER_INTR_ENABLE_0_FLAT_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_0_FLAT_ENABLE__MSK               (0x80)
+#define BMI160_USER_INTR_ENABLE_0_FLAT_ENABLE__REG	           \
+(BMI160_USER_INTR_ENABLE_0_ADDR)
+/**************************************************************/
+/**\name	HIGH_G XYZ ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_En_1 Description - Reg Addr --> (0x51), Bit -->0 */
+#define BMI160_USER_INTR_ENABLE_1_HIGH_G_X_ENABLE__POS               (0)
+#define BMI160_USER_INTR_ENABLE_1_HIGH_G_X_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_1_HIGH_G_X_ENABLE__MSK               (0x01)
+#define BMI160_USER_INTR_ENABLE_1_HIGH_G_X_ENABLE__REG	           \
+(BMI160_USER_INTR_ENABLE_1_ADDR)
+
+/* Int_En_1 Description - Reg Addr --> (0x51), Bit -->1 */
+#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Y_ENABLE__POS               (1)
+#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Y_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Y_ENABLE__MSK               (0x02)
+#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Y_ENABLE__REG	           \
+(BMI160_USER_INTR_ENABLE_1_ADDR)
+
+/* Int_En_1 Description - Reg Addr --> (0x51), Bit -->2 */
+#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Z_ENABLE__POS               (2)
+#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Z_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Z_ENABLE__MSK               (0x04)
+#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Z_ENABLE__REG	           \
+(BMI160_USER_INTR_ENABLE_1_ADDR)
+/**************************************************************/
+/**\name	LOW_G ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_En_1 Description - Reg Addr --> (0x51), Bit -->3 */
+#define BMI160_USER_INTR_ENABLE_1_LOW_G_ENABLE__POS               (3)
+#define BMI160_USER_INTR_ENABLE_1_LOW_G_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_1_LOW_G_ENABLE__MSK               (0x08)
+#define BMI160_USER_INTR_ENABLE_1_LOW_G_ENABLE__REG	          \
+(BMI160_USER_INTR_ENABLE_1_ADDR)
+/**************************************************************/
+/**\name	DATA READY ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_En_1 Description - Reg Addr --> (0x51), Bit -->4 */
+#define BMI160_USER_INTR_ENABLE_1_DATA_RDY_ENABLE__POS               (4)
+#define BMI160_USER_INTR_ENABLE_1_DATA_RDY_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_1_DATA_RDY_ENABLE__MSK               (0x10)
+#define BMI160_USER_INTR_ENABLE_1_DATA_RDY_ENABLE__REG	            \
+(BMI160_USER_INTR_ENABLE_1_ADDR)
+
+#ifdef FIFO_ENABLE
+/**************************************************************/
+/**\name	FIFO FULL AND WATER MARK ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_En_1 Description - Reg Addr --> (0x51), Bit -->5 */
+#define BMI160_USER_INTR_ENABLE_1_FIFO_FULL_ENABLE__POS               (5)
+#define BMI160_USER_INTR_ENABLE_1_FIFO_FULL_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_1_FIFO_FULL_ENABLE__MSK               (0x20)
+#define BMI160_USER_INTR_ENABLE_1_FIFO_FULL_ENABLE__REG	              \
+(BMI160_USER_INTR_ENABLE_1_ADDR)
+
+/* Int_En_1 Description - Reg Addr --> (0x51), Bit -->6 */
+#define BMI160_USER_INTR_ENABLE_1_FIFO_WM_ENABLE__POS               (6)
+#define BMI160_USER_INTR_ENABLE_1_FIFO_WM_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_1_FIFO_WM_ENABLE__MSK               (0x40)
+#define BMI160_USER_INTR_ENABLE_1_FIFO_WM_ENABLE__REG	           \
+(BMI160_USER_INTR_ENABLE_1_ADDR)
+#endif
+/**************************************************************/
+/**\name	NO MOTION XYZ ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_En_2 Description - Reg Addr --> (0x52), Bit -->0 */
+#define BMI160_USER_INTR_ENABLE_2_NOMOTION_X_ENABLE__POS               (0)
+#define BMI160_USER_INTR_ENABLE_2_NOMOTION_X_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_2_NOMOTION_X_ENABLE__MSK               (0x01)
+#define BMI160_USER_INTR_ENABLE_2_NOMOTION_X_ENABLE__REG	  \
+(BMI160_USER_INTR_ENABLE_2_ADDR)
+
+/* Int_En_2 Description - Reg Addr --> (0x52), Bit -->1 */
+#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Y_ENABLE__POS               (1)
+#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Y_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Y_ENABLE__MSK               (0x02)
+#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Y_ENABLE__REG	  \
+(BMI160_USER_INTR_ENABLE_2_ADDR)
+
+/* Int_En_2 Description - Reg Addr --> (0x52), Bit -->2 */
+#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Z_ENABLE__POS               (2)
+#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Z_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Z_ENABLE__MSK               (0x04)
+#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Z_ENABLE__REG	  \
+(BMI160_USER_INTR_ENABLE_2_ADDR)
+/**************************************************************/
+/**\name	STEP DETECTOR ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_En_2 Description - Reg Addr --> (0x52), Bit -->3 */
+#define BMI160_USER_INTR_ENABLE_2_STEP_DETECTOR_ENABLE__POS               (3)
+#define BMI160_USER_INTR_ENABLE_2_STEP_DETECTOR_ENABLE__LEN               (1)
+#define BMI160_USER_INTR_ENABLE_2_STEP_DETECTOR_ENABLE__MSK               (0x08)
+#define BMI160_USER_INTR_ENABLE_2_STEP_DETECTOR_ENABLE__REG	  \
+(BMI160_USER_INTR_ENABLE_2_ADDR)
+/**************************************************************/
+/**\name	EDGE CONTROL ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->0 */
+#define BMI160_USER_INTR1_EDGE_CTRL__POS               (0)
+#define BMI160_USER_INTR1_EDGE_CTRL__LEN               (1)
+#define BMI160_USER_INTR1_EDGE_CTRL__MSK               (0x01)
+#define BMI160_USER_INTR1_EDGE_CTRL__REG		\
+(BMI160_USER_INTR_OUT_CTRL_ADDR)
+/**************************************************************/
+/**\name	LEVEL CONTROL ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->1 */
+#define BMI160_USER_INTR1_LEVEL__POS               (1)
+#define BMI160_USER_INTR1_LEVEL__LEN               (1)
+#define BMI160_USER_INTR1_LEVEL__MSK               (0x02)
+#define BMI160_USER_INTR1_LEVEL__REG               \
+(BMI160_USER_INTR_OUT_CTRL_ADDR)
+/**************************************************************/
+/**\name	OUTPUT TYPE ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->2 */
+#define BMI160_USER_INTR1_OUTPUT_TYPE__POS               (2)
+#define BMI160_USER_INTR1_OUTPUT_TYPE__LEN               (1)
+#define BMI160_USER_INTR1_OUTPUT_TYPE__MSK               (0x04)
+#define BMI160_USER_INTR1_OUTPUT_TYPE__REG               \
+(BMI160_USER_INTR_OUT_CTRL_ADDR)
+/**************************************************************/
+/**\name	OUTPUT TYPE ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->3 */
+#define BMI160_USER_INTR1_OUTPUT_ENABLE__POS               (3)
+#define BMI160_USER_INTR1_OUTPUT_ENABLE__LEN               (1)
+#define BMI160_USER_INTR1_OUTPUT_ENABLE__MSK               (0x08)
+#define BMI160_USER_INTR1_OUTPUT_ENABLE__REG		\
+(BMI160_USER_INTR_OUT_CTRL_ADDR)
+/**************************************************************/
+/**\name	EDGE CONTROL ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->4 */
+#define BMI160_USER_INTR2_EDGE_CTRL__POS               (4)
+#define BMI160_USER_INTR2_EDGE_CTRL__LEN               (1)
+#define BMI160_USER_INTR2_EDGE_CTRL__MSK               (0x10)
+#define BMI160_USER_INTR2_EDGE_CTRL__REG		\
+(BMI160_USER_INTR_OUT_CTRL_ADDR)
+/**************************************************************/
+/**\name	LEVEL CONTROL ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->5 */
+#define BMI160_USER_INTR2_LEVEL__POS               (5)
+#define BMI160_USER_INTR2_LEVEL__LEN               (1)
+#define BMI160_USER_INTR2_LEVEL__MSK               (0x20)
+#define BMI160_USER_INTR2_LEVEL__REG               \
+(BMI160_USER_INTR_OUT_CTRL_ADDR)
+/**************************************************************/
+/**\name	OUTPUT TYPE ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->6 */
+#define BMI160_USER_INTR2_OUTPUT_TYPE__POS               (6)
+#define BMI160_USER_INTR2_OUTPUT_TYPE__LEN               (1)
+#define BMI160_USER_INTR2_OUTPUT_TYPE__MSK               (0x40)
+#define BMI160_USER_INTR2_OUTPUT_TYPE__REG               \
+(BMI160_USER_INTR_OUT_CTRL_ADDR)
+
+/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->7 */
+#define BMI160_USER_INTR2_OUTPUT_EN__POS               (7)
+#define BMI160_USER_INTR2_OUTPUT_EN__LEN               (1)
+#define BMI160_USER_INTR2_OUTPUT_EN__MSK               (0x80)
+#define BMI160_USER_INTR2_OUTPUT_EN__REG		\
+(BMI160_USER_INTR_OUT_CTRL_ADDR)
+/**************************************************************/
+/**\name	LATCH INTERRUPT LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Latch Description - Reg Addr --> 0x54, Bit -->0...3 */
+#define BMI160_USER_INTR_LATCH__POS               (0)
+#define BMI160_USER_INTR_LATCH__LEN               (4)
+#define BMI160_USER_INTR_LATCH__MSK               (0x0F)
+#define BMI160_USER_INTR_LATCH__REG               (BMI160_USER_INTR_LATCH_ADDR)
+/**************************************************************/
+/**\name	INPUT ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Latch Description - Reg Addr --> 0x54, Bit -->4 */
+#define BMI160_USER_INTR1_INPUT_ENABLE__POS               (4)
+#define BMI160_USER_INTR1_INPUT_ENABLE__LEN               (1)
+#define BMI160_USER_INTR1_INPUT_ENABLE__MSK               (0x10)
+#define BMI160_USER_INTR1_INPUT_ENABLE__REG               \
+(BMI160_USER_INTR_LATCH_ADDR)
+
+/* Int_Latch Description - Reg Addr --> 0x54, Bit -->5*/
+#define BMI160_USER_INTR2_INPUT_ENABLE__POS               (5)
+#define BMI160_USER_INTR2_INPUT_ENABLE__LEN               (1)
+#define BMI160_USER_INTR2_INPUT_ENABLE__MSK               (0x20)
+#define BMI160_USER_INTR2_INPUT_ENABLE__REG              \
+(BMI160_USER_INTR_LATCH_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT1 MAPPING OF LOW_G LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_0 Description - Reg Addr --> 0x55, Bit -->0 */
+#define BMI160_USER_INTR_MAP_0_INTR1_LOW_G__POS               (0)
+#define BMI160_USER_INTR_MAP_0_INTR1_LOW_G__LEN               (1)
+#define BMI160_USER_INTR_MAP_0_INTR1_LOW_G__MSK               (0x01)
+#define BMI160_USER_INTR_MAP_0_INTR1_LOW_G__REG	(BMI160_USER_INTR_MAP_0_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT1 MAPPING OF HIGH_G LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_0 Description - Reg Addr --> 0x55, Bit -->1 */
+#define BMI160_USER_INTR_MAP_0_INTR1_HIGH_G__POS               (1)
+#define BMI160_USER_INTR_MAP_0_INTR1_HIGH_G__LEN               (1)
+#define BMI160_USER_INTR_MAP_0_INTR1_HIGH_G__MSK               (0x02)
+#define BMI160_USER_INTR_MAP_0_INTR1_HIGH_G__REG	\
+(BMI160_USER_INTR_MAP_0_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT MAPPING OF ANY MOTION_G LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_0 Description - Reg Addr --> 0x55, Bit -->2 */
+#define BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION__POS               (2)
+#define BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION__LEN               (1)
+#define BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION__MSK               (0x04)
+#define BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION__REG            \
+(BMI160_USER_INTR_MAP_0_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT1 MAPPING OF NO MOTION LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_0 Description - Reg Addr --> 0x55, Bit -->3 */
+#define BMI160_USER_INTR_MAP_0_INTR1_NOMOTION__POS               (3)
+#define BMI160_USER_INTR_MAP_0_INTR1_NOMOTION__LEN               (1)
+#define BMI160_USER_INTR_MAP_0_INTR1_NOMOTION__MSK               (0x08)
+#define BMI160_USER_INTR_MAP_0_INTR1_NOMOTION__REG (BMI160_USER_INTR_MAP_0_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT1 MAPPING OF DOUBLE TAP LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_0 Description - Reg Addr --> 0x55, Bit -->4 */
+#define BMI160_USER_INTR_MAP_0_INTR1_DOUBLE_TAP__POS               (4)
+#define BMI160_USER_INTR_MAP_0_INTR1_DOUBLE_TAP__LEN               (1)
+#define BMI160_USER_INTR_MAP_0_INTR1_DOUBLE_TAP__MSK               (0x10)
+#define BMI160_USER_INTR_MAP_0_INTR1_DOUBLE_TAP__REG	\
+(BMI160_USER_INTR_MAP_0_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT1 MAPPING OF SINGLE TAP LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_0 Description - Reg Addr --> 0x55, Bit -->5 */
+#define BMI160_USER_INTR_MAP_0_INTR1_SINGLE_TAP__POS               (5)
+#define BMI160_USER_INTR_MAP_0_INTR1_SINGLE_TAP__LEN               (1)
+#define BMI160_USER_INTR_MAP_0_INTR1_SINGLE_TAP__MSK               (0x20)
+#define BMI160_USER_INTR_MAP_0_INTR1_SINGLE_TAP__REG	      \
+(BMI160_USER_INTR_MAP_0_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT1 MAPPING OF ORIENT LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_0 Description - Reg Addr --> 0x55, Bit -->6 */
+#define BMI160_USER_INTR_MAP_0_INTR1_ORIENT__POS               (6)
+#define BMI160_USER_INTR_MAP_0_INTR1_ORIENT__LEN               (1)
+#define BMI160_USER_INTR_MAP_0_INTR1_ORIENT__MSK               (0x40)
+#define BMI160_USER_INTR_MAP_0_INTR1_ORIENT__REG	          \
+(BMI160_USER_INTR_MAP_0_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT MAPPING OF FLAT LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_0 Description - Reg Addr --> 0x56, Bit -->7 */
+#define BMI160_USER_INTR_MAP_0_INTR1_FLAT__POS               (7)
+#define BMI160_USER_INTR_MAP_0_INTR1_FLAT__LEN               (1)
+#define BMI160_USER_INTR_MAP_0_INTR1_FLAT__MSK               (0x80)
+#define BMI160_USER_INTR_MAP_0_INTR1_FLAT__REG	(BMI160_USER_INTR_MAP_0_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT1 MAPPING OF PMU TRIGGER LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->0 */
+#define BMI160_USER_INTR_MAP_1_INTR2_PMU_TRIG__POS               (0)
+#define BMI160_USER_INTR_MAP_1_INTR2_PMU_TRIG__LEN               (1)
+#define BMI160_USER_INTR_MAP_1_INTR2_PMU_TRIG__MSK               (0x01)
+#define BMI160_USER_INTR_MAP_1_INTR2_PMU_TRIG__REG (BMI160_USER_INTR_MAP_1_ADDR)
+
+#ifdef FIFO_ENABLE
+/**************************************************************/
+/**\name	INTERRUPT1 MAPPING OF FIFO FULL AND
+	WATER MARK LENGTH, POSITION AND MASK*/
+/**************************************************************/
+
+/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->1 */
+#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_FULL__POS               (1)
+#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_FULL__LEN               (1)
+#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_FULL__MSK               (0x02)
+#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_FULL__REG	         \
+(BMI160_USER_INTR_MAP_1_ADDR)
+
+/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->2 */
+#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_WM__POS               (2)
+#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_WM__LEN               (1)
+#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_WM__MSK               (0x04)
+#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_WM__REG	         \
+(BMI160_USER_INTR_MAP_1_ADDR)
+#endif
+/**************************************************************/
+/**\name	INTERRUPT1 MAPPING OF DATA READY LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->3 */
+#define BMI160_USER_INTR_MAP_1_INTR2_DATA_RDY__POS               (3)
+#define BMI160_USER_INTR_MAP_1_INTR2_DATA_RDY__LEN               (1)
+#define BMI160_USER_INTR_MAP_1_INTR2_DATA_RDY__MSK               (0x08)
+#define BMI160_USER_INTR_MAP_1_INTR2_DATA_RDY__REG	      \
+(BMI160_USER_INTR_MAP_1_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT1 MAPPING OF PMU TRIGGER LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->4 */
+#define BMI160_USER_INTR_MAP_1_INTR1_PMU_TRIG__POS               (4)
+#define BMI160_USER_INTR_MAP_1_INTR1_PMU_TRIG__LEN               (1)
+#define BMI160_USER_INTR_MAP_1_INTR1_PMU_TRIG__MSK               (0x10)
+#define BMI160_USER_INTR_MAP_1_INTR1_PMU_TRIG__REG (BMI160_USER_INTR_MAP_1_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT1 MAPPING OF FIFO FULL AND
+	WATER MARK LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->5 */
+#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_FULL__POS               (5)
+#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_FULL__LEN               (1)
+#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_FULL__MSK               (0x20)
+#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_FULL__REG	       \
+(BMI160_USER_INTR_MAP_1_ADDR)
+
+/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->6 */
+#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_WM__POS               (6)
+#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_WM__LEN               (1)
+#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_WM__MSK               (0x40)
+#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_WM__REG	\
+(BMI160_USER_INTR_MAP_1_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT1 MAPPING OF DATA READY LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->7 */
+#define BMI160_USER_INTR_MAP_1_INTR1_DATA_RDY__POS               (7)
+#define BMI160_USER_INTR_MAP_1_INTR1_DATA_RDY__LEN               (1)
+#define BMI160_USER_INTR_MAP_1_INTR1_DATA_RDY__MSK               (0x80)
+#define BMI160_USER_INTR_MAP_1_INTR1_DATA_RDY__REG	\
+(BMI160_USER_INTR_MAP_1_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT2 MAPPING OF LOW_G LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->0 */
+#define BMI160_USER_INTR_MAP_2_INTR2_LOW_G__POS               (0)
+#define BMI160_USER_INTR_MAP_2_INTR2_LOW_G__LEN               (1)
+#define BMI160_USER_INTR_MAP_2_INTR2_LOW_G__MSK               (0x01)
+#define BMI160_USER_INTR_MAP_2_INTR2_LOW_G__REG	(BMI160_USER_INTR_MAP_2_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT2 MAPPING OF HIGH_G LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->1 */
+#define BMI160_USER_INTR_MAP_2_INTR2_HIGH_G__POS               (1)
+#define BMI160_USER_INTR_MAP_2_INTR2_HIGH_G__LEN               (1)
+#define BMI160_USER_INTR_MAP_2_INTR2_HIGH_G__MSK               (0x02)
+#define BMI160_USER_INTR_MAP_2_INTR2_HIGH_G__REG	\
+(BMI160_USER_INTR_MAP_2_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT2 MAPPING OF ANY MOTION LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->2 */
+#define BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION__POS      (2)
+#define BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION__LEN      (1)
+#define BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION__MSK     (0x04)
+#define BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION__REG     \
+(BMI160_USER_INTR_MAP_2_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT2 MAPPING OF NO MOTION LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->3 */
+#define BMI160_USER_INTR_MAP_2_INTR2_NOMOTION__POS               (3)
+#define BMI160_USER_INTR_MAP_2_INTR2_NOMOTION__LEN               (1)
+#define BMI160_USER_INTR_MAP_2_INTR2_NOMOTION__MSK               (0x08)
+#define BMI160_USER_INTR_MAP_2_INTR2_NOMOTION__REG (BMI160_USER_INTR_MAP_2_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT2 MAPPING OF DOUBLE TAP LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->4 */
+#define BMI160_USER_INTR_MAP_2_INTR2_DOUBLE_TAP__POS               (4)
+#define BMI160_USER_INTR_MAP_2_INTR2_DOUBLE_TAP__LEN               (1)
+#define BMI160_USER_INTR_MAP_2_INTR2_DOUBLE_TAP__MSK               (0x10)
+#define BMI160_USER_INTR_MAP_2_INTR2_DOUBLE_TAP__REG	\
+(BMI160_USER_INTR_MAP_2_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT2 MAPPING OF SINGLE TAP LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->5 */
+#define BMI160_USER_INTR_MAP_2_INTR2_SINGLE_TAP__POS               (5)
+#define BMI160_USER_INTR_MAP_2_INTR2_SINGLE_TAP__LEN               (1)
+#define BMI160_USER_INTR_MAP_2_INTR2_SINGLE_TAP__MSK               (0x20)
+#define BMI160_USER_INTR_MAP_2_INTR2_SINGLE_TAP__REG	\
+(BMI160_USER_INTR_MAP_2_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT2 MAPPING OF ORIENT LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->6 */
+#define BMI160_USER_INTR_MAP_2_INTR2_ORIENT__POS               (6)
+#define BMI160_USER_INTR_MAP_2_INTR2_ORIENT__LEN               (1)
+#define BMI160_USER_INTR_MAP_2_INTR2_ORIENT__MSK               (0x40)
+#define BMI160_USER_INTR_MAP_2_INTR2_ORIENT__REG	\
+(BMI160_USER_INTR_MAP_2_ADDR)
+/**************************************************************/
+/**\name	INTERRUPT2 MAPPING OF FLAT LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->7 */
+#define BMI160_USER_INTR_MAP_2_INTR2_FLAT__POS               (7)
+#define BMI160_USER_INTR_MAP_2_INTR2_FLAT__LEN               (1)
+#define BMI160_USER_INTR_MAP_2_INTR2_FLAT__MSK               (0x80)
+#define BMI160_USER_INTR_MAP_2_INTR2_FLAT__REG	(BMI160_USER_INTR_MAP_2_ADDR)
+
+/**************************************************************/
+/**\name	TAP SOURCE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Data_0 Description - Reg Addr --> 0x58, Bit --> 3 */
+#define BMI160_USER_INTR_DATA_0_INTR_TAP_SOURCE__POS               (3)
+#define BMI160_USER_INTR_DATA_0_INTR_TAP_SOURCE__LEN               (1)
+#define BMI160_USER_INTR_DATA_0_INTR_TAP_SOURCE__MSK               (0x08)
+#define BMI160_USER_INTR_DATA_0_INTR_TAP_SOURCE__REG	           \
+(BMI160_USER_INTR_DATA_0_ADDR)
+
+/**************************************************************/
+/**\name	HIGH SOURCE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Data_0 Description - Reg Addr --> 0x58, Bit --> 7 */
+#define BMI160_USER_INTR_DATA_0_INTR_LOW_HIGH_SOURCE__POS           (7)
+#define BMI160_USER_INTR_DATA_0_INTR_LOW_HIGH_SOURCE__LEN           (1)
+#define BMI160_USER_INTR_DATA_0_INTR_LOW_HIGH_SOURCE__MSK           (0x80)
+#define BMI160_USER_INTR_DATA_0_INTR_LOW_HIGH_SOURCE__REG            \
+(BMI160_USER_INTR_DATA_0_ADDR)
+
+/**************************************************************/
+/**\name	MOTION SOURCE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Data_1 Description - Reg Addr --> 0x59, Bit --> 7 */
+#define BMI160_USER_INTR_DATA_1_INTR_MOTION_SOURCE__POS               (7)
+#define BMI160_USER_INTR_DATA_1_INTR_MOTION_SOURCE__LEN               (1)
+#define BMI160_USER_INTR_DATA_1_INTR_MOTION_SOURCE__MSK               (0x80)
+#define BMI160_USER_INTR_DATA_1_INTR_MOTION_SOURCE__REG               \
+		(BMI160_USER_INTR_DATA_1_ADDR)
+/**************************************************************/
+/**\name	LOW HIGH DURATION LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_LowHigh_0 Description - Reg Addr --> 0x5a, Bit --> 0...7 */
+#define BMI160_USER_INTR_LOWHIGH_0_INTR_LOW_DURN__POS               (0)
+#define BMI160_USER_INTR_LOWHIGH_0_INTR_LOW_DURN__LEN               (8)
+#define BMI160_USER_INTR_LOWHIGH_0_INTR_LOW_DURN__MSK               (0xFF)
+#define BMI160_USER_INTR_LOWHIGH_0_INTR_LOW_DURN__REG               \
+		(BMI160_USER_INTR_LOWHIGH_0_ADDR)
+/**************************************************************/
+/**\name	LOW THRESHOLD LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_LowHigh_1 Description - Reg Addr --> 0x5b, Bit --> 0...7 */
+#define BMI160_USER_INTR_LOWHIGH_1_INTR_LOW_THRES__POS               (0)
+#define BMI160_USER_INTR_LOWHIGH_1_INTR_LOW_THRES__LEN               (8)
+#define BMI160_USER_INTR_LOWHIGH_1_INTR_LOW_THRES__MSK               (0xFF)
+#define BMI160_USER_INTR_LOWHIGH_1_INTR_LOW_THRES__REG               \
+		(BMI160_USER_INTR_LOWHIGH_1_ADDR)
+/**************************************************************/
+/**\name	LOW HYSTERESIS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_LowHigh_2 Description - Reg Addr --> 0x5c, Bit --> 0...1 */
+#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_HYST__POS               (0)
+#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_HYST__LEN               (2)
+#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_HYST__MSK               (0x03)
+#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_HYST__REG               \
+		(BMI160_USER_INTR_LOWHIGH_2_ADDR)
+/**************************************************************/
+/**\name	LOW MODE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_LowHigh_2 Description - Reg Addr --> 0x5c, Bit --> 2 */
+#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_MODE__POS               (2)
+#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_MODE__LEN               (1)
+#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_MODE__MSK               (0x04)
+#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_MODE__REG               \
+		(BMI160_USER_INTR_LOWHIGH_2_ADDR)
+/**************************************************************/
+/**\name	HIGH_G HYSTERESIS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_LowHigh_2 Description - Reg Addr --> 0x5c, Bit --> 6...7 */
+#define BMI160_USER_INTR_LOWHIGH_2_INTR_HIGH_G_HYST__POS               (6)
+#define BMI160_USER_INTR_LOWHIGH_2_INTR_HIGH_G_HYST__LEN               (2)
+#define BMI160_USER_INTR_LOWHIGH_2_INTR_HIGH_G_HYST__MSK               (0xC0)
+#define BMI160_USER_INTR_LOWHIGH_2_INTR_HIGH_G_HYST__REG               \
+		(BMI160_USER_INTR_LOWHIGH_2_ADDR)
+/**************************************************************/
+/**\name	HIGH_G DURATION LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_LowHigh_3 Description - Reg Addr --> 0x5d, Bit --> 0...7 */
+#define BMI160_USER_INTR_LOWHIGH_3_INTR_HIGH_G_DURN__POS               (0)
+#define BMI160_USER_INTR_LOWHIGH_3_INTR_HIGH_G_DURN__LEN               (8)
+#define BMI160_USER_INTR_LOWHIGH_3_INTR_HIGH_G_DURN__MSK               (0xFF)
+#define BMI160_USER_INTR_LOWHIGH_3_INTR_HIGH_G_DURN__REG               \
+		(BMI160_USER_INTR_LOWHIGH_3_ADDR)
+/**************************************************************/
+/**\name	HIGH_G THRESHOLD LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_LowHigh_4 Description - Reg Addr --> 0x5e, Bit --> 0...7 */
+#define BMI160_USER_INTR_LOWHIGH_4_INTR_HIGH_THRES__POS               (0)
+#define BMI160_USER_INTR_LOWHIGH_4_INTR_HIGH_THRES__LEN               (8)
+#define BMI160_USER_INTR_LOWHIGH_4_INTR_HIGH_THRES__MSK               (0xFF)
+#define BMI160_USER_INTR_LOWHIGH_4_INTR_HIGH_THRES__REG               \
+		(BMI160_USER_INTR_LOWHIGH_4_ADDR)
+/**************************************************************/
+/**\name	ANY MOTION DURATION LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Motion_0 Description - Reg Addr --> 0x5f, Bit --> 0...1 */
+#define BMI160_USER_INTR_MOTION_0_INTR_ANY_MOTION_DURN__POS               (0)
+#define BMI160_USER_INTR_MOTION_0_INTR_ANY_MOTION_DURN__LEN               (2)
+#define BMI160_USER_INTR_MOTION_0_INTR_ANY_MOTION_DURN__MSK               (0x03)
+#define BMI160_USER_INTR_MOTION_0_INTR_ANY_MOTION_DURN__REG               \
+		(BMI160_USER_INTR_MOTION_0_ADDR)
+/**************************************************************/
+/**\name	SLOW/NO MOTION DURATION LENGTH, POSITION AND MASK*/
+/**************************************************************/
+	/* Int_Motion_0 Description - Reg Addr --> 0x5f, Bit --> 2...7 */
+#define BMI160_USER_INTR_MOTION_0_INTR_SLOW_NO_MOTION_DURN__POS      (2)
+#define BMI160_USER_INTR_MOTION_0_INTR_SLOW_NO_MOTION_DURN__LEN      (6)
+#define BMI160_USER_INTR_MOTION_0_INTR_SLOW_NO_MOTION_DURN__MSK      (0xFC)
+#define BMI160_USER_INTR_MOTION_0_INTR_SLOW_NO_MOTION_DURN__REG       \
+		(BMI160_USER_INTR_MOTION_0_ADDR)
+/**************************************************************/
+/**\name	ANY MOTION THRESHOLD LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Motion_1 Description - Reg Addr --> (0x60), Bit --> 0...7 */
+#define BMI160_USER_INTR_MOTION_1_INTR_ANY_MOTION_THRES__POS      (0)
+#define BMI160_USER_INTR_MOTION_1_INTR_ANY_MOTION_THRES__LEN      (8)
+#define BMI160_USER_INTR_MOTION_1_INTR_ANY_MOTION_THRES__MSK      (0xFF)
+#define BMI160_USER_INTR_MOTION_1_INTR_ANY_MOTION_THRES__REG               \
+		(BMI160_USER_INTR_MOTION_1_ADDR)
+/**************************************************************/
+/**\name	SLOW/NO MOTION THRESHOLD LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Motion_2 Description - Reg Addr --> 0x61, Bit --> 0...7 */
+#define BMI160_USER_INTR_MOTION_2_INTR_SLOW_NO_MOTION_THRES__POS       (0)
+#define BMI160_USER_INTR_MOTION_2_INTR_SLOW_NO_MOTION_THRES__LEN       (8)
+#define BMI160_USER_INTR_MOTION_2_INTR_SLOW_NO_MOTION_THRES__MSK       (0xFF)
+#define BMI160_USER_INTR_MOTION_2_INTR_SLOW_NO_MOTION_THRES__REG       \
+		(BMI160_USER_INTR_MOTION_2_ADDR)
+/**************************************************************/
+/**\name	SLOW/NO MOTION SELECT LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Motion_3 Description - Reg Addr --> (0x62), Bit --> 0 */
+#define BMI160_USER_INTR_MOTION_3_INTR_SLOW_NO_MOTION_SELECT__POS	(0)
+#define BMI160_USER_INTR_MOTION_3_INTR_SLOW_NO_MOTION_SELECT__LEN	(1)
+#define BMI160_USER_INTR_MOTION_3_INTR_SLOW_NO_MOTION_SELECT__MSK	(0x01)
+#define BMI160_USER_INTR_MOTION_3_INTR_SLOW_NO_MOTION_SELECT__REG   \
+(BMI160_USER_INTR_MOTION_3_ADDR)
+/**************************************************************/
+/**\name	SIGNIFICANT MOTION SELECT LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Motion_3 Description - Reg Addr --> (0x62), Bit --> 1 */
+#define BMI160_USER_INTR_SIGNIFICATION_MOTION_SELECT__POS		(1)
+#define BMI160_USER_INTR_SIGNIFICATION_MOTION_SELECT__LEN		(1)
+#define BMI160_USER_INTR_SIGNIFICATION_MOTION_SELECT__MSK		(0x02)
+#define BMI160_USER_INTR_SIGNIFICATION_MOTION_SELECT__REG		\
+		(BMI160_USER_INTR_MOTION_3_ADDR)
+
+/* Int_Motion_3 Description - Reg Addr --> (0x62), Bit --> 3..2 */
+#define BMI160_USER_INTR_SIGNIFICANT_MOTION_SKIP__POS		(2)
+#define BMI160_USER_INTR_SIGNIFICANT_MOTION_SKIP__LEN		(2)
+#define BMI160_USER_INTR_SIGNIFICANT_MOTION_SKIP__MSK		(0x0C)
+#define BMI160_USER_INTR_SIGNIFICANT_MOTION_SKIP__REG		\
+		(BMI160_USER_INTR_MOTION_3_ADDR)
+
+/* Int_Motion_3 Description - Reg Addr --> (0x62), Bit --> 5..4 */
+#define BMI160_USER_INTR_SIGNIFICANT_MOTION_PROOF__POS		(4)
+#define BMI160_USER_INTR_SIGNIFICANT_MOTION_PROOF__LEN		(2)
+#define BMI160_USER_INTR_SIGNIFICANT_MOTION_PROOF__MSK		(0x30)
+#define BMI160_USER_INTR_SIGNIFICANT_MOTION_PROOF__REG		\
+		(BMI160_USER_INTR_MOTION_3_ADDR)
+/**************************************************************/
+/**\name	TAP DURATION LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* INT_TAP_0 Description - Reg Addr --> (0x63), Bit --> 0..2*/
+#define BMI160_USER_INTR_TAP_0_INTR_TAP_DURN__POS               (0)
+#define BMI160_USER_INTR_TAP_0_INTR_TAP_DURN__LEN               (3)
+#define BMI160_USER_INTR_TAP_0_INTR_TAP_DURN__MSK               (0x07)
+#define BMI160_USER_INTR_TAP_0_INTR_TAP_DURN__REG	\
+(BMI160_USER_INTR_TAP_0_ADDR)
+/**************************************************************/
+/**\name	TAP SHOCK LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Tap_0 Description - Reg Addr --> (0x63), Bit --> 6 */
+#define BMI160_USER_INTR_TAP_0_INTR_TAP_SHOCK__POS               (6)
+#define BMI160_USER_INTR_TAP_0_INTR_TAP_SHOCK__LEN               (1)
+#define BMI160_USER_INTR_TAP_0_INTR_TAP_SHOCK__MSK               (0x40)
+#define BMI160_USER_INTR_TAP_0_INTR_TAP_SHOCK__REG (BMI160_USER_INTR_TAP_0_ADDR)
+/**************************************************************/
+/**\name	TAP QUIET LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Tap_0 Description - Reg Addr --> (0x63), Bit --> 7 */
+#define BMI160_USER_INTR_TAP_0_INTR_TAP_QUIET__POS               (7)
+#define BMI160_USER_INTR_TAP_0_INTR_TAP_QUIET__LEN               (1)
+#define BMI160_USER_INTR_TAP_0_INTR_TAP_QUIET__MSK               (0x80)
+#define BMI160_USER_INTR_TAP_0_INTR_TAP_QUIET__REG (BMI160_USER_INTR_TAP_0_ADDR)
+/**************************************************************/
+/**\name	TAP THRESHOLD LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Tap_1 Description - Reg Addr --> (0x64), Bit --> 0...4 */
+#define BMI160_USER_INTR_TAP_1_INTR_TAP_THRES__POS               (0)
+#define BMI160_USER_INTR_TAP_1_INTR_TAP_THRES__LEN               (5)
+#define BMI160_USER_INTR_TAP_1_INTR_TAP_THRES__MSK               (0x1F)
+#define BMI160_USER_INTR_TAP_1_INTR_TAP_THRES__REG (BMI160_USER_INTR_TAP_1_ADDR)
+/**************************************************************/
+/**\name	ORIENT MODE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Orient_0 Description - Reg Addr --> (0x65), Bit --> 0...1 */
+#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_MODE__POS               (0)
+#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_MODE__LEN               (2)
+#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_MODE__MSK               (0x03)
+#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_MODE__REG               \
+		(BMI160_USER_INTR_ORIENT_0_ADDR)
+/**************************************************************/
+/**\name	ORIENT BLOCKING LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Orient_0 Description - Reg Addr --> (0x65), Bit --> 2...3 */
+#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_BLOCKING__POS               (2)
+#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_BLOCKING__LEN               (2)
+#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_BLOCKING__MSK               (0x0C)
+#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_BLOCKING__REG               \
+		(BMI160_USER_INTR_ORIENT_0_ADDR)
+/**************************************************************/
+/**\name	ORIENT HYSTERESIS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Orient_0 Description - Reg Addr --> (0x65), Bit --> 4...7 */
+#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_HYST__POS               (4)
+#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_HYST__LEN               (4)
+#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_HYST__MSK               (0xF0)
+#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_HYST__REG               \
+		(BMI160_USER_INTR_ORIENT_0_ADDR)
+/**************************************************************/
+/**\name	ORIENT THETA LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Orient_1 Description - Reg Addr --> 0x66, Bit --> 0...5 */
+#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_THETA__POS               (0)
+#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_THETA__LEN               (6)
+#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_THETA__MSK               (0x3F)
+#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_THETA__REG               \
+		(BMI160_USER_INTR_ORIENT_1_ADDR)
+/**************************************************************/
+/**\name	ORIENT UD LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Orient_1 Description - Reg Addr --> 0x66, Bit --> 6 */
+#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_UD_ENABLE__POS         (6)
+#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_UD_ENABLE__LEN         (1)
+#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_UD_ENABLE__MSK         (0x40)
+#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_UD_ENABLE__REG          \
+		(BMI160_USER_INTR_ORIENT_1_ADDR)
+/**************************************************************/
+/**\name	ORIENT AXIS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Orient_1 Description - Reg Addr --> 0x66, Bit --> 7 */
+#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_AXES_EX__POS               (7)
+#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_AXES_EX__LEN               (1)
+#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_AXES_EX__MSK               (0x80)
+#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_AXES_EX__REG               \
+		(BMI160_USER_INTR_ORIENT_1_ADDR)
+/**************************************************************/
+/**\name	FLAT THETA LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Flat_0 Description - Reg Addr --> 0x67, Bit --> 0...5 */
+#define BMI160_USER_INTR_FLAT_0_INTR_FLAT_THETA__POS               (0)
+#define BMI160_USER_INTR_FLAT_0_INTR_FLAT_THETA__LEN               (6)
+#define BMI160_USER_INTR_FLAT_0_INTR_FLAT_THETA__MSK               (0x3F)
+#define BMI160_USER_INTR_FLAT_0_INTR_FLAT_THETA__REG  \
+		(BMI160_USER_INTR_FLAT_0_ADDR)
+/**************************************************************/
+/**\name	FLAT HYSTERESIS LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Flat_1 Description - Reg Addr --> (0x68), Bit --> 0...3 */
+#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HYST__POS		(0)
+#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HYST__LEN		(4)
+#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HYST__MSK		(0x0F)
+#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HYST__REG	 \
+(BMI160_USER_INTR_FLAT_1_ADDR)
+/**************************************************************/
+/**\name	FLAT HOLD LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Int_Flat_1 Description - Reg Addr --> (0x68), Bit --> 4...5 */
+#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HOLD__POS                (4)
+#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HOLD__LEN                (2)
+#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HOLD__MSK                (0x30)
+#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HOLD__REG  \
+(BMI160_USER_INTR_FLAT_1_ADDR)
+/**************************************************************/
+/**\name	FOC ACCEL XYZ LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Foc_Conf Description - Reg Addr --> (0x69), Bit --> 0...1 */
+#define BMI160_USER_FOC_ACCEL_Z__POS               (0)
+#define BMI160_USER_FOC_ACCEL_Z__LEN               (2)
+#define BMI160_USER_FOC_ACCEL_Z__MSK               (0x03)
+#define BMI160_USER_FOC_ACCEL_Z__REG               (BMI160_USER_FOC_CONFIG_ADDR)
+
+/* Foc_Conf Description - Reg Addr --> (0x69), Bit --> 2...3 */
+#define BMI160_USER_FOC_ACCEL_Y__POS               (2)
+#define BMI160_USER_FOC_ACCEL_Y__LEN               (2)
+#define BMI160_USER_FOC_ACCEL_Y__MSK               (0x0C)
+#define BMI160_USER_FOC_ACCEL_Y__REG               (BMI160_USER_FOC_CONFIG_ADDR)
+
+/* Foc_Conf Description - Reg Addr --> (0x69), Bit --> 4...5 */
+#define BMI160_USER_FOC_ACCEL_X__POS               (4)
+#define BMI160_USER_FOC_ACCEL_X__LEN               (2)
+#define BMI160_USER_FOC_ACCEL_X__MSK               (0x30)
+#define BMI160_USER_FOC_ACCEL_X__REG               (BMI160_USER_FOC_CONFIG_ADDR)
+/**************************************************************/
+/**\name	FOC GYRO LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Foc_Conf Description - Reg Addr --> (0x69), Bit --> 6 */
+#define BMI160_USER_FOC_GYRO_ENABLE__POS               (6)
+#define BMI160_USER_FOC_GYRO_ENABLE__LEN               (1)
+#define BMI160_USER_FOC_GYRO_ENABLE__MSK               (0x40)
+#define BMI160_USER_FOC_GYRO_ENABLE__REG               \
+(BMI160_USER_FOC_CONFIG_ADDR)
+
+/*IF_CONF Description - Reg Addr --> (0x6B), Bit --> 0 */
+
+#define BMI160_USER_IF_CONFIG_SPI3__POS               (0)
+#define BMI160_USER_IF_CONFIG_SPI3__LEN               (1)
+#define BMI160_USER_IF_CONFIG_SPI3__MSK               (0x01)
+#define BMI160_USER_IF_CONFIG_SPI3__REG               \
+(BMI160_USER_IF_CONFIG_ADDR)
+
+/*IF_CONF Description - Reg Addr --> (0x6B), Bit --> 5..4 */
+#define BMI160_USER_IF_CONFIG_IF_MODE__POS               (4)
+#define BMI160_USER_IF_CONFIG_IF_MODE__LEN               (2)
+#define BMI160_USER_IF_CONFIG_IF_MODE__MSK               (0x30)
+#define BMI160_USER_IF_CONFIG_IF_MODE__REG		\
+(BMI160_USER_IF_CONFIG_ADDR)
+/**************************************************************/
+/**\name	GYRO SLEEP CONFIGURATION LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Pmu_Trigger Description - Reg Addr --> 0x6c, Bit --> 0...2 */
+#define BMI160_USER_GYRO_SLEEP_TRIGGER__POS               (0)
+#define BMI160_USER_GYRO_SLEEP_TRIGGER__LEN               (3)
+#define BMI160_USER_GYRO_SLEEP_TRIGGER__MSK               (0x07)
+#define BMI160_USER_GYRO_SLEEP_TRIGGER__REG	(BMI160_USER_PMU_TRIGGER_ADDR)
+
+/* Pmu_Trigger Description - Reg Addr --> 0x6c, Bit --> 3...4 */
+#define BMI160_USER_GYRO_WAKEUP_TRIGGER__POS               (3)
+#define BMI160_USER_GYRO_WAKEUP_TRIGGER__LEN               (2)
+#define BMI160_USER_GYRO_WAKEUP_TRIGGER__MSK               (0x18)
+#define BMI160_USER_GYRO_WAKEUP_TRIGGER__REG	(BMI160_USER_PMU_TRIGGER_ADDR)
+
+/* Pmu_Trigger Description - Reg Addr --> 0x6c, Bit --> 5 */
+#define BMI160_USER_GYRO_SLEEP_STATE__POS               (5)
+#define BMI160_USER_GYRO_SLEEP_STATE__LEN               (1)
+#define BMI160_USER_GYRO_SLEEP_STATE__MSK               (0x20)
+#define BMI160_USER_GYRO_SLEEP_STATE__REG	(BMI160_USER_PMU_TRIGGER_ADDR)
+
+/* Pmu_Trigger Description - Reg Addr --> 0x6c, Bit --> 6 */
+#define BMI160_USER_GYRO_WAKEUP_INTR__POS               (6)
+#define BMI160_USER_GYRO_WAKEUP_INTR__LEN               (1)
+#define BMI160_USER_GYRO_WAKEUP_INTR__MSK               (0x40)
+#define BMI160_USER_GYRO_WAKEUP_INTR__REG	(BMI160_USER_PMU_TRIGGER_ADDR)
+/**************************************************************/
+/**\name	ACCEL SELF TEST LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Self_Test Description - Reg Addr --> 0x6d, Bit --> 0...1 */
+#define BMI160_USER_ACCEL_SELFTEST_AXIS__POS               (0)
+#define BMI160_USER_ACCEL_SELFTEST_AXIS__LEN               (2)
+#define BMI160_USER_ACCEL_SELFTEST_AXIS__MSK               (0x03)
+#define BMI160_USER_ACCEL_SELFTEST_AXIS__REG	(BMI160_USER_SELF_TEST_ADDR)
+
+/* Self_Test Description - Reg Addr --> 0x6d, Bit --> 2 */
+#define BMI160_USER_ACCEL_SELFTEST_SIGN__POS               (2)
+#define BMI160_USER_ACCEL_SELFTEST_SIGN__LEN               (1)
+#define BMI160_USER_ACCEL_SELFTEST_SIGN__MSK               (0x04)
+#define BMI160_USER_ACCEL_SELFTEST_SIGN__REG	(BMI160_USER_SELF_TEST_ADDR)
+
+/* Self_Test Description - Reg Addr --> 0x6d, Bit --> 3 */
+#define BMI160_USER_SELFTEST_AMP__POS               (3)
+#define BMI160_USER_SELFTEST_AMP__LEN               (1)
+#define BMI160_USER_SELFTEST_AMP__MSK               (0x08)
+#define BMI160_USER_SELFTEST_AMP__REG		(BMI160_USER_SELF_TEST_ADDR)
+/**************************************************************/
+/**\name	GYRO SELF TEST LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Self_Test Description - Reg Addr --> 0x6d, Bit --> 4 */
+#define BMI160_USER_GYRO_SELFTEST_START__POS               (4)
+#define BMI160_USER_GYRO_SELFTEST_START__LEN               (1)
+#define BMI160_USER_GYRO_SELFTEST_START__MSK               (0x10)
+#define BMI160_USER_GYRO_SELFTEST_START__REG		    \
+(BMI160_USER_SELF_TEST_ADDR)
+/**************************************************************/
+/**\name	NV_CONFIG LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* NV_CONF Description - Reg Addr --> (0x70), Bit --> 0 */
+#define BMI160_USER_NV_CONFIG_SPI_ENABLE__POS               (0)
+#define BMI160_USER_NV_CONFIG_SPI_ENABLE__LEN               (1)
+#define BMI160_USER_NV_CONFIG_SPI_ENABLE__MSK               (0x01)
+#define BMI160_USER_NV_CONFIG_SPI_ENABLE__REG	 (BMI160_USER_NV_CONFIG_ADDR)
+
+/*IF_CONF Description - Reg Addr --> (0x70), Bit --> 1 */
+#define BMI160_USER_IF_CONFIG_I2C_WDT_SELECT__POS               (1)
+#define BMI160_USER_IF_CONFIG_I2C_WDT_SELECT__LEN               (1)
+#define BMI160_USER_IF_CONFIG_I2C_WDT_SELECT__MSK               (0x02)
+#define BMI160_USER_IF_CONFIG_I2C_WDT_SELECT__REG		\
+(BMI160_USER_NV_CONFIG_ADDR)
+
+/*IF_CONF Description - Reg Addr --> (0x70), Bit --> 2 */
+#define BMI160_USER_IF_CONFIG_I2C_WDT_ENABLE__POS               (2)
+#define BMI160_USER_IF_CONFIG_I2C_WDT_ENABLE__LEN               (1)
+#define BMI160_USER_IF_CONFIG_I2C_WDT_ENABLE__MSK               (0x04)
+#define BMI160_USER_IF_CONFIG_I2C_WDT_ENABLE__REG		\
+(BMI160_USER_NV_CONFIG_ADDR)
+
+/**************************************************************/
+/**\name	ACCEL MANUAL OFFSET LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Offset_0 Description - Reg Addr --> (0x71), Bit --> 0...7 */
+#define BMI160_USER_OFFSET_0_ACCEL_OFF_X__POS               (0)
+#define BMI160_USER_OFFSET_0_ACCEL_OFF_X__LEN               (8)
+#define BMI160_USER_OFFSET_0_ACCEL_OFF_X__MSK               (0xFF)
+#define BMI160_USER_OFFSET_0_ACCEL_OFF_X__REG	(BMI160_USER_OFFSET_0_ADDR)
+
+/* Offset_1 Description - Reg Addr --> 0x72, Bit --> 0...7 */
+#define BMI160_USER_OFFSET_1_ACCEL_OFF_Y__POS               (0)
+#define BMI160_USER_OFFSET_1_ACCEL_OFF_Y__LEN               (8)
+#define BMI160_USER_OFFSET_1_ACCEL_OFF_Y__MSK               (0xFF)
+#define BMI160_USER_OFFSET_1_ACCEL_OFF_Y__REG	(BMI160_USER_OFFSET_1_ADDR)
+
+/* Offset_2 Description - Reg Addr --> 0x73, Bit --> 0...7 */
+#define BMI160_USER_OFFSET_2_ACCEL_OFF_Z__POS               (0)
+#define BMI160_USER_OFFSET_2_ACCEL_OFF_Z__LEN               (8)
+#define BMI160_USER_OFFSET_2_ACCEL_OFF_Z__MSK               (0xFF)
+#define BMI160_USER_OFFSET_2_ACCEL_OFF_Z__REG	(BMI160_USER_OFFSET_2_ADDR)
+/**************************************************************/
+/**\name	GYRO MANUAL OFFSET LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Offset_3 Description - Reg Addr --> 0x74, Bit --> 0...7 */
+#define BMI160_USER_OFFSET_3_GYRO_OFF_X__POS               (0)
+#define BMI160_USER_OFFSET_3_GYRO_OFF_X__LEN               (8)
+#define BMI160_USER_OFFSET_3_GYRO_OFF_X__MSK               (0xFF)
+#define BMI160_USER_OFFSET_3_GYRO_OFF_X__REG	(BMI160_USER_OFFSET_3_ADDR)
+
+/* Offset_4 Description - Reg Addr --> 0x75, Bit --> 0...7 */
+#define BMI160_USER_OFFSET_4_GYRO_OFF_Y__POS               (0)
+#define BMI160_USER_OFFSET_4_GYRO_OFF_Y__LEN               (8)
+#define BMI160_USER_OFFSET_4_GYRO_OFF_Y__MSK               (0xFF)
+#define BMI160_USER_OFFSET_4_GYRO_OFF_Y__REG	(BMI160_USER_OFFSET_4_ADDR)
+
+/* Offset_5 Description - Reg Addr --> 0x76, Bit --> 0...7 */
+#define BMI160_USER_OFFSET_5_GYRO_OFF_Z__POS               (0)
+#define BMI160_USER_OFFSET_5_GYRO_OFF_Z__LEN               (8)
+#define BMI160_USER_OFFSET_5_GYRO_OFF_Z__MSK               (0xFF)
+#define BMI160_USER_OFFSET_5_GYRO_OFF_Z__REG	(BMI160_USER_OFFSET_5_ADDR)
+
+
+/* Offset_6 Description - Reg Addr --> 0x77, Bit --> 0..1 */
+#define BMI160_USER_OFFSET_6_GYRO_OFF_X__POS               (0)
+#define BMI160_USER_OFFSET_6_GYRO_OFF_X__LEN               (2)
+#define BMI160_USER_OFFSET_6_GYRO_OFF_X__MSK               (0x03)
+#define BMI160_USER_OFFSET_6_GYRO_OFF_X__REG	(BMI160_USER_OFFSET_6_ADDR)
+
+/* Offset_6 Description - Reg Addr --> 0x77, Bit --> 2...3 */
+#define BMI160_USER_OFFSET_6_GYRO_OFF_Y__POS               (2)
+#define BMI160_USER_OFFSET_6_GYRO_OFF_Y__LEN               (2)
+#define BMI160_USER_OFFSET_6_GYRO_OFF_Y__MSK               (0x0C)
+#define BMI160_USER_OFFSET_6_GYRO_OFF_Y__REG	(BMI160_USER_OFFSET_6_ADDR)
+
+/* Offset_6 Description - Reg Addr --> 0x77, Bit --> 4...5 */
+#define BMI160_USER_OFFSET_6_GYRO_OFF_Z__POS               (4)
+#define BMI160_USER_OFFSET_6_GYRO_OFF_Z__LEN               (2)
+#define BMI160_USER_OFFSET_6_GYRO_OFF_Z__MSK               (0x30)
+#define BMI160_USER_OFFSET_6_GYRO_OFF_Z__REG	 (BMI160_USER_OFFSET_6_ADDR)
+/**************************************************************/
+/**\name	ACCEL OFFSET  ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Offset_6 Description - Reg Addr --> 0x77, Bit --> 6 */
+#define BMI160_USER_OFFSET_6_ACCEL_OFF_ENABLE__POS               (6)
+#define BMI160_USER_OFFSET_6_ACCEL_OFF_ENABLE__LEN               (1)
+#define BMI160_USER_OFFSET_6_ACCEL_OFF_ENABLE__MSK               (0x40)
+#define BMI160_USER_OFFSET_6_ACCEL_OFF_ENABLE__REG	 \
+(BMI160_USER_OFFSET_6_ADDR)
+/**************************************************************/
+/**\name	GYRO OFFSET  ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Offset_6 Description - Reg Addr --> 0x77, Bit -->  7 */
+#define BMI160_USER_OFFSET_6_GYRO_OFF_EN__POS               (7)
+#define BMI160_USER_OFFSET_6_GYRO_OFF_EN__LEN               (1)
+#define BMI160_USER_OFFSET_6_GYRO_OFF_EN__MSK               (0x80)
+#define BMI160_USER_OFFSET_6_GYRO_OFF_EN__REG	 (BMI160_USER_OFFSET_6_ADDR)
+/**************************************************************/
+/**\name	STEP COUNTER LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* STEP_CNT_0  Description - Reg Addr --> 0x78, Bit -->  0 to 7 */
+#define BMI160_USER_STEP_COUNT_LSB__POS               (0)
+#define BMI160_USER_STEP_COUNT_LSB__LEN               (7)
+#define BMI160_USER_STEP_COUNT_LSB__MSK               (0xFF)
+#define BMI160_USER_STEP_COUNT_LSB__REG	 (BMI160_USER_STEP_COUNT_0_ADDR)
+
+/* STEP_CNT_1  Description - Reg Addr --> 0x79, Bit -->  0 to 7 */
+#define BMI160_USER_STEP_COUNT_MSB__POS               (0)
+#define BMI160_USER_STEP_COUNT_MSB__LEN               (7)
+#define BMI160_USER_STEP_COUNT_MSB__MSK               (0xFF)
+#define BMI160_USER_STEP_COUNT_MSB__REG	 (BMI160_USER_STEP_COUNT_1_ADDR)
+/**************************************************************/
+/**\name	STEP COUNTER CONFIGURATION LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* STEP_CONFIG_0  Description - Reg Addr --> 0x7A, Bit -->  0 to 7 */
+#define BMI160_USER_STEP_CONFIG_ZERO__POS               (0)
+#define BMI160_USER_STEP_CONFIG_ZERO__LEN               (7)
+#define BMI160_USER_STEP_CONFIG_ZERO__MSK               (0xFF)
+#define BMI160_USER_STEP_CONFIG_ZERO__REG	 \
+(BMI160_USER_STEP_CONFIG_0_ADDR)
+
+
+/* STEP_CONFIG_1  Description - Reg Addr --> 0x7B, Bit -->  0 to 2 and
+4 to 7 */
+#define BMI160_USER_STEP_CONFIG_ONE_CNF1__POS               (0)
+#define BMI160_USER_STEP_CONFIG_ONE_CNF1__LEN               (3)
+#define BMI160_USER_STEP_CONFIG_ONE_CNF1__MSK               (0x07)
+#define BMI160_USER_STEP_CONFIG_ONE_CNF1__REG	 \
+(BMI160_USER_STEP_CONFIG_1_ADDR)
+
+#define BMI160_USER_STEP_CONFIG_ONE_CNF2__POS               (4)
+#define BMI160_USER_STEP_CONFIG_ONE_CNF2__LEN               (4)
+#define BMI160_USER_STEP_CONFIG_ONE_CNF2__MSK               (0xF0)
+#define BMI160_USER_STEP_CONFIG_ONE_CNF2__REG	 \
+(BMI160_USER_STEP_CONFIG_1_ADDR)
+/**************************************************************/
+/**\name	STEP COUNTER ENABLE LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* STEP_CONFIG_1  Description - Reg Addr --> 0x7B, Bit -->  0 to 2 */
+#define BMI160_USER_STEP_CONFIG_1_STEP_COUNT_ENABLE__POS		(3)
+#define BMI160_USER_STEP_CONFIG_1_STEP_COUNT_ENABLE__LEN		(1)
+#define BMI160_USER_STEP_CONFIG_1_STEP_COUNT_ENABLE__MSK		(0x08)
+#define BMI160_USER_STEP_CONFIG_1_STEP_COUNT_ENABLE__REG	\
+(BMI160_USER_STEP_CONFIG_1_ADDR)
+
+/* USER REGISTERS DEFINITION END */
+/**************************************************************************/
+/* CMD REGISTERS DEFINITION START */
+/**************************************************************/
+/**\name	COMMAND REGISTER LENGTH, POSITION AND MASK*/
+/**************************************************************/
+/* Command description address - Reg Addr --> 0x7E, Bit -->  0....7 */
+#define BMI160_CMD_COMMANDS__POS              (0)
+#define BMI160_CMD_COMMANDS__LEN              (8)
+#define BMI160_CMD_COMMANDS__MSK              (0xFF)
+#define BMI160_CMD_COMMANDS__REG	 (BMI160_CMD_COMMANDS_ADDR)
+
+
+/**************************************************************************/
+/* CMD REGISTERS DEFINITION END */
+#ifdef FIFO_ENABLE
+/**************************************************/
+/**\name	FIFO FRAME COUNT DEFINITION           */
+/*************************************************/
+#define FIFO_FRAME				(1024)
+#define FIFO_CONFIG_CHECK1		(0x00)
+#define FIFO_CONFIG_CHECK2		(0x80)
+#endif
+/**************************************************/
+/**\name	MAG SENSOR SELECT          */
+/*************************************************/
+#define BST_BMM		(0)
+#define BST_AKM		(1)
+#define BMI160_YAS537_I2C_ADDRESS	(0x2E)
+/**************************************************/
+/**\name	ACCEL RANGE          */
+/*************************************************/
+#define BMI160_ACCEL_RANGE_2G           (0X03)
+#define BMI160_ACCEL_RANGE_4G           (0X05)
+#define BMI160_ACCEL_RANGE_8G           (0X08)
+#define BMI160_ACCEL_RANGE_16G          (0X0C)
+/**************************************************/
+/**\name	ACCEL ODR          */
+/*************************************************/
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_RESERVED       (0x00)
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_0_78HZ         (0x01)
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_1_56HZ         (0x02)
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_3_12HZ         (0x03)
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_6_25HZ         (0x04)
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_12_5HZ         (0x05)
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_25HZ           (0x06)
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_50HZ           (0x07)
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ          (0x08)
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_200HZ          (0x09)
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_400HZ          (0x0A)
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_800HZ          (0x0B)
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_1600HZ         (0x0C)
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_RESERVED0      (0x0D)
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_RESERVED1      (0x0E)
+#define BMI160_ACCEL_OUTPUT_DATA_RATE_RESERVED2      (0x0F)
+/**************************************************/
+/**\name	ACCEL BANDWIDTH PARAMETER         */
+/*************************************************/
+#define BMI160_ACCEL_OSR4_AVG1			(0)
+#define BMI160_ACCEL_OSR2_AVG2			(1)
+#define BMI160_ACCEL_NORMAL_AVG4		(2)
+#define BMI160_ACCEL_CIC_AVG8			(3)
+#define BMI160_ACCEL_RES_AVG2			(4)
+#define BMI160_ACCEL_RES_AVG4			(5)
+#define BMI160_ACCEL_RES_AVG8			(6)
+#define BMI160_ACCEL_RES_AVG16			(7)
+#define BMI160_ACCEL_RES_AVG32			(8)
+#define BMI160_ACCEL_RES_AVG64			(9)
+#define BMI160_ACCEL_RES_AVG128			(10)
+
+#define BMI160_US_DISABLE				(0)
+#define BMI160_US_ENABLE				(1)
+/**************************************************/
+/**\name	GYRO ODR         */
+/*************************************************/
+#define BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED		(0x00)
+#define BMI160_GYRO_OUTPUT_DATA_RATE_25HZ			(0x06)
+#define BMI160_GYRO_OUTPUT_DATA_RATE_50HZ			(0x07)
+#define BMI160_GYRO_OUTPUT_DATA_RATE_100HZ			(0x08)
+#define BMI160_GYRO_OUTPUT_DATA_RATE_200HZ			(0x09)
+#define BMI160_GYRO_OUTPUT_DATA_RATE_400HZ			(0x0A)
+#define BMI160_GYRO_OUTPUT_DATA_RATE_800HZ			(0x0B)
+#define BMI160_GYRO_OUTPUT_DATA_RATE_1600HZ			(0x0C)
+#define BMI160_GYRO_OUTPUT_DATA_RATE_3200HZ			(0x0D)
+/**************************************************/
+/**\name	GYRO BANDWIDTH PARAMETER         */
+/*************************************************/
+#define BMI160_GYRO_OSR4_MODE		(0x00)
+#define BMI160_GYRO_OSR2_MODE		(0x01)
+#define BMI160_GYRO_NORMAL_MODE		(0x02)
+#define BMI160_GYRO_CIC_MODE		(0x03)
+/**************************************************/
+/**\name	GYROSCOPE RANGE PARAMETER         */
+/*************************************************/
+#define BMI160_GYRO_RANGE_2000_DEG_SEC	(0x00)
+#define BMI160_GYRO_RANGE_1000_DEG_SEC	(0x01)
+#define BMI160_GYRO_RANGE_500_DEG_SEC	(0x02)
+#define BMI160_GYRO_RANGE_250_DEG_SEC	(0x03)
+#define BMI160_GYRO_RANGE_125_DEG_SEC	(0x04)
+/**************************************************/
+/**\name	MAG ODR         */
+/*************************************************/
+#define BMI160_MAG_OUTPUT_DATA_RATE_RESERVED       (0x00)
+#define BMI160_MAG_OUTPUT_DATA_RATE_0_78HZ         (0x01)
+#define BMI160_MAG_OUTPUT_DATA_RATE_1_56HZ         (0x02)
+#define BMI160_MAG_OUTPUT_DATA_RATE_3_12HZ         (0x03)
+#define BMI160_MAG_OUTPUT_DATA_RATE_6_25HZ         (0x04)
+#define BMI160_MAG_OUTPUT_DATA_RATE_12_5HZ         (0x05)
+#define BMI160_MAG_OUTPUT_DATA_RATE_25HZ           (0x06)
+#define BMI160_MAG_OUTPUT_DATA_RATE_50HZ           (0x07)
+#define BMI160_MAG_OUTPUT_DATA_RATE_100HZ          (0x08)
+#define BMI160_MAG_OUTPUT_DATA_RATE_200HZ          (0x09)
+#define BMI160_MAG_OUTPUT_DATA_RATE_400HZ          (0x0A)
+#define BMI160_MAG_OUTPUT_DATA_RATE_800HZ          (0x0B)
+#define BMI160_MAG_OUTPUT_DATA_RATE_1600HZ         (0x0C)
+#define BMI160_MAG_OUTPUT_DATA_RATE_RESERVED0      (0x0D)
+#define BMI160_MAG_OUTPUT_DATA_RATE_RESERVED1      (0x0E)
+#define BMI160_MAG_OUTPUT_DATA_RATE_RESERVED2      (0x0F)
+
+/**************************************************/
+/**\name	ENABLE/DISABLE SELECTIONS        */
+/*************************************************/
+
+/* Enable Accel and Gyro  offset */
+#define ACCEL_OFFSET_ENABLE		(0x01)
+#define GYRO_OFFSET_ENABLE		(0x01)
+
+/* command register definition */
+#define START_FOC_ACCEL_GYRO	(0X03)
+
+ /* INT ENABLE 1 */
+#define BMI160_ANY_MOTION_X_ENABLE       (0)
+#define BMI160_ANY_MOTION_Y_ENABLE       (1)
+#define BMI160_ANY_MOTION_Z_ENABLE       (2)
+#define BMI160_DOUBLE_TAP_ENABLE         (4)
+#define BMI160_SINGLE_TAP_ENABLE         (5)
+#define BMI160_ORIENT_ENABLE             (6)
+#define BMI160_FLAT_ENABLE               (7)
+
+/* INT ENABLE 1 */
+#define BMI160_HIGH_G_X_ENABLE       (0)
+#define BMI160_HIGH_G_Y_ENABLE       (1)
+#define BMI160_HIGH_G_Z_ENABLE       (2)
+#define BMI160_LOW_G_ENABLE          (3)
+#define BMI160_DATA_RDY_ENABLE       (4)
+#define BMI160_FIFO_FULL_ENABLE      (5)
+#define BMI160_FIFO_WM_ENABLE        (6)
+
+/* INT ENABLE 2 */
+#define  BMI160_NOMOTION_X_ENABLE	(0)
+#define  BMI160_NOMOTION_Y_ENABLE	(1)
+#define  BMI160_NOMOTION_Z_ENABLE	(2)
+
+/* FOC axis selection for accel*/
+#define	FOC_X_AXIS		(0)
+#define	FOC_Y_AXIS		(1)
+#define	FOC_Z_AXIS		(2)
+
+/* IN OUT CONTROL */
+#define BMI160_INTR1_EDGE_CTRL			(0)
+#define BMI160_INTR2_EDGE_CTRL			(1)
+#define BMI160_INTR1_LEVEL				(0)
+#define BMI160_INTR2_LEVEL				(1)
+#define BMI160_INTR1_OUTPUT_TYPE		(0)
+#define BMI160_INTR2_OUTPUT_TYPE		(1)
+#define BMI160_INTR1_OUTPUT_ENABLE		(0)
+#define BMI160_INTR2_OUTPUT_ENABLE		(1)
+
+#define BMI160_INTR1_INPUT_ENABLE	(0)
+#define BMI160_INTR2_INPUT_ENABLE	(1)
+
+/*  INTERRUPT MAPS    */
+#define BMI160_INTR1_MAP_LOW_G			(0)
+#define BMI160_INTR2_MAP_LOW_G			(1)
+#define BMI160_INTR1_MAP_HIGH_G			(0)
+#define BMI160_INTR2_MAP_HIGH_G			(1)
+#define BMI160_INTR1_MAP_ANY_MOTION		(0)
+#define BMI160_INTR2_MAP_ANY_MOTION		(1)
+#define BMI160_INTR1_MAP_NOMO			(0)
+#define BMI160_INTR2_MAP_NOMO			(1)
+#define BMI160_INTR1_MAP_DOUBLE_TAP		(0)
+#define BMI160_INTR2_MAP_DOUBLE_TAP		(1)
+#define BMI160_INTR1_MAP_SINGLE_TAP		(0)
+#define BMI160_INTR2_MAP_SINGLE_TAP		(1)
+#define BMI160_INTR1_MAP_ORIENT			(0)
+#define BMI160_INTR2_MAP_ORIENT			(1)
+#define BMI160_INTR1_MAP_FLAT			(0)
+#define BMI160_INTR2_MAP_FLAT			(1)
+#define BMI160_INTR1_MAP_DATA_RDY		(0)
+#define BMI160_INTR2_MAP_DATA_RDY		(1)
+#define BMI160_INTR1_MAP_FIFO_WM		(0)
+#define BMI160_INTR2_MAP_FIFO_WM		(1)
+#define BMI160_INTR1_MAP_FIFO_FULL      (0)
+#define BMI160_INTR2_MAP_FIFO_FULL      (1)
+#define BMI160_INTR1_MAP_PMUTRIG        (0)
+#define BMI160_INTR2_MAP_PMUTRIG		(1)
+
+/* Interrupt mapping*/
+#define	BMI160_MAP_INTR1		(0)
+#define	BMI160_MAP_INTR2		(1)
+/**************************************************/
+/**\name	 TAP DURATION         */
+/*************************************************/
+#define BMI160_TAP_DURN_50MS     (0x00)
+#define BMI160_TAP_DURN_100MS    (0x01)
+#define BMI160_TAP_DURN_150MS    (0x02)
+#define BMI160_TAP_DURN_200MS    (0x03)
+#define BMI160_TAP_DURN_250MS    (0x04)
+#define BMI160_TAP_DURN_375MS    (0x05)
+#define BMI160_TAP_DURN_500MS    (0x06)
+#define BMI160_TAP_DURN_700MS    (0x07)
+/**************************************************/
+/**\name	TAP SHOCK         */
+/*************************************************/
+#define BMI160_TAP_SHOCK_50MS	(0x00)
+#define BMI160_TAP_SHOCK_75MS	(0x01)
+/**************************************************/
+/**\name	TAP QUIET        */
+/*************************************************/
+#define BMI160_TAP_QUIET_30MS	(0x00)
+#define BMI160_TAP_QUIET_20MS	(0x01)
+/**************************************************/
+/**\name	STEP DETECTION SELECTION MODES      */
+/*************************************************/
+#define	BMI160_STEP_NORMAL_MODE			(0)
+#define	BMI160_STEP_SENSITIVE_MODE		(1)
+#define	BMI160_STEP_ROBUST_MODE			(2)
+/**************************************************/
+/**\name	STEP CONFIGURATION SELECT MODE    */
+/*************************************************/
+#define	STEP_CONFIG_NORMAL		(0X315)
+#define	STEP_CONFIG_SENSITIVE	(0X2D)
+#define	STEP_CONFIG_ROBUST		(0X71D)
+/**************************************************/
+/**\name	BMM150 TRIM DATA DEFINITIONS      */
+/*************************************************/
+#define BMI160_MAG_DIG_X1                      (0x5D)
+#define BMI160_MAG_DIG_Y1                      (0x5E)
+#define BMI160_MAG_DIG_Z4_LSB                  (0x62)
+#define BMI160_MAG_DIG_Z4_MSB                  (0x63)
+#define BMI160_MAG_DIG_X2                      (0x64)
+#define BMI160_MAG_DIG_Y2                      (0x65)
+#define BMI160_MAG_DIG_Z2_LSB                  (0x68)
+#define BMI160_MAG_DIG_Z2_MSB                  (0x69)
+#define BMI160_MAG_DIG_Z1_LSB                  (0x6A)
+#define BMI160_MAG_DIG_Z1_MSB                  (0x6B)
+#define BMI160_MAG_DIG_XYZ1_LSB                (0x6C)
+#define BMI160_MAG_DIG_XYZ1_MSB                (0x6D)
+#define BMI160_MAG_DIG_Z3_LSB                  (0x6E)
+#define BMI160_MAG_DIG_Z3_MSB                  (0x6F)
+#define BMI160_MAG_DIG_XY2                     (0x70)
+#define BMI160_MAG_DIG_XY1                     (0x71)
+/**************************************************/
+/**\name	BMM150 PRE-SET MODE DEFINITIONS     */
+/*************************************************/
+#define BMI160_MAG_PRESETMODE_LOWPOWER                 (1)
+#define BMI160_MAG_PRESETMODE_REGULAR                  (2)
+#define BMI160_MAG_PRESETMODE_HIGHACCURACY             (3)
+#define BMI160_MAG_PRESETMODE_ENHANCED                 (4)
+/**************************************************/
+/**\name	BMM150 PRESET MODES - DATA RATES    */
+/*************************************************/
+#define BMI160_MAG_LOWPOWER_DR                       (0x02)
+#define BMI160_MAG_REGULAR_DR                        (0x02)
+#define BMI160_MAG_HIGHACCURACY_DR                   (0x2A)
+#define BMI160_MAG_ENHANCED_DR                       (0x02)
+/**************************************************/
+/**\name	BMM150 PRESET MODES - REPETITIONS-XY RATES */
+/*************************************************/
+#define BMI160_MAG_LOWPOWER_REPXY                    (1)
+#define BMI160_MAG_REGULAR_REPXY                     (4)
+#define BMI160_MAG_HIGHACCURACY_REPXY                (23)
+#define BMI160_MAG_ENHANCED_REPXY                    (7)
+/**************************************************/
+/**\name	BMM150 PRESET MODES - REPETITIONS-Z RATES */
+/*************************************************/
+#define BMI160_MAG_LOWPOWER_REPZ                     (2)
+#define BMI160_MAG_REGULAR_REPZ                      (14)
+#define BMI160_MAG_HIGHACCURACY_REPZ                 (82)
+#define BMI160_MAG_ENHANCED_REPZ                     (26)
+#define BMI160_MAG_NORMAL_SWITCH_TIMES               (5)
+#define MAG_INTERFACE_PMU_ENABLE                     (1)
+#define MAG_INTERFACE_PMU_DISABLE                    (0)
+/**************************************************/
+/**\name	USED FOR MAG OVERFLOW CHECK FOR BMM150  */
+/*************************************************/
+#define BMI160_MAG_OVERFLOW_OUTPUT			((s16)-32768)
+#define BMI160_MAG_OVERFLOW_OUTPUT_S32		((s32)(-2147483647-1))
+#define BMI160_MAG_NEGATIVE_SATURATION_Z   ((s16)-32767)
+#define BMI160_MAG_POSITIVE_SATURATION_Z   ((u16)32767)
+#define BMI160_MAG_FLIP_OVERFLOW_ADCVAL		((s16)-4096)
+#define BMI160_MAG_HALL_OVERFLOW_ADCVAL		((s16)-16384)
+/**************************************************/
+/**\name	BMM150 REGISTER DEFINITION */
+/*************************************************/
+#define BMI160_BMM150_CHIP_ID           (0x40)
+#define BMI160_BMM150_POWER_CONTROL_REG	(0x4B)
+#define BMI160_BMM150_POWER_MODE_REG		(0x4C)
+#define BMI160_BMM150_DATA_REG			(0x42)
+#define BMI160_BMM150_XY_REP			(0x51)
+#define BMI160_BMM150_Z_REP				(0x52)
+/**************************************************/
+/**\name	AKM COMPENSATING DATA REGISTERS     */
+/*************************************************/
+#define BMI160_BST_AKM_ASAX		(0x60)
+#define BMI160_BST_AKM_ASAY		(0x61)
+#define BMI160_BST_AKM_ASAZ		(0x62)
+/**************************************************/
+/**\name	AKM POWER MODE SELECTION     */
+/*************************************************/
+#define AKM_POWER_DOWN_MODE			(0)
+#define AKM_SINGLE_MEAS_MODE		(1)
+#define FUSE_ROM_MODE				(2)
+/**************************************************/
+/**\name	SECONDARY_MAG POWER MODE SELECTION    */
+/*************************************************/
+#define BMI160_MAG_FORCE_MODE		(0)
+#define BMI160_MAG_SUSPEND_MODE		(1)
+/**************************************************/
+/**\name	MAG POWER MODE SELECTION    */
+/*************************************************/
+#define	FORCE_MODE		(0)
+#define	SUSPEND_MODE	(1)
+#define	NORMAL_MODE		(2)
+#define MAG_SUSPEND_MODE (1)
+
+#ifdef FIFO_ENABLE
+/**************************************************/
+/**\name	FIFO CONFIGURATIONS    */
+/*************************************************/
+#define FIFO_HEADER_ENABLE			(0x01)
+#define FIFO_MAG_ENABLE				(0x01)
+#define FIFO_ACCEL_ENABLE			(0x01)
+#define FIFO_GYRO_ENABLE			(0x01)
+#define FIFO_TIME_ENABLE			(0x01)
+#define FIFO_STOPONFULL_ENABLE		(0x01)
+#define FIFO_WM_INTERRUPT_ENABLE	(0x01)
+#define	BMI160_FIFO_INDEX_LENGTH	(1)
+#define	BMI160_FIFO_TAG_INTR_MASK	(0xFC)
+
+/* FIFO definitions*/
+#define FIFO_HEAD_A        (0x84)
+#define FIFO_HEAD_G        (0x88)
+#define FIFO_HEAD_M        (0x90)
+
+#define FIFO_HEAD_G_A	(0x8C)
+#define FIFO_HEAD_M_A   (0x94)
+#define FIFO_HEAD_M_G   (0x98)
+
+#define FIFO_HEAD_M_G_A		(0x9C)
+
+#define FIFO_HEAD_SENSOR_TIME			(0x44)
+#define FIFO_HEAD_INPUT_CONFIG			(0x48)
+#define FIFO_HEAD_SKIP_FRAME			(0x40)
+#define FIFO_HEAD_OVER_READ_LSB			(0x80)
+#define FIFO_HEAD_OVER_READ_MSB			(0x00)
+
+
+#define	FIFO_INPUT_CONFIG_OVER_LEN  ((s8)-11)
+#define	FIFO_OVER_READ_RETURN		((s8)-10)
+#define	FIFO_SENSORTIME_RETURN		((s8)-9)
+#define	FIFO_SKIP_OVER_LEN			((s8)-8)
+#define	FIFO_M_G_A_OVER_LEN			((s8)-7)
+#define	FIFO_M_G_OVER_LEN			((s8)-6)
+#define	FIFO_M_A_OVER_LEN			((s8)-5)
+#define	FIFO_G_A_OVER_LEN			((s8)-4)
+#define	FIFO_M_OVER_LEN				((s8)-3)
+#define	FIFO_G_OVER_LEN				((s8)-2)
+#define	FIFO_A_OVER_LEN				((s8)-1)
+#endif
+/**************************************************/
+/**\name	ACCEL POWER MODE    */
+/*************************************************/
+#define ACCEL_MODE_NORMAL	(0x11)
+#define	ACCEL_LOWPOWER		(0X12)
+#define	ACCEL_SUSPEND		(0X10)
+/* BMI160 Accel power modes*/
+#define BMI160_ACCEL_SUSPEND        0
+#define BMI160_ACCEL_NORMAL_MODE    1
+#define BMI160_ACCEL_LOW_POWER      2
+/**************************************************/
+/**\name	GYRO POWER MODE    */
+/*************************************************/
+#define GYRO_MODE_SUSPEND		(0x14)
+#define GYRO_MODE_NORMAL		(0x15)
+#define GYRO_MODE_FASTSTARTUP	(0x17)
+/**************************************************/
+/**\name	MAG POWER MODE    */
+/*************************************************/
+#define MAG_MODE_SUSPEND	(0x18)
+#define MAG_MODE_NORMAL		(0x19)
+#define MAG_MODE_LOWPOWER	(0x1A)
+/**************************************************/
+/**\name	ENABLE/DISABLE BIT VALUES    */
+/*************************************************/
+#define BMI160_ENABLE	(0x01)
+#define BMI160_DISABLE	(0x00)
+/**************************************************/
+/**\name	INTERRUPT EDGE TRIGGER ENABLE    */
+/*************************************************/
+#define BMI160_EDGE		(0x01)
+#define BMI160_LEVEL	(0x00)
+/**************************************************/
+/**\name	INTERRUPT LEVEL ENABLE    */
+/*************************************************/
+#define BMI160_LEVEL_LOW		(0x00)
+#define BMI160_LEVEL_HIGH		(0x01)
+/**************************************************/
+/**\name	INTERRUPT OUTPUT ENABLE    */
+/*************************************************/
+#define BMI160_OPEN_DRAIN	(0x01)
+#define BMI160_PUSH_PULL	(0x00)
+
+/* interrupt output enable*/
+#define BMI160_INPUT	(0x01)
+#define BMI160_OUTPUT	(0x00)
+
+/**************************************************/
+/**\name	INTERRUPT TAP SOURCE ENABLE    */
+/*************************************************/
+#define FILTER_DATA		(0x00)
+#define UNFILTER_DATA	(0x01)
+/**************************************************/
+/**\name	SLOW MOTION/ NO MOTION SELECT   */
+/*************************************************/
+#define SLOW_MOTION		(0x00)
+#define NO_MOTION		(0x01)
+/**************************************************/
+/**\name	SIGNIFICANT MOTION SELECTION   */
+/*************************************************/
+#define ANY_MOTION			(0x00)
+#define SIGNIFICANT_MOTION	(0x01)
+/**************************************************/
+/**\name	LATCH DURATION   */
+/*************************************************/
+#define BMI160_LATCH_DUR_NONE				(0x00)
+#define BMI160_LATCH_DUR_312_5_MICRO_SEC	(0x01)
+#define BMI160_LATCH_DUR_625_MICRO_SEC		(0x02)
+#define BMI160_LATCH_DUR_1_25_MILLI_SEC		(0x03)
+#define BMI160_LATCH_DUR_2_5_MILLI_SEC		(0x04)
+#define BMI160_LATCH_DUR_5_MILLI_SEC		(0x05)
+#define BMI160_LATCH_DUR_10_MILLI_SEC		(0x06)
+#define BMI160_LATCH_DUR_20_MILLI_SEC		(0x07)
+#define BMI160_LATCH_DUR_40_MILLI_SEC		(0x08)
+#define BMI160_LATCH_DUR_80_MILLI_SEC		(0x09)
+#define BMI160_LATCH_DUR_160_MILLI_SEC		(0x0A)
+#define BMI160_LATCH_DUR_320_MILLI_SEC		(0x0B)
+#define BMI160_LATCH_DUR_640_MILLI_SEC		(0x0C)
+#define BMI160_LATCH_DUR_1_28_SEC			(0x0D)
+#define BMI160_LATCH_DUR_2_56_SEC			(0x0E)
+#define BMI160_LATCHED						(0x0F)
+/**************************************************/
+/**\name	GYRO OFFSET MASK DEFINITION   */
+/*************************************************/
+#define BMI160_GYRO_MANUAL_OFFSET_0_7	(0x00FF)
+#define BMI160_GYRO_MANUAL_OFFSET_8_9	(0x0300)
+/**************************************************/
+/**\name	STEP CONFIGURATION MASK DEFINITION   */
+/*************************************************/
+#define BMI160_STEP_CONFIG_0_7		(0x00FF)
+#define BMI160_STEP_CONFIG_8_10		(0x0700)
+#define BMI160_STEP_CONFIG_11_14	(0xF000)
+/**************************************************/
+/**\name	DEFINITION USED FOR DIFFERENT WRITE   */
+/*************************************************/
+
+#define	BMI160_MANUAL_DISABLE	    (0x00)
+#define	BMI160_MANUAL_ENABLE	    (0x01)
+#define	BMI160_YAS_DISABLE_RCOIL	(0x00)
+#define	BMI160_ENABLE_MAG_IF_MODE	(0x02)
+#define	BMI160_ENABLE_ANY_MOTION_INTR1	(0x04)
+#define	BMI160_ENABLE_ANY_MOTION_INTR2	(0x04)
+#define	BMI160_MAG_DATA_READ_REG        (0x04)
+#define BMI160_BMM_POWER_MODE_REG		(0x06)
+#define	BMI160_ENABLE_ANY_MOTION_AXIS	(0x07)
+#define	BMI160_ENABLE_LOW_G             (0x08)
+#define	BMI160_YAS532_ACQ_START         (0x11)
+#define	BMI160_YAS_DEVICE_ID_REG        (0x80)
+#define	BMI160_FIFO_GYRO_ENABLE         (0x80)
+#define	BMI160_SIG_MOTION_INTR_ENABLE   (0x01)
+#define	BMI160_STEP_DETECT_INTR_ENABLE  (0x01)
+#define	BMI160_LOW_G_INTR_STAT          (0x01)
+#define BMI160_PULL_UP_DATA             (0x30)
+#define BMI160_FIFO_M_G_A_ENABLE        (0xE0)
+#define BMI160_FIFO_M_G_ENABLE          (0xA0)
+#define BMI160_FIFO_M_A_ENABLE          (0x60)
+#define BMI160_FIFO_G_A_ENABLE          (0xC0)
+#define BMI160_FIFO_A_ENABLE            (0x40)
+#define BMI160_FIFO_M_ENABLE            (0x20)
+
+#define BMI160_SEC_IF_BMM150	(0)
+#define BMI160_SEC_IF_AKM09911	(1)
+#define BMI160_SEC_IF_AKM09912	(2)
+#define BMI160_SEC_IF_YAS532	(3)
+#define BMI160_SEC_IF_YAS537	(4)
+/**************************************************/
+/**\name	MAG INIT DEFINITION  */
+/*************************************************/
+#define BMI160_COMMAND_REG_ONE		(0x37)
+#define BMI160_COMMAND_REG_TWO		(0x9A)
+#define BMI160_COMMAND_REG_THREE	(0xC0)
+#define	RESET_STEP_COUNTER			(0xB2)
+/**************************************************/
+/**\name	BIT SLICE GET AND SET FUNCTIONS  */
+/*************************************************/
+#define BMI160_GET_BITSLICE(regvar, bitname)\
+		((regvar & bitname##__MSK) >> bitname##__POS)
+
+
+#define BMI160_SET_BITSLICE(regvar, bitname, val)\
+		((regvar & ~bitname##__MSK) | \
+		((val<<bitname##__POS)&bitname##__MSK))
+
+/**************************************************/
+/**\name	 FUNCTION DECLARATIONS  */
+/*************************************************/
+/**************************************************/
+/**\name	 FUNCTION FOR BMI160 INITIALIZE  */
+/*************************************************/
+/*!
+ *	@brief
+ *	This API is used to initialize
+ *	bus read and bus write functions
+ *	assign the chip id and device address.
+ *	chip id is read in the register 0x00 bit from 0 to 7
+ *
+ *	@param bmi160 : structure pointer of bmi160 instance
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *	@note
+ *	While changing the parameter of the bmi160_t
+ *	consider the following points:
+ *	Changing the reference value of the parameter
+ *	will change the local copy or local reference
+ *	make sure your changes will not
+ *	affect the reference value of the parameter
+ *	(Better don't change the reference value of the parameter)
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_init(struct bmi160_t *bmi160);
+/**************************************************/
+/**\name	 FUNCTION FOR READ AND WRITE REGISTERS  */
+/*************************************************/
+/*!
+ * @brief
+ *	This API writes the data to
+ *	the given register
+ *
+ *
+ *	@param v_addr_u8 -> Address of the register
+ *	@param v_data_u8 -> The data to write to the register
+ *	@param v_len_u8 -> no of bytes to write
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_write_reg(u8 v_addr_u8,
+u8 *v_data_u8, u8 v_len_u8);
+/*!
+ * @brief
+ *	This API reads the data from
+ *	the given register
+ *
+ *
+ *	@param v_addr_u8 -> Address of the register
+ *	@param v_data_u8 -> The data read from the register
+ *	@param v_len_u8 -> no of bytes to read
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_reg(u8 v_addr_u8,
+u8 *v_data_u8, u8 v_len_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR ERROR CODES  */
+/*************************************************/
+/*!
+ *	@brief This API is used to read the fatal error
+ *	from the register 0x02 bit 0
+ *	This flag will be reset only by power-on-reset and soft reset
+ *
+ *
+ *  @param v_fatal_err_u8 : The status of fatal error
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fatal_err(u8
+*v_fatal_err_u8);
+/*!
+ *	@brief This API is used to read the error code
+ *	from register 0x02 bit 1 to 4
+ *
+ *
+ *  @param v_err_code_u8 : The status of error codes
+ *  error_code  |    description
+ *  ------------|---------------
+ *	0x00	|no error
+ *	0x01	|ACC_CONF error (accel ODR and bandwidth not compatible)
+ *	0x02	|GYR_CONF error (Gyroscope ODR and bandwidth not compatible)
+ *	0x03	|Under sampling mode and interrupt uses pre filtered data
+ *	0x04	|reserved
+ *	0x05	|Selected trigger-readout offset in MAG_IF is greater than
+ *		|selected ODR
+ *	0x06	|FIFO configuration error for header less mode
+ *	0x07	|Under sampling mode and pre filtered data as FIFO source
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_err_code(u8
+*v_error_code_u8);
+/*!
+ *	@brief This API reads the i2c error code from the
+ *	Register 0x02 bit 5.
+ *	This error occurred in I2C master detected
+ *
+ *  @param v_i2c_err_code_u8 : The status of i2c fail error
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_i2c_fail_err(u8
+*v_i2c_error_code_u8);
+ /*!
+ *	@brief This API reads the dropped command error
+ *	from the register 0x02 bit 6
+ *
+ *
+ *  @param v_drop_cmd_err_u8 : The status of dropped command error
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_drop_cmd_err(u8
+*v_drop_cmd_err_u8);
+/*!
+ *	@brief This API reads the Mag data ready
+ *	error interrupt
+ *	It reads from the error register 0x02 bit 7
+ *
+ *
+ *
+ *
+ *  @param v_mag_data_rdy_err_u8 : The status of Mag data ready error interrupt
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_data_rdy_err(u8
+*v_mag_data_rdy_err_u8);
+/*!
+ *	@brief This API reads the error status
+ *	from the error register 0x02 bit 0 to 7
+ *
+ *  @param v_mag_data_rdy_err_u8 : The status of Mag data ready interrupt
+ *  @param v_fatal_err_u8 : The status of fatal error
+ *  @param v_err_code_u8 : The status of error code
+ *  @param v_i2c_fail_err_u8 : The status of I2C fail error
+ *  @param v_drop_cmd_err_u8 : The status of drop command error
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_error_status(u8 *v_fatal_err_u8,
+u8 *v_err_code_u8, u8 *v_i2c_fail_err_u8,
+u8 *v_drop_cmd_err_u8, u8 *v_mag_data_rdy_err_u8);
+/******************************************************************/
+/**\name	 FUNCTIONS FOR MAG,ACCEL AND GYRO POWER MODE STATUS  */
+/*****************************************************************/
+/*!
+ *	@brief This API reads the Mag power mode from
+ *	PMU status register 0x03 bit 0 and 1
+ *
+ *  @param v_mag_power_mode_stat_u8 : The value of Mag power mode
+ *	mag_powermode    |   value
+ * ------------------|----------
+ *    SUSPEND        |   0x00
+ *    NORMAL         |   0x01
+ *   LOW POWER       |   0x02
+ *
+ *
+ * @note The power mode of Mag is set by the 0x7E command register
+ * using the function "bmi160_set_command_register()"
+ *  value    |   mode
+ *  ---------|----------------
+ *   0x18    | MAG_MODE_SUSPEND
+ *   0x19    | MAG_MODE_NORMAL
+ *   0x1A    | MAG_MODE_LOWPOWER
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_power_mode_stat(u8
+*v_mag_power_mode_stat_u8);
+/*!
+ *	@brief This API reads the Gyro power mode from
+ *	PMU status register 0x03 bit 2 and 3
+ *
+ *  @param v_gyro_power_mode_stat_u8 :	The value of Gyro  power mode
+ *	gyro_powermode   |   value
+ * ------------------|----------
+ *    SUSPEND        |   0x00
+ *    NORMAL         |   0x01
+ *   FAST POWER UP   |   0x03
+ *
+ * @note The power mode of Gyro  is set by the 0x7E command register
+ * using the function "bmi160_set_command_register()"
+ *  value    |   mode
+ *  ---------|----------------
+ *   0x14    | GYRO_MODE_SUSPEND
+ *   0x15    | GYRO_MODE_NORMAL
+ *   0x17    | GYRO_MODE_FASTSTARTUP
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_power_mode_stat(u8
+*v_gyro_power_mode_stat_u8);
+/*!
+ *	@brief This API reads the Accel power mode from
+ *	PMU status register 0x03 bit 4 and 5
+ *
+ *
+ *  @param v_accel_power_mode_stat_u8 :	The value of Accel power mode
+ *	accel_powermode  |   value
+ * ------------------|----------
+ *    SUSPEND        |   0x00
+ *    NORMAL         |   0x01
+ *  LOW POWER        |   0x02
+ *
+ * @note The power mode of Accel is set by the 0x7E command register
+ * using the function "bmi160_set_command_register()"
+ *  value    |   mode
+ *  ---------|----------------
+ *   0x11    | ACCEL_MODE_NORMAL
+ *   0x12    | ACCEL_LOWPOWER
+ *   0x10    | ACCEL_SUSPEND
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_power_mode_stat(u8
+*v_accel_power_mode_stat_u8);
+/*!
+ *	@brief This API switches the Mag interface to normal mode
+ *	and confirm whether the mode switching is done successfully or not
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_interface_normal(void);
+/**************************************************/
+/**\name	 FUNCTION FOR Mag XYZ data read */
+/*************************************************/
+/*!
+ *	@brief This API reads Mag data X values
+ *	from the register 0x04 and 0x05
+ *	@brief The Mag sensor data read from auxiliary mag
+ *
+ *  @param v_mag_x_s16 : The value of Mag x
+ *  @param v_sensor_select_u8 : Mag selection value
+ *  value    |   sensor
+ *  ---------|----------------
+ *   0       | BMM150
+ *   1       | AKM09911 or AKM09912
+ *
+ *	@note For Mag output data rate configuration use the following function
+ *	bmi160_set_mag_output_data_rate()
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_x(s16 *v_mag_x_s16,
+u8 v_sensor_select_u8);
+/*!
+ *	@brief This API reads Mag data Y values
+ *	from the register 0x06 and 0x07
+ *	@brief The Mag sensor data read from auxiliary mag
+ *
+ *  @param v_mag_y_s16 : The value of Mag y
+ *  @param v_sensor_select_u8 : Mag selection value
+ *  value    |   sensor
+ *  ---------|----------------
+ *   0       | BMM150
+ *   1       | AKM09911 or AKM09912
+ *
+ *	@note For Mag output data rate configuration use the following function
+ *	bmi160_set_mag_output_data_rate()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_y(s16 *v_mag_y_s16,
+u8 v_sensor_select_u8);
+/*!
+ *	@brief This API reads Mag data Z values
+ *	from the register 0x08 and 0x09
+ *	@brief The Mag sensor data read from auxiliary mag
+ *
+ *  @param v_mag_z_s16 : The value of Mag z
+ *  @param v_sensor_select_u8 : Mag selection value
+ *  value    |   sensor
+ *  ---------|----------------
+ *   0       | BMM150
+ *   1       | AKM09911 or AKM09912
+ *
+ *	@note For Mag output data rate configuration use the following function
+ *	bmi160_set_mag_output_data_rate()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_z(s16 *v_mag_z_s16,
+u8 v_sensor_select_u8);
+/*!
+ *	@brief This API reads Mag data RHALL values
+ *	from the register 0x0A and 0x0B
+ *
+ *
+ *  @param v_mag_r_s16 : The value of BMM150 r data
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_r(
+s16 *v_mag_r_s16);
+/*!
+ *	@brief This API reads Mag data X,Y,Z values
+ *	from the register 0x04 to 0x09
+ *
+ *	@brief The Mag sensor data read from auxiliary mag
+ *
+ *  @param Mag : The value of Mag xyz data
+ *  @param v_sensor_select_u8 : Mag selection value
+ *  value    |   sensor
+ *  ---------|----------------
+ *   0       | BMM150
+ *   1       | AKM09911 or AKM09912
+ *
+ *	@note For Mag output data rate configuration use the following function
+ *	@note bmi160_set_mag_output_data_rate()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_xyz(
+struct bmi160_mag_t *mag, u8 v_sensor_select_u8);
+ /*!*
+ *	@brief This API reads Mag data X,Y,Z,r
+ *	values from the register 0x04 to 0x0B.
+ *
+ *	@brief The Mag sensor data read from auxiliary mag.
+ *
+ *	@param Mag : The value of mag-BMM150 xyzr data.
+ *
+ *	@note For Mag data output rate configuration use the following function
+ *	@note bmi160_set_mag_output_data_rate().
+ *
+ *	@return results of bus communication function.
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_xyzr(
+struct bmi160_mag_xyzr_t *mag);
+/**************************************************/
+/**\name	 FUNCTION FOR GYRO XYZ DATA READ  */
+/*************************************************/
+/*!
+ *	@brief This API reads Gyro data X values
+ *	from the register 0x0C and 0x0D.
+ *
+ *	@param v_gyro_x_s16 : The value of Gyro x data.
+ *
+ *	@note Gyro configuration use the following functions.
+ *	@note bmi160_set_gyro_output_data_rate()
+ *	@note bmi160_set_gyro_bw()
+ *	@note bmi160_set_gyro_range()
+ *
+ *	@return results of bus communication function.
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_gyro_x(
+s16 *v_gyro_x_s16);
+/*!
+ *	@brief This API reads Gyro data Y values
+ *	from the register 0x0E and 0x0F.
+ *
+ *	@param v_gyro_y_s16 : The value of Gyro y data.
+ *
+ *	@note Gyro configuration use the following function
+ *	@note bmi160_set_gyro_output_data_rate()
+ *	@note bmi160_set_gyro_bw()
+ *	@note bmi160_set_gyro_range()
+ *
+ *	@return results of bus communication function.
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error result of communication routines
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_gyro_y(
+s16 *v_gyro_y_s16);
+/*!
+ *	@brief This API reads Gyro data Z values
+ *	from the register 0x10 and 0x11.
+ *
+ *	@param v_gyro_z_s16 : The value of Gyro z data.
+ *
+ *	@note Gyro configuration use the following functions.
+ *	@note bmi160_set_gyro_output_data_rate()
+ *	@note bmi160_set_gyro_bw()
+ *	@note bmi160_set_gyro_range()
+ *
+ *	@return results of the bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_gyro_z(
+s16 *v_gyro_z_s16);
+/*!
+ *	@brief This API reads Gyro data X,Y,Z values
+ *	from the register 0x0C to 0x11.
+ *
+ *	@param Gyro : The value of Gyro xyz.
+ *
+ *	@note Gyro configuration use the following functions.
+ *	@note bmi160_set_gyro_output_data_rate()
+ *	@note bmi160_set_gyro_bw()
+ *	@note bmi160_set_gyro_range()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_gyro_xyz(
+struct bmi160_gyro_t *gyro);
+/**************************************************/
+/**\name	 FUNCTION FOR ACCEL XYZ DATA READ  */
+/*************************************************/
+/*!
+ *	@brief This API reads the Accel data for X axis
+ *	from the register 0x12 and 0x13.
+ *
+ *	@param v_accel_x_s16 : The value of Accel x axis.
+ *
+ *	@note For Accel configuration use the following functions.
+ *	@note bmi160_set_accel_output_data_rate()
+ *	@note bmi160_set_accel_bw()
+ *	@note bmi160_set_accel_under_sampling_parameter()
+ *	@note bmi160_set_accel_range()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_accel_x(
+s16 *v_accel_x_s16);
+/*!
+ *	@brief This API reads Accel data for Y axis
+ *	from the register 0x14 and 0x15.
+ *
+ *	@param v_accel_y_s16 : The value of Accel y axis.
+ *
+ *	@note For Accel configuration use the following functions.
+ *	@note bmi160_set_accel_output_data_rate()
+ *	@note bmi160_set_accel_bw()
+ *	@note bmi160_set_accel_under_sampling_parameter()
+ *	@note bmi160_set_accel_range()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_accel_y(
+s16 *v_accel_y_s16);
+/*!
+ *	@brief This API reads Accel data Z values
+ *	from the register 0x16 and 0x17.
+ *
+ *	@param v_accel_z_s16 : The value of Accel z axis.
+ *
+ *	@note For Accel configuration use the following functions.
+ *	@note bmi160_set_accel_output_data_rate()
+ *	@note bmi160_set_accel_bw()
+ *	@note bmi160_set_accel_under_sampling_parameter()
+ *	@note bmi160_set_accel_range()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_accel_z(
+s16 *v_accel_z_s16);
+/*!
+ *	@brief This API reads Accel data X,Y,Z values
+ *	from the register 0x12 to 0x17.
+ *
+ *	@param Accel :The value of Accel xyz axis.
+ *
+ *	@note For Accel configuration use the following functions.
+ *	@note bmi160_set_accel_output_data_rate()
+ *	@note bmi160_set_accel_bw()
+ *	@note bmi160_set_accel_under_sampling_parameter()
+ *	@note bmi160_set_accel_range()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_accel_xyz(
+struct bmi160_accel_t *accel);
+/**************************************************/
+/**\name	 FUNCTION FOR SENSOR TIME */
+/*************************************************/
+/*!
+ *	@brief This API reads sensor_time from the register
+ *	0x18 to 0x1A.
+ *
+ *	@param v_sensor_time_u32 : The value of sensor time.
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_sensor_time(
+u32 *v_sensor_time_u32);
+/*!
+ *	@brief This API reads sensor_time, Accel data, Gyro data from the
+ *	register 0x0C to 0x1A.
+ *
+ *	@param accel_gyro_sensortime_select : to select the configuration
+ *  value    |   output
+ *  ---------|----------------
+ *   0       | Accel data and Sensor time
+ *   1       | Accel data ,Gyro data and Sensor time
+ *
+ *	@param accel_gyro_sensor_time : the value of Accel data, Gyro data and
+ *	sensor time data
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_accel_gyro_sensor_time
+(u8 accel_gyro_sensortime_select,
+struct bmi160_sensortime_accel_gyro_data *accel_gyro_sensor_time);
+/**************************************************/
+/**\name	 FUNCTION FOR GYRO SELF TEST  */
+/*************************************************/
+/*!
+ *	@brief This API reads the Gyro self test
+ *	status from the register 0x1B bit 1
+ *
+ *  @param v_gyro_selftest_u8 : The value of Gyro self test status
+ *  value    |   status
+ *  ---------|----------------
+ *   0       | Gyro self test is running or failed
+ *   1       | Gyro self test completed successfully
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_selftest(u8
+*v_gyro_selftest_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR MANUAL INTERFACE  */
+/*************************************************/
+/*!
+ *	@brief This API reads the status of
+ *	mag manual interface operation from the register 0x1B bit 2.
+ *
+ *  @param v_mag_manual_stat_u8 : The value of Mag manual operation status
+ *  value    |   status
+ *  ---------|----------------
+ *   0       | Indicates no manual magnetometer
+ *   -       | interface operation is ongoing
+ *   1       | Indicates manual magnetometer
+ *   -       | interface operation is ongoing
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_manual_operation_stat(u8
+*v_mag_manual_stat_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR FAST OFFSET READY  */
+/*************************************************/
+/*!
+ *	@brief This API reads the fast offset compensation
+ *	status from the register 0x1B bit 3
+ *
+ *
+ *  @param v_foc_rdy_u8 : The status of fast compensation
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_foc_rdy(u8
+*v_foc_rdy_u8);
+
+/**************************************************/
+/**\name	 FUNCTION FOR DATA READY FOR MAG, GYRO, AND ACCEL */
+/*************************************************/
+/*!
+ *	@brief This API reads the status of Mag data ready
+ *	from the register 0x1B bit 5
+ *	The status get reset when one Mag data register is read out
+ *
+ *  @param v_data_rdy_u8 : The value of Mag data ready status
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_data_rdy_mag(u8
+*v_data_rdy_u8);
+/*!
+ *	@brief This API reads the status of Gyro data ready from the
+ *	register 0x1B bit 6
+ *	The status get reset when Gyro data register read out
+ *
+ *
+ *	@param v_data_rdy_u8 :	The value of Gyro data ready
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_data_rdy(u8
+*v_data_rdy_u8);
+/*!
+ *	@brief This API reads the status of Accel data ready from the
+ *	register 0x1B bit 7
+ *	The status get reset when Accel data register is read
+ *
+ *
+ *	@param v_data_rdy_u8 :	The value of Accel data ready status
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_data_rdy(u8
+*drdy_acc);
+/**************************************************/
+/**\name	 FUNCTION FOR STEP INTERRUPT STATUS  */
+/*************************************************/
+/*!
+ *	@brief This API reads the step detector interrupt status
+ *	from the register 0x1C bit 0
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the single tab interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt
+ *	signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_step_intr_u8 : The status of step detector interrupt
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_step_intr(u8
+*v_step_intr_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR SIGNIFICANT INTERRUPT STATUS  */
+/*************************************************/
+/*!
+ *	@brief This API reads the
+ *	significant motion interrupt status
+ *	from the register 0x1C bit 1
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the single tab interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt
+ *	signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *
+ *  @param v_significant_intr_u8 : The status of step
+ *	motion interrupt
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_significant_intr(u8
+*sigmot_intr);
+/**************************************************/
+/**\name	 FUNCTION FOR ANY MOTION INTERRUPT STATUS  */
+/*************************************************/
+ /*!
+ *	@brief This API reads the any motion interrupt status
+ *	from the register 0x1C bit 2
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the single tab interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt
+ *	signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *  @param v_any_motion_intr_u8 : The status of any-motion interrupt
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_any_motion_intr(u8
+*v_any_motion_intr_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR PMU TRIGGER INTERRUPT STATUS  */
+/*************************************************/
+/*!
+ *	@brief This API reads the power mode trigger interrupt status
+ *	from the register 0x1C bit 3
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the single tab interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt
+ *	signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *
+ *  @param v_pmu_trigger_intr_u8 : The status of power mode trigger interrupt
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_pmu_trigger_intr(u8
+*v_pmu_trigger_intr_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR DOUBLE TAB STATUS  */
+/*************************************************/
+/*!
+ *	@brief This API reads the double tab status
+ *	from the register 0x1C bit 4
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the single tab interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt
+ *	signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_double_tap_intr_u8 :The status of double tab interrupt
+ *
+ *	@note Double tap interrupt can be configured by the following functions
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_double_tap()
+ *	@note AXIS MAPPING
+ *	@note bmi160_get_stat2_tap_first_x()
+ *	@note bmi160_get_stat2_tap_first_y()
+ *	@note bmi160_get_stat2_tap_first_z()
+ *	@note DURATION
+ *	@note bmi160_set_intr_tap_durn()
+ *	@note THRESHOLD
+ *	@note bmi160_set_intr_tap_thres()
+ *	@note TAP QUIET
+ *	@note bmi160_set_intr_tap_quiet()
+ *	@note TAP SHOCK
+ *	@note bmi160_set_intr_tap_shock()
+ *	@note TAP SOURCE
+ *	@note bmi160_set_intr_tap_source()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_double_tap_intr(u8
+*v_double_tap_intr_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR SINGLE TAB STATUS  */
+/*************************************************/
+/*!
+ *	@brief This API reads the single tab status
+ *	from the register 0x1C bit 5
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the single tab interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt
+ *	signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_single_tap_intr_u8 :The status of single tap interrupt
+ *
+ *	@note Single tap interrupt can be configured by the following functions
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_single_tap()
+ *	@note AXIS MAPPING
+ *	@note bmi160_get_stat2_tap_first_x()
+ *	@note bmi160_get_stat2_tap_first_y()
+ *	@note bmi160_get_stat2_tap_first_z()
+ *	@note DURATION
+ *	@note bmi160_set_intr_tap_durn()
+ *	@note THRESHOLD
+ *	@note bmi160_set_intr_tap_thres()
+ *	@note TAP QUIET
+ *	@note bmi160_set_intr_tap_quiet()
+ *	@note TAP SHOCK
+ *	@note bmi160_set_intr_tap_shock()
+ *	@note TAP SOURCE
+ *	@note bmi160_set_intr_tap_source()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_single_tap_intr(u8
+*v_single_tap_intr_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR ORIENT INTERRUPT STATUS  */
+/*************************************************/
+/*!
+ *	@brief This API reads the orient status
+ *	from the register 0x1C bit 6
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the orient interrupt triggers. The
+ *	setting of INT_LATCH controls the
+ *	interrupt signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_orient_intr_u8 : The status of orient interrupt
+ *
+ *	@note For orient interrupt configuration use the following functions
+ *	@note STATUS
+ *	@note bmi160_get_stat0_orient_intr()
+ *	@note AXIS MAPPING
+ *	@note bmi160_get_stat3_orient_xy()
+ *	@note bmi160_get_stat3_orient_z()
+ *	@note bmi160_set_intr_orient_axes_enable()
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_orient()
+ *	@note INTERRUPT OUTPUT
+ *	@note bmi160_set_intr_orient_ud_enable()
+ *	@note THETA
+ *	@note bmi160_set_intr_orient_theta()
+ *	@note HYSTERESIS
+ *	@note bmi160_set_intr_orient_hyst()
+ *	@note BLOCKING
+ *	@note bmi160_set_intr_orient_blocking()
+ *	@note MODE
+ *	@note bmi160_set_intr_orient_mode()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_orient_intr(u8
+*v_orient_intr_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR FLAT INTERRUPT STATUS  */
+/*************************************************/
+/*!
+ *	@brief This API reads the flat interrupt status
+ *	from the register 0x1C bit 7
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the flat interrupt triggers. The
+ *	setting of INT_LATCH controls the
+ *	interrupt signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_flat_intr_u8 : The status of  flat interrupt
+ *
+ *	@note For flat configuration use the following functions
+ *	@note STATS
+ *	@note bmi160_get_stat0_flat_intr()
+ *	@note bmi160_get_stat3_flat()
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_flat()
+ *	@note THETA
+ *	@note bmi160_set_intr_flat_theta()
+ *	@note HOLD TIME
+ *	@note bmi160_set_intr_flat_hold()
+ *	@note HYSTERESIS
+ *	@note bmi160_set_intr_flat_hyst()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_flat_intr(u8
+*v_flat_intr_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR HIGH_G INTERRUPT STATUS  */
+/*************************************************/
+/*!
+ *	@brief This API reads the high_g interrupt status
+ *	from the register 0x1D bit 2
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the high g  interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt signal and hence the
+ *	respective interrupt flag will be permanently
+ *	latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_high_g_intr_u8 : The status of high_g interrupt
+ *
+ *	@note High_g interrupt configured by following functions
+ *	@note STATUS
+ *	@note bmi160_get_stat1_high_g_intr()
+ *	@note AXIS MAPPING
+ *	@note bmi160_get_stat3_high_g_first_x()
+ *	@note bmi160_get_stat3_high_g_first_y()
+ *	@note bmi160_get_stat3_high_g_first_z()
+ *	@note SIGN MAPPING
+ *	@note bmi160_get_stat3_high_g_first_sign()
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_high_g()
+  *	@note HYSTERESIS
+ *	@note bmi160_set_intr_high_g_hyst()
+ *	@note DURATION
+ *	@note bmi160_set_intr_high_g_durn()
+ *	@note THRESHOLD
+ *	@note bmi160_set_intr_high_g_thres()
+ *	@note SOURCE
+ *	@note bmi160_set_intr_low_high_source()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_high_g_intr(u8
+*v_high_g_intr_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR LOW_G INTERRUPT STATUS  */
+/*************************************************/
+/*!
+ *	@brief This API reads the low g interrupt status
+ *	from the register 0x1D bit 3
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the low g  interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_low_g_intr_u8 : The status of low_g interrupt
+ *
+ *	@note Low_g interrupt configured by following functions
+ *	@note STATUS
+ *	@note bmi160_get_stat1_low_g_intr()
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_low_g()
+ *	@note SOURCE
+ *	@note bmi160_set_intr_low_high_source()
+ *	@note DURATION
+ *	@note bmi160_set_intr_low_g_durn()
+ *	@note THRESHOLD
+ *	@note bmi160_set_intr_low_g_thres()
+ *	@note HYSTERESIS
+ *	@note bmi160_set_intr_low_g_hyst()
+ *	@note MODE
+ *	@note bmi160_set_intr_low_g_mode()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_low_g_intr(u8
+*v_low_g_intr_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR DATA READY INTERRUPT STATUS  */
+/*************************************************/
+/*!
+ *	@brief This API reads data ready interrupt status
+ *	from the register 0x1D bit 4
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the  data ready  interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_data_rdy_intr_u8 : The status of data ready interrupt
+ *
+ *	@note Data ready interrupt configured by following functions
+ *	@note STATUS
+ *	@note bmi160_get_stat1_data_rdy_intr()
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_data_rdy()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_data_rdy_intr(u8
+*v_data_rdy_intr_u8);
+
+#ifdef FIFO_ENABLE
+/**************************************************/
+/**\name	 FUNCTIONS FOR FIFO FULL AND WATER MARK INTERRUPT STATUS*/
+/*************************************************/
+/*!
+ *	@brief This API reads data ready FIFO full interrupt status
+ *	from the register 0x1D bit 5
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the FIFO full interrupt triggers. The
+ *	setting of INT_LATCH controls the
+ *	interrupt signal and hence the
+ *	respective interrupt flag will
+ *	be permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_fifo_full_intr_u8 : The status of FIFO full interrupt
+ *
+ *	@note FIFO full interrupt can be configured by following functions
+ *	@note bmi160_set_intr_fifo_full()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_fifo_full_intr(u8
+*v_fifo_full_intr_u8);
+/*!
+ *	@brief This API reads data
+ *	ready FIFO watermark interrupt status
+ *	from the register 0x1D bit 6
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the FIFO watermark interrupt triggers. The
+ *	setting of INT_LATCH controls the
+ *	interrupt signal and hence the
+ *	respective interrupt flag will be
+ *	permanently latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_fifo_wm_intr_u8 : The status of FIFO water mark interrupt
+ *
+ *	@note FIFO full interrupt can be configured by following functions
+ *	@note bmi160_set_intr_fifo_wm()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_fifo_wm_intr(u8
+*v_fifo_wm_intr_u8);
+#endif
+/**************************************************/
+/**\name	 FUNCTIONS FOR NO MOTION INTERRUPT STATUS*/
+/*************************************************/
+/*!
+ *	@brief This API reads data ready no motion interrupt status
+ *	from the register 0x1D bit 7
+ *	flag is associated with a specific interrupt function.
+ *	It is set when the no motion  interrupt triggers. The
+ *	setting of INT_LATCH controls the interrupt signal and hence the
+ *	respective interrupt flag will be permanently
+ *	latched, temporarily latched
+ *	or not latched.
+ *
+ *
+ *
+ *
+ *  @param v_nomotion_intr_u8 : The status of no motion interrupt
+ *
+ *	@note No motion interrupt can be configured by following function
+ *	@note STATUS
+ *	@note bmi160_get_stat1_nomotion_intr()
+ *	@note INTERRUPT MAPPING
+ *	@note bmi160_set_intr_nomotion()
+ *	@note DURATION
+ *	@note bmi160_set_intr_slow_no_motion_durn()
+ *	@note THRESHOLD
+ *	@note bmi160_set_intr_slow_no_motion_thres()
+ *	@note SLOW/NO MOTION SELECT
+ *	@note bmi160_set_intr_slow_no_motion_select()
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_nomotion_intr(u8
+*nomo_intr);
+/**************************************************/
+/**\name	 FUNCTIONS FOR ANY MOTION FIRST XYZ AND SIGN INTERRUPT STATUS*/
+/*************************************************/
+/*!
+ *@brief This API reads the status of any motion first x
+ *	from the register 0x1E bit 0
+ *
+ *
+ *@param v_anymotion_first_x_u8 : The status of any motion first x interrupt
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by x axis
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_any_motion_first_x(u8
+*v_anymotion_first_x_u8);
+/*!
+ *	@brief This API reads the status of any motion first y interrupt
+ *	from the register 0x1E bit 1
+ *
+ *
+ *
+ *@param v_any_motion_first_y_u8 : The status of any motion first y interrupt
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_any_motion_first_y(u8
+*v_any_motion_first_y_u8);
+/*!
+ *	@brief This API reads the status of any motion first z interrupt
+ *	from the register 0x1E bit 2
+ *
+ *
+ *
+ *
+ *@param v_any_motion_first_z_u8 : The status of any motion first z interrupt
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_any_motion_first_z(u8
+*v_any_motion_first_z_u8);
+/*!
+ *	@brief This API reads the any motion sign status from the
+ *	register 0x1E bit 3
+ *
+ *
+ *
+ *
+ *  @param v_anymotion_sign_u8 : The status of any motion sign
+ *  value     |  sign
+ * -----------|-------------
+ *   0        | positive
+ *   1        | negative
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_any_motion_sign(u8
+*v_anymotion_sign_u8);
+/**************************************************/
+/**\name	 FUNCTIONS FOR TAP FIRST XYZ AND SIGN INTERRUPT STATUS*/
+/*************************************************/
+/*!
+ *	@brief This API reads the any motion tap first x status from the
+ *	register 0x1E bit 4
+ *
+ *
+ *
+ *
+ *  @param v_tap_first_x_u8 :The status of any motion tap first x
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by x axis
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_tap_first_x(u8
+*v_tap_first_x_u8);
+/*!
+ *	@brief This API reads the tap first y interrupt status from the
+ *	register 0x1E bit 5
+ *
+ *
+ *
+ *
+ *  @param v_tap_first_y_u8 :The status of tap first y interrupt
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_tap_first_y(u8
+*v_tap_first_y_u8);
+/*!
+ *	@brief This API reads the tap first z interrupt status  from the
+ *	register 0x1E bit 6
+ *
+ *
+ *
+ *
+ *  @param v_tap_first_z_u8 :The status of tap first z interrupt
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by z axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_tap_first_z(u8
+*v_tap_first_z_u8);
+/*!
+ *	@brief This API reads the tap sign status from the
+ *	register 0x1E bit 7
+ *
+ *
+ *
+ *
+ *  @param v_tap_sign_u8 : The status of tap sign
+ *  value     |  sign
+ * -----------|-------------
+ *   0        | positive
+ *   1        | negative
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_tap_sign(u8
+*tap_sign);
+/**************************************************/
+/**\name	 FUNCTIONS FOR HIGH_G FIRST XYZ AND SIGN INTERRUPT STATUS*/
+/*************************************************/
+/*!
+ *	@brief This API reads the high_g first x status from the
+ *	register 0x1F bit 0
+ *
+ *
+ *
+ *
+ *  @param v_high_g_first_x_u8 :The status of high_g first x
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by x axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_high_g_first_x(u8
+*v_high_g_first_x_u8);
+/*!
+ *	@brief This API reads the high_g first y status from the
+ *	register 0x1F bit 1
+ *
+ *
+ *
+ *
+ *  @param v_high_g_first_y_u8 : The status of high_g first y
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_high_g_first_y(u8
+*v_high_g_first_y_u8);
+/*!
+ *	@brief This API reads the high_g first z status from the
+ *	register 0x1F bit 3
+ *
+ *
+ *
+ *
+ *  @param v_high_g_first_z_u8 : The status of high_g first z
+ *  value     |  status
+ * -----------|-------------
+ *   0        | not triggered
+ *   1        | triggered by z axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_high_g_first_z(u8
+*v_high_g_first_z_u8);
+/*!
+ *	@brief This API reads the high g sign status from the
+ *	register 0x1F bit 3
+ *
+ *
+ *
+ *
+ *  @param v_high_g_sign_u8 :The status of high g sign
+ *  value     |  sign
+ * -----------|-------------
+ *   0        | positive
+ *   1        | negative
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_high_g_sign(u8
+*v_high_g_sign_u8);
+/**************************************************/
+/**\name	 FUNCTIONS FOR ORIENT XY AND Z INTERRUPT STATUS*/
+/*************************************************/
+/*!
+ *	@brief This API reads the status of orient_xy plane
+ *	from the register 0x1F bit 4 and 5
+ *
+ *
+ *  @param v_orient_xy_u8 :The status of orient_xy plane
+ *  value     |  status
+ * -----------|-------------
+ *   0x00     | portrait upright
+ *   0x01     | portrait upside down
+ *   0x02     | landscape left
+ *   0x03     | landscape right
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_orient_xy(u8
+*v_orient_xy_u8);
+/*!
+ *	@brief This API reads the status of orient z plane
+ *	from the register 0x1F bit 6
+ *
+ *
+ *  @param v_orient_z_u8 :The status of orient z
+ *  value     |  status
+ * -----------|-------------
+ *   0x00     | upward looking
+ *   0x01     | downward looking
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_orient_z(u8
+*v_orient_z_u8);
+/**************************************************/
+/**\name	 FUNCTIONS FOR FLAT INTERRUPT STATUS*/
+/*************************************************/
+/*!
+ *	@brief This API reads the flat status from the register
+ *	0x1F bit 7
+ *
+ *
+ *  @param v_flat_u8 : The status of flat interrupt
+ *  value     |  status
+ * -----------|-------------
+ *   0x00     | non flat
+ *   0x01     | flat position
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_flat(u8
+*flat);
+/**************************************************/
+/**\name	 FUNCTION FOR TEMPERATURE READ */
+/*************************************************/
+/*!
+ *	@brief This API reads the temperature of the sensor
+ *	from the register 0x21 bit 0 to 7
+ *
+ *
+ *
+ *  @param v_temp_s16 : The value of temperature
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_temp(s16
+*v_temp_s16);
+#ifdef FIFO_ENABLE
+/**************************************************/
+/**\name	 FUNCTION FOR FIFO LENGTH AND FIFO DATA READ */
+/*************************************************/
+/*!
+ *	@brief This API reads the FIFO length of the sensor
+ *	from the register 0x23 and 0x24 bit 0 to 7 and 0 to 2
+ *	@brief this byte counter is updated each time a complete frame
+ *	is read or written
+ *
+ *
+ *  @param v_fifo_length_u32 : The value of FIFO byte counter
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_fifo_length(
+u32 *v_fifo_length_u32);
+/*!
+ *	@brief This API reads the FIFO data of the sensor
+ *	from the register 0x24
+ *	@brief Data format depends on the setting of register FIFO_CONFIG
+ *
+ *
+ *
+ *  @param v_fifodata_u8 : Pointer holding the FIFO data
+ *  @param v_fifo_length_u16 : The value of FIFO length maximum 1024
+ *
+ *	@note For reading FIFO data use the following functions
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_fifo_data(
+u8 *v_fifodata_u8, u16 v_fifo_length_u16);
+#endif
+/**************************************************/
+/**\name	 FUNCTION FOR ACCEL CONFIGURATIONS */
+/*************************************************/
+/*!
+ *	@brief This API is used to get the
+ *	accel output date rate from the register 0x40 bit 0 to 3
+ *
+ *
+ *  @param  v_output_data_rate_u8 :The value of Accel output date rate
+ *  value |  output data rate
+ * -------|--------------------------
+ *	 0    |	BMI160_ACCEL_OUTPUT_DATA_RATE_RESERVED
+ *	 1	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_0_78HZ
+ *	 2	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_1_56HZ
+ *	 3    |	BMI160_ACCEL_OUTPUT_DATA_RATE_3_12HZ
+ *	 4    | BMI160_ACCEL_OUTPUT_DATA_RATE_6_25HZ
+ *	 5	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_12_5HZ
+ *	 6	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_25HZ
+ *	 7	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_50HZ
+ *	 8	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ
+ *	 9	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_200HZ
+ *	 10	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_400HZ
+ *	 11	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_800HZ
+ *	 12	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_1600HZ
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_output_data_rate(
+u8 *v_output_data_rate_u8);
+/*!
+ *	@brief This API is used to set the
+ *	accel output date rate from the register 0x40 bit 0 to 3
+ *
+ *
+ *  @param  v_output_data_rate_u8 :The value of Accel output date rate
+ *  value |  output data rate
+ * -------|--------------------------
+ *	 0    |	BMI160_ACCEL_OUTPUT_DATA_RATE_RESERVED
+ *	 1	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_0_78HZ
+ *	 2	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_1_56HZ
+ *	 3    |	BMI160_ACCEL_OUTPUT_DATA_RATE_3_12HZ
+ *	 4    | BMI160_ACCEL_OUTPUT_DATA_RATE_6_25HZ
+ *	 5	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_12_5HZ
+ *	 6	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_25HZ
+ *	 7	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_50HZ
+ *	 8	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ
+ *	 9	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_200HZ
+ *	 10	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_400HZ
+ *	 11	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_800HZ
+ *	 12	  |	BMI160_ACCEL_OUTPUT_DATA_RATE_1600HZ
+ *
+ *  @param  v_accel_bw_u8 :The value of Accel selected Accel bandwidth
+ *  value |  output data rate
+ * -------|--------------------------
+ *    0   |  BMI160_ACCEL_OSR4_AVG1
+ *    1   |  BMI160_ACCEL_OSR2_AVG2
+ *    2   |  BMI160_ACCEL_NORMAL_AVG4
+ *    3   |  BMI160_ACCEL_CIC_AVG8
+ *    4   |  BMI160_ACCEL_RES_AVG2
+ *    5   |  BMI160_ACCEL_RES_AVG4
+ *    6   |  BMI160_ACCEL_RES_AVG8
+ *    7   |  BMI160_ACCEL_RES_AVG16
+ *    8   |  BMI160_ACCEL_RES_AVG32
+ *    9   |  BMI160_ACCEL_RES_AVG64
+ *    10  |  BMI160_ACCEL_RES_AVG128
+ *
+ *
+ *
+ *
+ *
+ *	@note Verify the Accel bandwidth before setting the
+ *  output data rate
+ *  bandwidth  | output data rate |  under sampling
+ *-------------|------------------|----------------
+ *   OSR4      |  12.5 TO 1600    |   0
+ *   OSR2      |  12.5 TO 1600    |   0
+ *  NORMAL     |  12.5 TO 1600    |   0
+ *   CIC       |  12.5 TO 1600    |   0
+ *   AVG2      |  0.78 TO 400     |   1
+ *   AVG4      |  0.78 TO 200     |   1
+ *   AVG8      |  0.78 TO 100     |   1
+ *   AVG16     |  0.78 TO 50      |   1
+ *   AVG32     |  0.78 TO 25      |   1
+ *   AVG64     |  0.78 TO 12.5    |   1
+ *   AVG128    |  0.78 TO 6.25    |   1
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_output_data_rate(
+u8 v_output_data_rate_u8, u8 v_accel_bw_u8);
+/*!
+ *	@brief This API is used to get the
+ *	accel bandwidth from the register 0x40 bit 4 to 6
+ *	@brief bandwidth parameter determines filter configuration(acc_us=0)
+ *	and averaging for under sampling mode(acc_us=1)
+ *
+ *
+ *  @param  v_bw_u8 : The value of Accel bandwidth
+ *
+ *	@note Accel bandwidth depends on under sampling parameter
+ *	@note under sampling parameter cab be set by the function
+ *	"BMI160_SET_ACCEL_UNDER_SAMPLING_PARAMETER"
+ *
+ *	@note Filter configuration
+ *  accel_us  | Filter configuration
+ * -----------|---------------------
+ *    0x00    |  OSR4 mode
+ *    0x01    |  OSR2 mode
+ *    0x02    |  normal mode
+ *    0x03    |  CIC mode
+ *    0x04    |  Reserved
+ *    0x05    |  Reserved
+ *    0x06    |  Reserved
+ *    0x07    |  Reserved
+ *
+ *	@note Accel under sampling mode
+ *  accel_us  | Under sampling mode
+ * -----------|---------------------
+ *    0x00    |  no averaging
+ *    0x01    |  average 2 samples
+ *    0x02    |  average 4 samples
+ *    0x03    |  average 8 samples
+ *    0x04    |  average 16 samples
+ *    0x05    |  average 32 samples
+ *    0x06    |  average 64 samples
+ *    0x07    |  average 128 samples
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_bw(u8 *v_bw_u8);
+/*!
+ *	@brief This API is used to set the
+ *	accel bandwidth from the register 0x40 bit 4 to 6
+ *	@brief bandwidth parameter determines filter configuration(acc_us=0)
+ *	and averaging for under sampling mode(acc_us=1)
+ *
+ *
+ *  @param  v_bw_u8 : The value of Accel bandwidth
+ *
+ *	@note Accel bandwidth depends on under sampling parameter
+ *	@note under sampling parameter cab be set by the function
+ *	"BMI160_SET_ACCEL_UNDER_SAMPLING_PARAMETER"
+ *
+ *	@note Filter configuration
+ *  accel_us  | Filter configuration
+ * -----------|---------------------
+ *    0x00    |  OSR4 mode
+ *    0x01    |  OSR2 mode
+ *    0x02    |  normal mode
+ *    0x03    |  CIC mode
+ *    0x04    |  Reserved
+ *    0x05    |  Reserved
+ *    0x06    |  Reserved
+ *    0x07    |  Reserved
+ *
+ *	@note Accel under sampling mode
+ *  accel_us  | Under sampling mode
+ * -----------|---------------------
+ *    0x00    |  no averaging
+ *    0x01    |  average 2 samples
+ *    0x02    |  average 4 samples
+ *    0x03    |  average 8 samples
+ *    0x04    |  average 16 samples
+ *    0x05    |  average 32 samples
+ *    0x06    |  average 64 samples
+ *    0x07    |  average 128 samples
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_bw(u8 v_bw_u8);
+/*!
+ *	@brief This API is used to get the accel
+ *	under sampling parameter from the register 0x40 bit 7
+ *
+ *
+ *
+ *
+ *	@param  v_accel_under_sampling_u8 : The value of Accel under sampling
+ *	value    | under_sampling
+ * ----------|---------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_under_sampling_parameter(
+u8 *v_accel_under_sampling_u8);
+/*!
+ *	@brief This API is used to set the accel
+ *	under sampling parameter from the register 0x40 bit 7
+ *
+ *
+ *
+ *
+ *	@param  v_accel_under_sampling_u8 : The value of Accel under sampling
+ *	value    | under_sampling
+ * ----------|---------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_under_sampling_parameter(
+u8 v_accel_under_sampling_u8);
+/*!
+ *	@brief This API is used to get the range
+ *	(g values) of the Accel from the register 0x41 bit 0 to 3
+ *
+ *
+ *
+ *
+ *  @param v_range_u8 : The value of Accel g range
+ *	value    | g_range
+ * ----------|-----------
+ *   0x03    | BMI160_ACCEL_RANGE_2G
+ *   0x05    | BMI160_ACCEL_RANGE_4G
+ *   0x08    | BMI160_ACCEL_RANGE_8G
+ *   0x0C    | BMI160_ACCEL_RANGE_16G
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_range(
+u8 *v_range_u8);
+/*!
+ *	@brief This API is used to set the range
+ *	(g values) of the Accel from the register 0x41 bit 0 to 3
+ *
+ *
+ *
+ *
+ *  @param v_range_u8 : The value of Accel g range
+ *	value    | g_range
+ * ----------|-----------
+ *   0x03    | BMI160_ACCEL_RANGE_2G
+ *   0x05    | BMI160_ACCEL_RANGE_4G
+ *   0x08    | BMI160_ACCEL_RANGE_8G
+ *   0x0C    | BMI160_ACCEL_RANGE_16G
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_range(
+u8 v_range_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR GYRO CONFIGURATIONS */
+/*************************************************/
+/*!
+ *	@brief This API is used to get the
+ *	gyroscope output data rate from the register 0x42 bit 0 to 3
+ *
+ *
+ *
+ *
+ *  @param  v_output_data_rate_u8 :The value of Gyro output data rate
+ *  value     |      Gyro output data rate
+ * -----------|-----------------------------
+ *   0x00     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x01     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x02     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x03     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x04     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x05     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x06     | BMI160_GYRO_OUTPUT_DATA_RATE_25HZ
+ *   0x07     | BMI160_GYRO_OUTPUT_DATA_RATE_50HZ
+ *   0x08     | BMI160_GYRO_OUTPUT_DATA_RATE_100HZ
+ *   0x09     | BMI160_GYRO_OUTPUT_DATA_RATE_200HZ
+ *   0x0A     | BMI160_GYRO_OUTPUT_DATA_RATE_400HZ
+ *   0x0B     | BMI160_GYRO_OUTPUT_DATA_RATE_800HZ
+ *   0x0C     | BMI160_GYRO_OUTPUT_DATA_RATE_1600HZ
+ *   0x0D     | BMI160_GYRO_OUTPUT_DATA_RATE_3200HZ
+ *   0x0E     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x0F     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_output_data_rate(
+u8 *gyro_output_typer);
+/*!
+ *	@brief This API is used to set the
+ *	gyroscope output data rate from the register 0x42 bit 0 to 3
+ *
+ *
+ *
+ *
+ *  @param  v_output_data_rate_u8 :The value of Gyro output data rate
+ *  value     |      Gyro output data rate
+ * -----------|-----------------------------
+ *   0x00     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x01     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x02     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x03     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x04     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x05     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x06     | BMI160_GYRO_OUTPUT_DATA_RATE_25HZ
+ *   0x07     | BMI160_GYRO_OUTPUT_DATA_RATE_50HZ
+ *   0x08     | BMI160_GYRO_OUTPUT_DATA_RATE_100HZ
+ *   0x09     | BMI160_GYRO_OUTPUT_DATA_RATE_200HZ
+ *   0x0A     | BMI160_GYRO_OUTPUT_DATA_RATE_400HZ
+ *   0x0B     | BMI160_GYRO_OUTPUT_DATA_RATE_800HZ
+ *   0x0C     | BMI160_GYRO_OUTPUT_DATA_RATE_1600HZ
+ *   0x0D     | BMI160_GYRO_OUTPUT_DATA_RATE_3200HZ
+ *   0x0E     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *   0x0F     | BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_output_data_rate(
+u8 gyro_output_typer);
+/*!
+ *	@brief This API is used to get the
+ *	bandwidth of Gyro from the register 0x42 bit 4 to 5
+ *
+ *
+ *
+ *
+ *  @param  v_bw_u8 : The value of Gyro bandwidth
+ *  value     | Gyro bandwidth
+ *  ----------|----------------
+ *   0x00     | BMI160_GYRO_OSR4_MODE
+ *   0x01     | BMI160_GYRO_OSR2_MODE
+ *   0x02     | BMI160_GYRO_NORMAL_MODE
+ *   0x03     | BMI160_GYRO_CIC_MODE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_bw(u8 *v_bw_u8);
+/*!
+ *	@brief This API is used to set the
+ *	bandwidth of Gyro from the register 0x42 bit 4 to 5
+ *
+ *
+ *
+ *
+ *  @param  v_bw_u8 : The value of Gyro bandwidth
+ *  value     | Gyro bandwidth
+ *  ----------|----------------
+ *   0x00     | BMI160_GYRO_OSR4_MODE
+ *   0x01     | BMI160_GYRO_OSR2_MODE
+ *   0x02     | BMI160_GYRO_NORMAL_MODE
+ *   0x03     | BMI160_GYRO_CIC_MODE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_bw(u8 v_bw_u8);
+/*!
+ *	@brief This API reads the range
+ *	of Gyro from the register 0x43 bit 0 to 2
+ *
+ *  @param  v_range_u8 : The value of Gyro range
+ *   value    |    range
+ *  ----------|-------------------------------
+ *    0x00    | BMI160_GYRO_RANGE_2000_DEG_SEC
+ *    0x01    | BMI160_GYRO_RANGE_1000_DEG_SEC
+ *    0x02    | BMI160_GYRO_RANGE_500_DEG_SEC
+ *    0x03    | BMI160_GYRO_RANGE_250_DEG_SEC
+ *    0x04    | BMI160_GYRO_RANGE_125_DEG_SEC
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_range(
+u8 *v_range_u8);
+/*!
+ *	@brief This API sets the range
+ *	of Gyro from the register 0x43 bit 0 to 2
+ *
+ *  @param  v_range_u8 : The value of Gyro range
+ *   value    |    range
+ *  ----------|-------------------------------
+ *    0x00    | BMI160_GYRO_RANGE_2000_DEG_SEC
+ *    0x01    | BMI160_GYRO_RANGE_1000_DEG_SEC
+ *    0x02    | BMI160_GYRO_RANGE_500_DEG_SEC
+ *    0x03    | BMI160_GYRO_RANGE_250_DEG_SEC
+ *    0x04    | BMI160_GYRO_RANGE_125_DEG_SEC
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_range(
+u8 v_range_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR MAG CONFIGURATIONS */
+/*************************************************/
+/*!
+ *	@brief This API is used to get the
+ *	output data rate of Mag from the register 0x44 bit 0 to 3
+ *
+ *
+ *
+ *
+ *  @param  v_output_data_rate_u8 : The value of Mag output data rate
+ *  value   |    Mag output data rate
+ * ---------|---------------------------
+ *  0x00    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED
+ *  0x01    |BMI160_MAG_OUTPUT_DATA_RATE_0_78HZ
+ *  0x02    |BMI160_MAG_OUTPUT_DATA_RATE_1_56HZ
+ *  0x03    |BMI160_MAG_OUTPUT_DATA_RATE_3_12HZ
+ *  0x04    |BMI160_MAG_OUTPUT_DATA_RATE_6_25HZ
+ *  0x05    |BMI160_MAG_OUTPUT_DATA_RATE_12_5HZ
+ *  0x06    |BMI160_MAG_OUTPUT_DATA_RATE_25HZ
+ *  0x07    |BMI160_MAG_OUTPUT_DATA_RATE_50HZ
+ *  0x08    |BMI160_MAG_OUTPUT_DATA_RATE_100HZ
+ *  0x09    |BMI160_MAG_OUTPUT_DATA_RATE_200HZ
+ *  0x0A    |BMI160_MAG_OUTPUT_DATA_RATE_400HZ
+ *  0x0B    |BMI160_MAG_OUTPUT_DATA_RATE_800HZ
+ *  0x0C    |BMI160_MAG_OUTPUT_DATA_RATE_1600HZ
+ *  0x0D    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED0
+ *  0x0E    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED1
+ *  0x0F    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED2
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_output_data_rate(u8 *odr);
+/*!
+ *	@brief This API is used to set the
+ *	output data rate of Mag from the register 0x44 bit 0 to 3
+ *
+ *
+ *
+ *
+ *  @param  v_output_data_rate_u8 : The value of Mag output data rate
+ *  value   |    Mag output data rate
+ * ---------|---------------------------
+ *  0x00    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED
+ *  0x01    |BMI160_MAG_OUTPUT_DATA_RATE_0_78HZ
+ *  0x02    |BMI160_MAG_OUTPUT_DATA_RATE_1_56HZ
+ *  0x03    |BMI160_MAG_OUTPUT_DATA_RATE_3_12HZ
+ *  0x04    |BMI160_MAG_OUTPUT_DATA_RATE_6_25HZ
+ *  0x05    |BMI160_MAG_OUTPUT_DATA_RATE_12_5HZ
+ *  0x06    |BMI160_MAG_OUTPUT_DATA_RATE_25HZ
+ *  0x07    |BMI160_MAG_OUTPUT_DATA_RATE_50HZ
+ *  0x08    |BMI160_MAG_OUTPUT_DATA_RATE_100HZ
+ *  0x09    |BMI160_MAG_OUTPUT_DATA_RATE_200HZ
+ *  0x0A    |BMI160_MAG_OUTPUT_DATA_RATE_400HZ
+ *  0x0B    |BMI160_MAG_OUTPUT_DATA_RATE_800HZ
+ *  0x0C    |BMI160_MAG_OUTPUT_DATA_RATE_1600HZ
+ *  0x0D    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED0
+ *  0x0E    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED1
+ *  0x0F    |BMI160_MAG_OUTPUT_DATA_RATE_RESERVED2
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_output_data_rate(u8 odr);
+#ifdef FIFO_ENABLE
+/**************************************************/
+/**\name	 FUNCTION FOR FIFO CONFIGURATIONS */
+/*************************************************/
+ /*!
+ *	@brief This API is used to read Down sampling
+ *	for Gyro (2**downs_gyro) in the register 0x45 bit 0 to 2
+ *
+ *
+ *
+ *
+ *  @param v_fifo_down_gyro_u8 :The value of Gyro FIFO down
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_down_gyro(
+u8 *v_fifo_down_gyro_u8);
+ /*!
+ *	@brief This API is used to set Down sampling
+ *	for Gyro (2**downs_gyro) in the register 0x45 bit 0 to 2
+ *
+ *
+ *
+ *
+ *  @param v_fifo_down_gyro_u8 :The value of Gyro FIFO down
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_down_gyro(
+u8 v_fifo_down_gyro_u8);
+/*!
+ *	@brief This API is used to read Gyro FIFO filter data
+ *	from the register 0x45 bit 3
+ *
+ *
+ *
+ *  @param v_gyro_fifo_filter_data_u8 :The value of Gyro filter data
+ *  value      |  gyro_fifo_filter_data
+ * ------------|-------------------------
+ *    0x00     |  Unfiltered data
+ *    0x01     |  Filtered data
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_fifo_filter_data(
+u8 *v_gyro_fifo_filter_data_u8);
+/*!
+ *	@brief This API is used to set Gyro FIFO filter data
+ *	from the register 0x45 bit 3
+ *
+ *
+ *
+ *  @param v_gyro_fifo_filter_data_u8 :The value of Gyro filter data
+ *  value      |  gyro_fifo_filter_data
+ * ------------|-------------------------
+ *    0x00     |  Unfiltered data
+ *    0x01     |  Filtered data
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_fifo_filter_data(
+u8 v_gyro_fifo_filter_data_u8);
+/*!
+ *	@brief This API is used to read Down sampling
+ *	for Accel (2*downs_accel) from the register 0x45 bit 4 to 6
+ *
+ *
+ *
+ *
+ *  @param v_fifo_down_u8 :The value of Accel FIFO down
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_down_accel(
+u8 *v_fifo_down_u8);
+ /*!
+ *	@brief This API is used to set Down sampling
+ *	for Accel (2*downs_accel) from the register 0x45 bit 4 to 6
+ *
+ *
+ *
+ *
+ *  @param v_fifo_down_u8 :The value of Accel FIFO down
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_down_accel(
+u8 v_fifo_down_u8);
+/*!
+ *	@brief This API is used to read Accel FIFO filter data
+ *	from the register 0x45 bit 7
+ *
+ *
+ *
+ *  @param accel_fifo_filter_u8 :The value of Accel filter data
+ *  value      |  accel_fifo_filter_u8
+ * ------------|-------------------------
+ *    0x00     |  Unfiltered data
+ *    0x01     |  Filtered data
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_fifo_filter_data(
+u8 *accel_fifo_filter_u8);
+/*!
+ *	@brief This API is used to set Accel FIFO filter data
+ *	from the register 0x45 bit 7
+ *
+ *
+ *
+ *  @param v_accel_fifo_filter_u8 :The value of Accel filter data
+ *  value      |  accel_fifo_filter_data
+ * ------------|-------------------------
+ *    0x00     |  Unfiltered data
+ *    0x01     |  Filtered data
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_fifo_filter_data(
+u8 v_accel_fifo_filter_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR FIFO WATER MARK ENABLE */
+/*************************************************/
+/*!
+ *	@brief This API is used to Trigger an interrupt
+ *	when FIFO contains water mark level from the register 0x46 bit 0 to 7
+ *
+ *
+ *
+ *  @param  v_fifo_wm_u8 : The value of FIFO water mark level
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_wm(
+u8 *v_fifo_wm_u8);
+/*!
+ *	@brief This API is used to Trigger an interrupt
+ *	when FIFO contains water mark level from the register 0x46 bit 0 to 7
+ *
+ *
+ *
+ *  @param  v_fifo_wm_u8 : The value of FIFO water mark level
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_wm(
+u8 v_fifo_wm_u8);
+/**************************************************/
+/**\name	 FUNCTION FOR FIFO CONFIGURATIONS */
+/*************************************************/
+/*!
+ *	@brief This API reads FIFO sensor time
+ *	frame after the last valid data frame from the register  0x47 bit 1
+ *
+ *
+ *
+ *
+ *  @param v_fifo_time_enable_u8 : The value of sensor time
+ *  value      |  FIFO sensor time
+ * ------------|-------------------------
+ *    0x00     |  do not return sensortime frame
+ *    0x01     |  return sensortime frame
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_time_enable(
+u8 *v_fifo_time_enable_u8);
+/*!
+ *	@brief This API sets FIFO sensor time
+ *	frame after the last valid data frame from the register  0x47 bit 1
+ *
+ *
+ *
+ *
+ *  @param v_fifo_time_enable_u8 : The value of sensor time
+ *  value      |  FIFO sensor time
+ * ------------|-------------------------
+ *    0x00     |  do not return sensortime frame
+ *    0x01     |  return sensortime frame
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_time_enable(
+u8 v_fifo_time_enable_u8);
+/*!
+ *	@brief This API reads FIFO tag interrupt2 enable status
+ *	from the register 0x47 bit 2
+ *
+ *  @param v_fifo_tag_intr2_u8 : The value of FIFO tag interrupt
+ *	value    | FIFO tag interrupt
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_tag_intr2_enable(
+u8 *v_fifo_tag_intr2_u8);
+/*!
+ *	@brief This API sets FIFO tag interrupt2 enable status
+ *	from the register 0x47 bit 2
+ *
+ *  @param v_fifo_tag_intr2_u8 : The value of FIFO tag interrupt
+ *	value    | FIFO tag interrupt
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_tag_intr2_enable(
+u8 v_fifo_tag_intr2_u8);
+/*!
+ *	@brief This API reads FIFO tag interrupt1 enable status
+ *	from the register 0x47 bit 3
+ *
+ *  @param v_fifo_tag_intr1_u8 :The value of FIFO tag interrupt1
+ *	value    | FIFO tag interrupt
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_tag_intr1_enable(
+u8 *v_fifo_tag_intr1_u8);
+/*!
+ *	@brief This API sets FIFO tag interrupt1 enable status
+ *	from the register 0x47 bit 3
+ *
+ *  @param v_fifo_tag_intr1_u8 :The value of FIFO tag interrupt1
+ *	value    | FIFO tag interrupt
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_tag_intr1_enable(
+u8 v_fifo_tag_intr1_u8);
+/*!
+ *	@brief This API reads FIFO frame
+ *	header enable from the register 0x47 bit 4
+ *
+ *  @param v_fifo_header_u8 :The value of FIFO header
+ *	value    | FIFO header
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_header_enable(
+u8 *v_fifo_header_u8);
+/*!
+ *	@brief This API sets FIFO frame
+ *	header enable from the register 0x47 bit 4
+ *
+ *  @param v_fifo_header_u8 :The value of FIFO header
+ *	value    | FIFO header
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_header_enable(
+u8 v_fifo_header_u8);
+/*!
+ *	@brief This API is used to check whether
+ *	magnetometer data in FIFO (all 3 axes) or not from the
+ *	register 0x47 bit 5
+ *
+ *  @param v_fifo_mag_u8 : The value of FIFO Mag enable
+ *	value    | FIFO mag
+ * ----------|-------------------
+ *  0x00     |  no Mag data is stored
+ *  0x01     |  Mag data is stored
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_mag_enable(
+u8 *v_fifo_mag_u8);
+/*!
+ *	@brief This API is used to enable
+ *	magnetometer data in FIFO (all 3 axes) from the register 0x47 bit 5
+ *
+ *  @param v_fifo_mag_u8 : The value of FIFO Mag enable
+ *	value    | FIFO mag
+ * ----------|-------------------
+ *  0x00     |  no Mag data is stored
+ *  0x01     |  Mag data is stored
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_mag_enable(
+u8 v_fifo_mag_u8);
+/*!
+ *	@brief This API is used to check whether
+ *	accel data is stored in FIFO (all 3 axes) or not from the
+ *	register 0x47 bit 6
+ *
+ *  @param v_fifo_accel_u8 : The value of FIFO Accel enable
+ *	value    | FIFO accel
+ * ----------|-------------------
+ *  0x00     |  no Accel data is stored
+ *  0x01     |  Accel data is stored
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_accel_enable(
+u8 *v_fifo_accel_u8);
+/*!
+ *	@brief This API is used to enable
+ *	accel data in FIFO (all 3 axes) from the register 0x47 bit 6
+ *
+ *  @param v_fifo_accel_u8 : The value of FIFO Accel enable
+ *	value    | FIFO accel
+ * ----------|-------------------
+ *  0x00     |  no Accel data is stored
+ *  0x01     |  Accel data is stored
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_accel_enable(
+u8 v_fifo_accel_u8);
+/*!
+ *	@brief This API is used to check whether
+ *	gyro data is stored in FIFO (all 3 axes) or not from the
+ *	register 0x47 bit 7
+ *
+ *
+ *  @param v_fifo_gyro_u8 : The value of FIFO Gyro enable
+ *	value    | FIFO gyro
+ * ----------|-------------------
+ *  0x00     |  no Gyro data is stored
+ *  0x01     |  Gyro data is stored
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_gyro_enable(
+u8 *v_fifo_gyro_u8);
+/*!
+ *	@brief This API is used to enable
+ *	gyro data in FIFO (all 3 axes) from the register 0x47 bit 7
+ *
+ *
+ *  @param v_fifo_gyro_u8 : The value of FIFO Gyro enable
+ *	value    | FIFO gyro
+ * ----------|-------------------
+ *  0x00     |  no Gyro data is stored
+ *  0x01     |  Gyro data is stored
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_gyro_enable(
+u8 v_fifo_gyro_u8);
+#endif
+/***************************************************************/
+/**\name	FUNCTION FOR MAG I2C ADDRESS SELECTION          */
+/***************************************************************/
+/*!
+ *	@brief This API is used to read
+ *	I2C device address of auxiliary Mag from the register 0x4B bit 1 to 7
+ *
+ *
+ *
+ *
+ *  @param v_i2c_device_addr_u8 : The value of Mag I2C device address
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_i2c_device_addr(
+u8 *v_i2c_device_addr_u8);
+/*!
+ *	@brief This API is used to set
+ *	I2C device address of auxiliary Mag from the register 0x4B bit 1 to 7
+ *
+ *
+ *
+ *
+ *  @param v_i2c_device_addr_u8 : The value of Mag I2C device address
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_i2c_device_addr(
+u8 v_i2c_device_addr_u8);
+/*!
+ *	@brief This API is used to read the
+ *	Burst data length (1,2,6,8 byte) from the register 0x4C bit 0 to 1
+ *
+ *
+ *
+ *
+ *  @param v_mag_burst_u8 : The data of Mag burst read length
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_burst(
+u8 *v_mag_burst_u8);
+/*!
+ *	@brief This API is used to set
+ *	Burst data length (1,2,6,8 byte) from the register 0x4C bit 0 to 1
+ *
+ *
+ *
+ *
+ *  @param v_mag_burst_u8 : The data of Mag burst read length
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_burst(
+u8 v_mag_burst_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR MAG OFFSET         */
+/***************************************************************/
+/*!
+ *	@brief This API is used to read
+ *	trigger-readout offset in units of 2.5 ms. If set to zero,
+ *	the offset is maximum, i.e. after readout a trigger
+ *	is issued immediately. from the register 0x4C bit 2 to 5
+ *
+ *
+ *
+ *
+ *  @param v_mag_offset_u8 : The value of Mag offset
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_offset(
+u8 *v_mag_offset_u8);
+/*!
+ *	@brief This API is used to set the
+ *	trigger-readout offset in units of 2.5 ms. If set to zero,
+ *	the offset is maximum, i.e. after readout a trigger
+ *	is issued immediately. from the register 0x4C bit 2 to 5
+ *
+ *
+ *
+ *
+ *  @param v_mag_offset_u8 : The value of Mag offset
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_offset(
+u8 v_mag_offset_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR MAG MANUAL/AUTO MODE SELECTION          */
+/***************************************************************/
+/*!
+ *	@brief This API is used to read the
+ *	Enable register access on MAG_IF[2] or MAG_IF[3].
+ *	This implies that the DATA registers are not updated with
+ *	magnetometer values. Accessing Mag requires
+ *	the Mag in normal mode in PMU_STATUS.
+ *	from the register 0x4C bit 7
+ *
+ *
+ *
+ *  @param v_mag_manual_u8 : The value of Mag manual enable
+ *	value    | Mag manual
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_manual_enable(
+u8 *v_mag_manual_u8);
+/*!
+ *	@brief This API is used to set the
+ *	Enable register access of MAG_IF[2] or MAG_IF[3].
+ *	This implies that the DATA registers are not updated with
+ *	magnetometer values. Accessing Mag requires
+ *	the Mag in normal mode in PMU_STATUS.
+ *	from the register 0x4C bit 7
+ *
+ *
+ *
+ *  @param v_mag_manual_u8 : The value of Mag manual enable
+ *	value    | Mag manual
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_manual_enable(
+u8 v_mag_manual_u8);
+/***************************************************************/
+/**\name	FUNCTIONS FOR MAG READ, WRITE AND WRITE DATA ADDRESS  */
+/***************************************************************/
+/*!
+ *	@brief This API is used to get the
+ *	magnetometer read address from the register 0x4D bit 0 to 7
+ *	@brief Mag read address of auxiliary mag
+ *
+ *
+ *
+ *
+ *  @param  v_mag_read_addr_u8 : The value of address need to be read
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_read_addr(
+u8 *v_mag_read_addr_u8);
+/*!
+ *	@brief This API is used to set
+ *	magnetometer read address from the register 0x4D bit 0 to 7
+ *	@brief address where data will be read from auxiliary mag
+ *
+ *
+ *
+ *  @param v_mag_read_addr_u8:
+ *	The data of auxiliary Mag address to write data
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_read_addr(
+u8 v_mag_read_addr_u8);
+/*!
+ *	@brief This API is used to read
+ *	magnetometer write address from the register 0x4E bit 0 to 7
+ *	@brief write address where data will be written in magnetometer
+ *
+ *
+ *
+ *  @param  v_mag_write_addr_u8:
+ *	The data of auxiliary Mag address to write data
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_write_addr(
+u8 *v_mag_write_addr_u8);
+/*!
+ *	@brief This API is used to set
+ *	magnetometer write address from the register 0x4E bit 0 to 7
+ *	@brief this is the address in Mag where the data will be written
+ *
+ *
+ *
+ *  @param  v_mag_write_addr_u8:
+ *	The address which the data will be written to
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_write_addr(
+u8 v_mag_write_addr_u8);
+/*!
+ *	@brief This API is used to read Mag write data
+ *	from the register 0x4F bit 0 to 7
+ *	@brief The data will be written to mag
+ *
+ *
+ *
+ *  @param  v_mag_write_data_u8: The value of Mag data
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_write_data(
+u8 *v_mag_write_data_u8);
+/*!
+ *	@brief This API is used to set Mag write data
+ *	from the register 0x4F bit 0 to 7
+ *	@brief The data will be written to mag
+ *
+ *
+ *
+ *  @param  v_mag_write_data_u8: The value of Mag data
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_write_data(
+u8 v_mag_write_data_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR INTERRUPT ENABLE OF
+ANY-MOTION XYZ, DOUBLE AND SINGLE TAP, ORIENT AND FLAT         */
+/***************************************************************/
+/*!
+ *	@brief  This API is used to read
+ *	interrupt enable from the register 0x50 bit 0 to 7
+ *
+ *
+ *
+ *
+ *	@param v_enable_u8 : Value which selects the interrupt
+ *   v_enable_u8   |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_ANY_MOTION_X_ENABLE
+ *       1         | BMI160_ANY_MOTION_Y_ENABLE
+ *       2         | BMI160_ANY_MOTION_Z_ENABLE
+ *       3         | BMI160_DOUBLE_TAP_ENABLE
+ *       4         | BMI160_SINGLE_TAP_ENABLE
+ *       5         | BMI160_ORIENT_ENABLE
+ *       6         | BMI160_FLAT_ENABLE
+ *
+ *	@param v_intr_enable_zero_u8 : The interrupt enable value
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_enable_0(
+u8 enable, u8 *v_intr_enable_zero_u8);
+/*!
+ *	@brief  This API is used to set
+ *	interrupt enable from the register 0x50 bit 0 to 7
+ *
+ *
+ *
+ *
+ *	@param v_enable_u8 : Value which selects the interrupt
+ *   v_enable_u8   |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_ANY_MOTION_X_ENABLE
+ *       1         | BMI160_ANY_MOTION_Y_ENABLE
+ *       2         | BMI160_ANY_MOTION_Z_ENABLE
+ *       3         | BMI160_DOUBLE_TAP_ENABLE
+ *       4         | BMI160_SINGLE_TAP_ENABLE
+ *       5         | BMI160_ORIENT_ENABLE
+ *       6         | BMI160_FLAT_ENABLE
+ *
+ *	@param v_intr_enable_zero_u8 : The interrupt enable value
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_enable_0(
+u8 enable, u8 v_intr_enable_zero_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR INTERRUPT ENABLE OF
+HIGH_G XYZ, LOW_G, DATA READY, FIFO FULL AND FIFO WATER MARK  */
+/***************************************************************/
+/*!
+ *	@brief  This API is used to read
+ *	interrupt enable byte1 from the register 0x51 bit 0 to 6
+ *	@brief It read the high_g_x,high_g_y,high_g_z,low_g_enable
+ *	data ready, FIFO full and FIFO water mark.
+ *
+ *
+ *
+ *  @param  v_enable_u8 :  The value of interrupt enable
+ *	@param v_enable_u8 : Value which selects interrupt
+ *   v_enable_u8   |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_HIGH_G_X_ENABLE
+ *       1         | BMI160_HIGH_G_Y_ENABLE
+ *       2         | BMI160_HIGH_G_Z_ENABLE
+ *       3         | BMI160_LOW_G_ENABLE
+ *       4         | BMI160_DATA_RDY_ENABLE
+ *       5         | BMI160_FIFO_FULL_ENABLE
+ *       6         | BMI160_FIFO_WM_ENABLE
+ *
+ *	@param v_intr_enable_1_u8 : The interrupt enable value
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_enable_1(
+u8 enable, u8 *v_intr_enable_1_u8);
+/*!
+ *	@brief  This API is used to set
+ *	interrupt enable byte1 from the register 0x51 bit 0 to 6
+ *	@brief It read the high_g_x,high_g_y,high_g_z,low_g_enable
+ *	data ready, FIFO full and FIFO water mark.
+ *
+ *
+ *
+ *  @param  v_enable_u8 :  The value of interrupt enable
+ *	@param v_enable_u8 : Value to select the interrupt
+ *   v_enable_u8   |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_HIGH_G_X_ENABLE
+ *       1         | BMI160_HIGH_G_Y_ENABLE
+ *       2         | BMI160_HIGH_G_Z_ENABLE
+ *       3         | BMI160_LOW_G_ENABLE
+ *       4         | BMI160_DATA_RDY_ENABLE
+ *       5         | BMI160_FIFO_FULL_ENABLE
+ *       6         | BMI160_FIFO_WM_ENABLE
+ *
+ *	@param v_intr_enable_1_u8 : The interrupt enable value
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_enable_1(
+u8 enable, u8 v_intr_enable_1_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR INTERRUPT ENABLE OF
+NO MOTION XYZ  */
+/***************************************************************/
+/*!
+ *	@brief  This API is used to read
+ *	interrupt enable byte2 from the register bit 0x52 bit 0 to 3
+ *	@brief It reads no motion x,y and z
+ *
+ *
+ *
+ *	@param v_enable_u8: The value of interrupt enable
+ *   v_enable_u8   |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_NOMOTION_X_ENABLE
+ *       1         | BMI160_NOMOTION_Y_ENABLE
+ *       2         | BMI160_NOMOTION_Z_ENABLE
+ *
+ *	@param v_intr_enable_2_u8 : The interrupt enable value
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_enable_2(
+u8 enable, u8 *v_intr_enable_2_u8);
+/*!
+ *	@brief  This API is used to set
+ *	interrupt enable byte2 from the register bit 0x52 bit 0 to 3
+ *	@brief It reads no motion x,y and z
+ *
+ *
+ *
+ *	@param v_enable_u8: The value of interrupt enable
+ *   v_enable_u8   |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_NOMOTION_X_ENABLE
+ *       1         | BMI160_NOMOTION_Y_ENABLE
+ *       2         | BMI160_NOMOTION_Z_ENABLE
+ *
+ *	@param v_intr_enable_2_u8 : The interrupt enable value
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_enable_2(
+u8 enable, u8 v_intr_enable_2_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR INTERRUPT ENABLE OF
+  STEP DETECTOR */
+/***************************************************************/
+ /*!
+ *	@brief This API is used to read
+ *	interrupt enable step detector interrupt from
+ *	the register bit 0x52 bit 3
+ *
+ *
+ *
+ *
+ *	@param v_step_intr_u8 : The value of step detector interrupt enable
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_step_detector_enable(
+u8 *v_step_intr_u8);
+ /*!
+ *	@brief This API is used to set
+ *	interrupt enable step detector interrupt from
+ *	the register bit 0x52 bit 3
+ *
+ *
+ *
+ *
+ *	@param v_step_intr_u8 : The value of step detector interrupt enable
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_step_detector_enable(
+u8 v_step_intr_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR INTERRUPT CONTROL */
+/***************************************************************/
+/*!
+ *	@brief  This API reads trigger condition of interrupt1
+ *	and interrupt2 pin from the register 0x53
+ *	@brief interrupt1 - bit 0
+ *	@brief interrupt2 - bit 4
+ *
+ *  @param v_channel_u8: The value of edge trigger selection
+ *   v_channel_u8  |   Edge trigger
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_EDGE_CTRL
+ *       1         | BMI160_INTR2_EDGE_CTRL
+ *
+ *	@param v_intr_edge_ctrl_u8 : The value of edge trigger enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_EDGE
+ *  0x00     |  BMI160_LEVEL
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_edge_ctrl(
+u8 v_channel_u8, u8 *v_intr_edge_ctrl_u8);
+/*!
+ *	@brief  This API configures trigger condition of interrupt1
+ *	and interrupt2 pin from the register 0x53
+ *	@brief interrupt1 - bit 0
+ *	@brief interrupt2 - bit 4
+ *
+ *  @param v_channel_u8: The value of edge trigger selection
+ *   v_channel_u8  |   Edge trigger
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_EDGE_CTRL
+ *       1         | BMI160_INTR2_EDGE_CTRL
+ *
+ *	@param v_intr_edge_ctrl_u8 : The value of edge trigger enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_EDGE
+ *  0x00     |  BMI160_LEVEL
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_edge_ctrl(
+u8 v_channel_u8, u8 v_intr_edge_ctrl_u8);
+/*!
+ *	@brief  This API is used to get the Configure level condition of
+ *	interrupt1 and interrupt2 pin from the register 0x53
+ *	@brief interrupt1 - bit 1
+ *	@brief interrupt2 - bit 5
+ *
+ *  @param v_channel_u8: The value of level condition selection
+ *   v_channel_u8  |   level selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_LEVEL
+ *       1         | BMI160_INTR2_LEVEL
+ *
+ *	@param v_intr_level_u8 : The value of level of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  BMI160_LEVEL_HIGH
+ *  0x00     |  BMI160_LEVEL_LOW
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_level(
+u8 v_channel_u8, u8 *v_intr_level_u8);
+/*!
+ *	@brief  This API is used to set the configure level condition of
+ *	interrupt1 and interrupt2 pin from the register 0x53
+ *	@brief interrupt1 - bit 1
+ *	@brief interrupt2 - bit 5
+ *
+ *  @param v_channel_u8: The value of level condition selection
+ *   v_channel_u8  |   level selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_LEVEL
+ *       1         | BMI160_INTR2_LEVEL
+ *
+ *	@param v_intr_level_u8 : The value of level of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  BMI160_LEVEL_HIGH
+ *  0x00     |  BMI160_LEVEL_LOW
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_level(
+u8 v_channel_u8, u8 v_intr_level_u8);
+/*!
+ *	@brief  This API is used to get configured output enable of interrupt1
+ *	and interrupt2 from the register 0x53
+ *	@brief interrupt1 - bit 2
+ *	@brief interrupt2 - bit 6
+ *
+ *
+ *  @param v_channel_u8: The value of output type enable selection
+ *   v_channel_u8  |   level selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_OUTPUT_TYPE
+ *       1         | BMI160_INTR2_OUTPUT_TYPE
+ *
+ *	@param v_intr_output_type_u8 :
+ *	The value of output type of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  BMI160_OPEN_DRAIN
+ *  0x00     |  BMI160_PUSH_PULL
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_output_type(
+u8 v_channel_u8, u8 *v_intr_output_type_u8);
+/*!
+ *	@brief  This API is used to set output enable of interrupt1
+ *	and interrupt2 from the register 0x53
+ *	@brief interrupt1 - bit 2
+ *	@brief interrupt2 - bit 6
+ *
+ *
+ *  @param v_channel_u8: The value of output type enable selection
+ *   v_channel_u8  |   level selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_OUTPUT_TYPE
+ *       1         | BMI160_INTR2_OUTPUT_TYPE
+ *
+ *	@param v_intr_output_type_u8 :
+ *	The value of output type of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  BMI160_OPEN_DRAIN
+ *  0x00     |  BMI160_PUSH_PULL
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_output_type(
+u8 v_channel_u8, u8 v_intr_output_type_u8);
+ /*!
+ *	@brief This API is used to get the output enable for interrupt1
+ *	and interrupt2 pin from the register 0x53
+ *	@brief interrupt1 - bit 3
+ *	@brief interrupt2 - bit 7
+ *
+ *  @param v_channel_u8: The value of output enable selection
+ *   v_channel_u8  |   level selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_OUTPUT_ENABLE
+ *       1         | BMI160_INTR2_OUTPUT_ENABLE
+ *
+ *	@param v_output_enable_u8 :
+ *	The value of output enable of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  INTERRUPT OUTPUT ENABLED
+ *  0x00     |  INTERRUPT OUTPUT DISABLED
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_output_enable(
+u8 v_channel_u8, u8 *v_output_enable_u8);
+ /*!
+ *	@brief This API is used to set the Output enable for interrupt1
+ *	and interrupt2 pin from the register 0x53
+ *	@brief interrupt1 - bit 3
+ *	@brief interrupt2 - bit 7
+ *
+ *  @param v_channel_u8: The value of output enable selection
+ *   v_channel_u8  |   level selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_OUTPUT_ENABLE
+ *       1         | BMI160_INTR2_OUTPUT_ENABLE
+ *
+ *	@param v_output_enable_u8 :
+ *	The value of output enable of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  INTERRUPT OUTPUT ENABLED
+ *  0x00     |  INTERRUPT OUTPUT DISABLED
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_output_enable(
+u8 v_channel_u8, u8 v_output_enable_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR INTERRUPT LATCH INTERRUPT  */
+/***************************************************************/
+/*!
+*	@brief This API is used to get the latch duration
+*	from the register 0x54 bit 0 to 3
+*	@brief This latch selection is not applicable for data ready,
+*	orientation and flat interrupts.
+*
+*
+*
+*  @param v_latch_intr_u8 : The value of latch duration
+*	Latch Duration                      |     value
+* --------------------------------------|------------------
+*    BMI160_LATCH_DUR_NONE              |      0x00
+*    BMI160_LATCH_DUR_312_5_MICRO_SEC   |      0x01
+*    BMI160_LATCH_DUR_625_MICRO_SEC     |      0x02
+*    BMI160_LATCH_DUR_1_25_MILLI_SEC    |      0x03
+*    BMI160_LATCH_DUR_2_5_MILLI_SEC     |      0x04
+*    BMI160_LATCH_DUR_5_MILLI_SEC       |      0x05
+*    BMI160_LATCH_DUR_10_MILLI_SEC      |      0x06
+*    BMI160_LATCH_DUR_20_MILLI_SEC      |      0x07
+*    BMI160_LATCH_DUR_40_MILLI_SEC      |      0x08
+*    BMI160_LATCH_DUR_80_MILLI_SEC      |      0x09
+*    BMI160_LATCH_DUR_160_MILLI_SEC     |      0x0A
+*    BMI160_LATCH_DUR_320_MILLI_SEC     |      0x0B
+*    BMI160_LATCH_DUR_640_MILLI_SEC     |      0x0C
+*    BMI160_LATCH_DUR_1_28_SEC          |      0x0D
+*    BMI160_LATCH_DUR_2_56_SEC          |      0x0E
+*    BMI160_LATCHED                     |      0x0F
+*
+*
+*
+*	@return results of bus communication function
+*	@retval 0 -> Success
+*	@retval -1 -> Error
+*
+*
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_latch_intr(
+u8 *v_latch_intr_u8);
+/*!
+*	@brief This API is used to set the latch duration
+*	from the register 0x54 bit 0 to 3
+*	@brief This latch selection is not applicable for data ready,
+*	orientation and flat interrupts.
+*
+*
+*
+*  @param v_latch_intr_u8 : The value of latch duration
+*	Latch Duration                      |     value
+* --------------------------------------|------------------
+*    BMI160_LATCH_DUR_NONE              |      0x00
+*    BMI160_LATCH_DUR_312_5_MICRO_SEC   |      0x01
+*    BMI160_LATCH_DUR_625_MICRO_SEC     |      0x02
+*    BMI160_LATCH_DUR_1_25_MILLI_SEC    |      0x03
+*    BMI160_LATCH_DUR_2_5_MILLI_SEC     |      0x04
+*    BMI160_LATCH_DUR_5_MILLI_SEC       |      0x05
+*    BMI160_LATCH_DUR_10_MILLI_SEC      |      0x06
+*    BMI160_LATCH_DUR_20_MILLI_SEC      |      0x07
+*    BMI160_LATCH_DUR_40_MILLI_SEC      |      0x08
+*    BMI160_LATCH_DUR_80_MILLI_SEC      |      0x09
+*    BMI160_LATCH_DUR_160_MILLI_SEC     |      0x0A
+*    BMI160_LATCH_DUR_320_MILLI_SEC     |      0x0B
+*    BMI160_LATCH_DUR_640_MILLI_SEC     |      0x0C
+*    BMI160_LATCH_DUR_1_28_SEC          |      0x0D
+*    BMI160_LATCH_DUR_2_56_SEC          |      0x0E
+*    BMI160_LATCHED                     |      0x0F
+*
+*
+*
+*	@return results of bus communication function
+*	@retval 0 -> Success
+*	@retval -1 -> Error
+*
+*
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_latch_intr(
+u8 v_latch_intr_u8);
+/*!
+ *	@brief API is used to get input enable for interrupt1
+ *	and interrupt2 pin from the register 0x54
+ *	@brief interrupt1 - bit 4
+ *	@brief interrupt2 - bit 5
+ *
+ *  @param v_channel_u8: The value of input enable selection
+ *   v_channel_u8  |   input selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_INPUT_ENABLE
+ *       1         | BMI160_INTR2_INPUT_ENABLE
+ *
+ *	@param v_input_en_u8 :
+ *	The value of input enable of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  BMI160_INPUT_ENABLED
+ *  0x00     |  BMI160_INPUT_DISABLED
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_input_enable(
+u8 v_channel_u8, u8 *v_input_en_u8);
+/*!
+ *	@brief API is used to set input enable for interrupt1
+ *	and interrupt2 pin from the register 0x54
+ *	@brief interrupt1 - bit 4
+ *	@brief interrupt2 - bit 5
+ *
+ *  @param v_channel_u8: The value of input enable selection
+ *   v_channel_u8  |   input selection
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_INPUT_ENABLE
+ *       1         | BMI160_INTR2_INPUT_ENABLE
+ *
+ *	@param v_input_en_u8 :
+ *	The value of input enable of interrupt enable
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x01     |  BMI160_INPUT_ENABLED
+ *  0x00     |  BMI160_INPUT_DISABLED
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_input_enable(
+u8 v_channel_u8, u8 v_input_en_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR INTERRUPT1 AND INTERRUPT2 MAPPING */
+/***************************************************************/
+ /*!
+ *	@brief This API reads the Low g interrupt which is mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 0 in the register 0x55
+ *	@brief interrupt2 bit 0 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of low_g selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_LOW_G
+ *       1         | BMI160_INTR2_MAP_LOW_G
+ *
+ *	@param v_intr_low_g_u8 : The value of low_g enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_g(
+u8 v_channel_u8, u8 *v_intr_low_g_u8);
+ /*!
+ *	@brief This API sets the Low g interrupt to be mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 0 in the register 0x55
+ *	@brief interrupt2 bit 0 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of low_g selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_LOW_G
+ *       1         | BMI160_INTR2_MAP_LOW_G
+ *
+ *	@param v_intr_low_g_u8 : The value of low_g enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_g(
+u8 v_channel_u8, u8 v_intr_low_g_u8);
+/*!
+ *	@brief This API reads the HIGH g interrupt which is mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 1 in the register 0x55
+ *	@brief interrupt2 bit 1 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of high_g selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_HIGH_G
+ *       1         | BMI160_INTR2_MAP_HIGH_G
+ *
+ *	@param v_intr_high_g_u8 : The value of high_g enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_high_g(
+u8 v_channel_u8, u8 *v_intr_high_g_u8);
+/*!
+ *	@brief This API writes the HIGH g interrupt to be mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 1 in the register 0x55
+ *	@brief interrupt2 bit 1 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of high_g selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_HIGH_G
+ *       1         | BMI160_INTR2_MAP_HIGH_G
+ *
+ *	@param v_intr_high_g_u8 : The value of high_g enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_high_g(
+u8 v_channel_u8, u8 v_intr_high_g_u8);
+/*!
+ *	@brief This API reads the Any motion interrupt which is mapped to
+ *	interrupt1 and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 2 in the register 0x55
+ *	@brief interrupt2 bit 2 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of any motion selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_ANY_MOTION
+ *       1         | BMI160_INTR2_MAP_ANY_MOTION
+ *
+ *	@param v_intr_any_motion_u8 : The value of any motion enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_any_motion(
+u8 v_channel_u8, u8 *v_intr_any_motion_u8);
+/*!
+ *	@brief This API writes the Any motion interrupt
+ *	to be mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 2 in the register 0x55
+ *	@brief interrupt2 bit 2 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of any motion selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_ANY_MOTION
+ *       1         | BMI160_INTR2_MAP_ANY_MOTION
+ *
+ *	@param v_intr_any_motion_u8 : The value of any motion enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_any_motion(
+u8 v_channel_u8, u8 v_intr_any_motion_u8);
+/*!
+ *	@brief This API reads the No motion interrupt
+ *	which is  mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 3 in the register 0x55
+ *	@brief interrupt2 bit 3 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of no motion selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_NOMO
+ *       1         | BMI160_INTR2_MAP_NOMO
+ *
+ *	@param v_intr_nomotion_u8 : The value of no motion enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_nomotion(
+u8 v_channel_u8, u8 *v_intr_nomotion_u8);
+/*!
+ *	@brief This API configures the No motion interrupt
+ *	to be mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 3 in the register 0x55
+ *	@brief interrupt2 bit 3 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of no motion selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_NOMO
+ *       1         | BMI160_INTR2_MAP_NOMO
+ *
+ *	@param v_intr_nomotion_u8 : The value of no motion enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_nomotion(
+u8 v_channel_u8, u8 v_intr_nomotion_u8);
+/*!
+ *	@brief This API reads the Double Tap interrupt
+ *	which is mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 4 in the register 0x55
+ *	@brief interrupt2 bit 4 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of double tap interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_DOUBLE_TAP
+ *       1         | BMI160_INTR2_MAP_DOUBLE_TAP
+ *
+ *	@param v_intr_double_tap_u8 : The value of double tap enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_double_tap(
+u8 v_channel_u8, u8 *v_intr_double_tap_u8);
+/*!
+ *	@brief This API configures the Double Tap interrupt
+ *	to be mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 4 in the register 0x55
+ *	@brief interrupt2 bit 4 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of double tap interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_DOUBLE_TAP
+ *       1         | BMI160_INTR2_MAP_DOUBLE_TAP
+ *
+ *	@param v_intr_double_tap_u8 : The value of double tap enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_double_tap(
+u8 v_channel_u8, u8 v_intr_double_tap_u8);
+/*!
+ *	@brief This API reads the Single Tap interrupt
+ *	which is mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 5 in the register 0x55
+ *	@brief interrupt2 bit 5 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of single tap interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_SINGLE_TAP
+ *       1         | BMI160_INTR2_MAP_SINGLE_TAP
+ *
+ *	@param v_intr_single_tap_u8 : The value of single tap  enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_single_tap(
+u8 v_channel_u8, u8 *v_intr_single_tap_u8);
+/*!
+ *	@brief This API configures the Single Tap interrupt
+ *	to be mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 5 in the register 0x55
+ *	@brief interrupt2 bit 5 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of single tap interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_SINGLE_TAP
+ *       1         | BMI160_INTR2_MAP_SINGLE_TAP
+ *
+ *	@param v_intr_single_tap_u8 : The value of single tap  enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_single_tap(
+u8 v_channel_u8, u8 v_intr_single_tap_u8);
+/*!
+ *	@brief This API reads the Orient interrupt which is mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 6 in the register 0x55
+ *	@brief interrupt2 bit 6 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of orient interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_ORIENT
+ *       1         | BMI160_INTR2_MAP_ORIENT
+ *
+ *	@param v_intr_orient_u8 : The value of orient enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient(
+u8 v_channel_u8, u8 *v_intr_orient_u8);
+/*!
+ *	@brief This API configures the Orient interrupt
+ *	to be mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 6 in the register 0x55
+ *	@brief interrupt2 bit 6 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of orient interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_ORIENT
+ *       1         | BMI160_INTR2_MAP_ORIENT
+ *
+ *	@param v_intr_orient_u8 : The value of orient enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient(
+u8 v_channel_u8, u8 v_intr_orient_u8);
+ /*!
+ *	@brief This API reads the Flat interrupt which is
+ *	mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 7 in the register 0x55
+ *	@brief interrupt2 bit 7 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of flat interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_FLAT
+ *       1         | BMI160_INTR2_MAP_FLAT
+ *
+ *	@param v_intr_flat_u8 : The value of flat enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_flat(
+u8 v_channel_u8, u8 *v_intr_flat_u8);
+ /*!
+ *	@brief This API configures the Flat interrupt to be
+ *	mapped to interrupt1
+ *	and interrupt2 from the register 0x55 and 0x57
+ *	@brief interrupt1 bit 7 in the register 0x55
+ *	@brief interrupt2 bit 7 in the register 0x57
+ *
+ *
+ *	@param v_channel_u8: The value of flat interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_FLAT
+ *       1         | BMI160_INTR2_MAP_FLAT
+ *
+ *	@param v_intr_flat_u8 : The value of flat enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_flat(
+u8 v_channel_u8, u8 v_intr_flat_u8);
+/*!
+ *	@brief This API reads the PMU trigger interrupt which is mapped to
+ *	interrupt1 and interrupt2 from the register 0x56 bit 0 and 4
+ *	@brief interrupt1 bit 0 in the register 0x56
+ *	@brief interrupt2 bit 4 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of pmu trigger selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_PMUTRIG
+ *       1         | BMI160_INTR2_MAP_PMUTRIG
+ *
+ *	@param v_intr_pmu_trig_u8 : The value of pmu trigger enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_pmu_trig(
+u8 v_channel_u8, u8 *v_intr_pmu_trig_u8);
+/*!
+ *	@brief This API configures the PMU trigger interrupt to be mapped to
+ *	interrupt1 and interrupt2 from the register 0x56 bit 0 and 4
+ *	@brief interrupt1 bit 0 in the register 0x56
+ *	@brief interrupt2 bit 4 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of pmu trigger selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_PMUTRIG
+ *       1         | BMI160_INTR2_MAP_PMUTRIG
+ *
+ *	@param v_intr_pmu_trig_u8 : The value of pmu trigger enable
+ *	value    | trigger enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_pmu_trig(
+u8 v_channel_u8, u8 v_intr_pmu_trig_u8);
+
+/*!
+ *	@brief This API reads the FIFO Full interrupt which is mapped to
+ *	interrupt1 and interrupt2 from the register 0x56 bit 5 and 1
+ *	@brief interrupt1 bit 5 in the register 0x56
+ *	@brief interrupt2 bit 1 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of FIFO full interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_FIFO_FULL
+ *       1         | BMI160_INTR2_MAP_FIFO_FULL
+ *
+ *	@param v_intr_fifo_full_u8 : The value of FIFO full interrupt enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+#ifdef FIFO_ENABLE
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_fifo_full(
+u8 v_channel_u8, u8 *v_intr_fifo_full_u8);
+/*!
+ *	@brief This API configures the  FIFO Full interrupt to be mapped to
+ *	interrupt1 and interrupt2 from the register 0x56 bit 5 and 1
+ *	@brief interrupt1 bit 5 in the register 0x56
+ *	@brief interrupt2 bit 1 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of FIFO full interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_FIFO_FULL
+ *       1         | BMI160_INTR2_MAP_FIFO_FULL
+ *
+ *	@param v_intr_fifo_full_u8 : The value of FIFO full interrupt enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_fifo_full(
+u8 v_channel_u8, u8 v_intr_fifo_full_u8);
+/*!
+ *	@brief This API reads FIFO Watermark interrupt which is mapped to
+ *	interrupt1 and interrupt2 from the register 0x56 bit 6 and 2
+ *	@brief interrupt1 bit 6 in the register 0x56
+ *	@brief interrupt2 bit 2 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of FIFO Watermark interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_FIFO_WM
+ *       1         | BMI160_INTR2_MAP_FIFO_WM
+ *
+ *	@param v_intr_fifo_wm_u8 : The value of FIFO Watermark interrupt enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_fifo_wm(
+u8 v_channel_u8, u8 *v_intr_fifo_wm_u8);
+/*!
+ *	@brief This API configures FIFO Watermark interrupt to be mapped to
+ *	interrupt1 and interrupt2 from the register 0x56 bit 6 and 2
+ *	@brief interrupt1 bit 6 in the register 0x56
+ *	@brief interrupt2 bit 2 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of FIFO Watermark interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_FIFO_WM
+ *       1         | BMI160_INTR2_MAP_FIFO_WM
+ *
+ *	@param v_intr_fifo_wm_u8 : The value of FIFO Watermark interrupt enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_fifo_wm(
+u8 v_channel_u8, u8 v_intr_fifo_wm_u8);
+#endif
+/*!
+ *	@brief This API reads Data Ready interrupt which is mapped to interrupt1
+ *	and interrupt2 from the register 0x56
+ *	@brief interrupt1 bit 7 in the register 0x56
+ *	@brief interrupt2 bit 3 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of data ready interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_DATA_RDY
+ *       1         | BMI160_INTR2_MAP_DATA_RDY
+ *
+ *	@param v_intr_data_rdy_u8 : The value of data ready interrupt enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_data_rdy(
+u8 v_channel_u8, u8 *v_intr_data_rdy_u8);
+/*!
+ *	@brief This API configures Data Ready interrupt to be mapped to
+ *	interrupt1 and interrupt2 from the register 0x56
+ *	@brief interrupt1 bit 7 in the register 0x56
+ *	@brief interrupt2 bit 3 in the register 0x56
+ *
+ *
+ *	@param v_channel_u8: The value of data ready interrupt selection
+ *   v_channel_u8  |   interrupt
+ *  ---------------|---------------
+ *       0         | BMI160_INTR1_MAP_DATA_RDY
+ *       1         | BMI160_INTR2_MAP_DATA_RDY
+ *
+ *	@param v_intr_data_rdy_u8 : The value of data ready interrupt enable
+ *	value    | interrupt enable
+ * ----------|-------------------
+ *  0x01     |  BMI160_ENABLE
+ *  0x00     |  BMI160_DISABLE
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_data_rdy(
+u8 v_channel_u8, u8 v_intr_data_rdy_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR TAP SOURCE CONFIGURATION          */
+/***************************************************************/
+ /*!
+ *	@brief This API reads data source for the interrupt
+ *	engine for the single and double tap interrupts from the register
+ *	0x58 bit 3
+ *
+ *
+ *  @param v_tap_source_u8 : The value of the tap source
+ *	value    | Description
+ * ----------|-------------------
+ *  0x01     |  UNFILTER_DATA
+ *  0x00     |  FILTER_DATA
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_tap_source(
+u8 *v_tap_source_u8);
+ /*!
+ *	@brief This API writes data source for the interrupt
+ *	engine for the single and double tap interrupts from the register
+ *	0x58 bit 3
+ *
+ *
+ *  @param v_tap_source_u8 : The value of the tap source
+ *	value    | Description
+ * ----------|-------------------
+ *  0x01     |  UNFILTER_DATA
+ *  0x00     |  FILTER_DATA
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_tap_source(
+u8 v_tap_source_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR LOW_G AND HIGH_G SOURCE CONFIGURATION */
+/***************************************************************/
+ /*!
+ *	@brief This API reads Data source for the
+ *	interrupt engine for the low and high g interrupts
+ *	from the register 0x58 bit 7
+ *
+ *  @param v_low_high_source_u8 : The value of the low-g/high-g source
+ *	value    | Description
+ * ----------|-------------------
+ *  0x01     |  UNFILTER_DATA
+ *  0x00     |  FILTER_DATA
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_high_source(
+u8 *v_low_high_source_u8);
+/*!
+ *	@brief This API writes Data source for the
+ *	interrupt engine for the low and high g interrupts
+ *	from the register 0x58 bit 7
+ *
+ *  @param v_low_high_source_u8 : The value of the low-g/high-g source
+ *	value    | Description
+ * ----------|-------------------
+ *  0x01     |  UNFILTER_DATA
+ *  0x00     |  FILTER_DATA
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_high_source(
+u8 v_low_high_source_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR MOTION SOURCE CONFIGURATION          */
+/***************************************************************/
+ /*!
+ *	@brief This API reads Data source for the
+ *	interrupt engine for the nomotion and anymotion interrupts
+ *	from the register 0x59 bit 7
+ *
+ *  @param v_motion_source_u8 :
+ *	The value of the any/no motion interrupt source
+ *	value    | Description
+ * ----------|-------------------
+ *  0x01     |  UNFILTER_DATA
+ *  0x00     |  FILTER_DATA
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_motion_source(
+u8 *v_motion_source_u8);
+ /*!
+ *	@brief This API writes Data source for the
+ *	interrupt engine for the nomotion and anymotion interrupts
+ *	from the register 0x59 bit 7
+ *
+ *  @param v_motion_source_u8 :
+ *	The value of the any/no motion interrupt source
+ *	value    | Description
+ * ----------|-------------------
+ *  0x01     |  UNFILTER_DATA
+ *  0x00     |  FILTER_DATA
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_motion_source(
+u8 v_motion_source_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR LOW_G DURATION CONFIGURATION          */
+/***************************************************************/
+ /*!
+ *	@brief This API is used to read the low_g duration from register
+ *	0x5A bit 0 to 7
+ *
+ *
+ *
+ *
+ *  @param v_low_g_durn_u8 : The value of low_g duration
+ *
+ *	@note Low_g duration trigger trigger delay according to
+ *	"(v_low_g_durn_u8 * 2.5)ms" in a range from 2.5ms to 640ms.
+ *	the default corresponds delay is 20ms
+ *	@note When low_g data source of interrupt is unfiltered
+ *	the sensor must not be in low power mode
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_g_durn(
+u8 *v_low_durn_u8);
+ /*!
+ *	@brief This API is used to write the low_g duration from register
+ *	0x5A bit 0 to 7
+ *
+ *
+ *
+ *
+ *  @param v_low_g_durn_u8 : The value of low_g duration
+ *
+ *	@note Low_g duration trigger trigger delay according to
+ *	"(v_low_g_durn_u8 * 2.5)ms" in a range from 2.5ms to 640ms.
+ *	the default corresponds delay is 20ms
+ *	@note When low_g data source of interrupt is unfiltered
+ *	the sensor must not be in low power mode
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_g_durn(
+u8 v_low_durn_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR LOW_G THRESH CONFIGURATION          */
+/***************************************************************/
+/*!
+ *	@brief This API is used to read Threshold
+ *	definition for the low-g interrupt from the register 0x5B bit 0 to 7
+ *
+ *
+ *
+ *
+ *  @param v_low_g_thres_u8 : The value of low_g threshold
+ *
+ *	@note Low_g interrupt trigger threshold according to
+ *	(v_low_g_thres_u8 * 7.81)mg for v_low_g_thres_u8 > 0
+ *	3.91 mg for v_low_g_thres_u8 = 0
+ *	The threshold range is from 3.91mg to 2.000mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_g_thres(
+u8 *v_low_g_thres_u8);
+/*!
+ *	@brief This API is used to write Threshold
+ *	definition for the low-g interrupt from the register 0x5B bit 0 to 7
+ *
+ *
+ *
+ *
+ *  @param v_low_g_thres_u8 : The value of low_g threshold
+ *
+ *	@note Low_g interrupt trigger threshold according to
+ *	(v_low_g_thres_u8 * 7.81)mg for v_low_g_thres_u8 > 0
+ *	3.91 mg for v_low_g_thres_u8 = 0
+ *	The threshold range is from 3.91mg to 2.000mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_g_thres(
+u8 v_low_g_thres_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR LOW_G HYSTERESIS CONFIGURATION     */
+/***************************************************************/
+ /*!
+ *	@brief This API reads Low-g interrupt hysteresis
+ *	from the register 0x5C bit 0 to 1
+ *
+ *  @param v_low_hyst_u8 :The value of low_g hysteresis
+ *
+ *	@note Low_g hysteresis calculated by v_low_hyst_u8*125 mg
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_g_hyst(
+u8 *v_low_hyst_u8);
+ /*!
+ *	@brief This API writes Low-g interrupt hysteresis
+ *	from the register 0x5C bit 0 to 1
+ *
+ *  @param v_low_hyst_u8 :The value of low_g hysteresis
+ *
+ *	@note Low_g hysteresis calculated by v_low_hyst_u8*125 mg
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_g_hyst(
+u8 v_low_hyst_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR LOW_G MODE CONFIGURATION     */
+/***************************************************************/
+/*!
+ *	@brief This API reads Low-g interrupt mode
+ *	from the register 0x5C bit 2
+ *
+ *  @param v_low_g_mode_u8 : The value of low_g mode
+ *	Value    |  Description
+ * ----------|-----------------
+ *	   0     | single-axis
+ *     1     | axis-summing
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_g_mode(
+u8 *v_low_g_mode_u8);
+/*!
+ *	@brief This API writes Low-g interrupt mode
+ *	from the register 0x5C bit 2
+ *
+ *  @param v_low_g_mode_u8 : The value of low_g mode
+ *	Value    |  Description
+ * ----------|-----------------
+ *	   0     | single-axis
+ *     1     | axis-summing
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_g_mode(
+u8 v_low_g_mode_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR HIGH_G HYST CONFIGURATION     */
+/***************************************************************/
+/*!
+ *	@brief This API reads High-g interrupt hysteresis
+ *	from the register 0x5C bit 6 and 7
+ *
+ *  @param v_high_g_hyst_u8 : The value of high hysteresis
+ *
+ *	@note High_g hysteresis changes according to Accel g range
+ *	accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | high_g hysteresis
+ *  ----------------|---------------------
+ *      2g          |  high_hy*125 mg
+ *      4g          |  high_hy*250 mg
+ *      8g          |  high_hy*500 mg
+ *      16g         |  high_hy*1000 mg
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_high_g_hyst(
+u8 *v_high_g_hyst_u8);
+/*!
+ *	@brief This API writes High-g interrupt hysteresis
+ *	from the register 0x5C bit 6 and 7
+ *
+ *  @param v_high_g_hyst_u8 : The value of high hysteresis
+ *
+ *	@note High_g hysteresis changes according to Accel g range
+ *	accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | high_g hysteresis
+ *  ----------------|---------------------
+ *      2g          |  high_hy*125 mg
+ *      4g          |  high_hy*250 mg
+ *      8g          |  high_hy*500 mg
+ *      16g         |  high_hy*1000 mg
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_high_g_hyst(
+u8 v_high_g_hyst_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR HIGH_G DURATION CONFIGURATION     */
+/***************************************************************/
+/*!
+ *	@brief This API is used to read Delay
+ *	time definition for the high-g interrupt from the register
+ *	0x5D bit 0 to 7
+ *
+ *
+ *
+ *  @param  v_high_g_durn_u8 :  The value of high duration
+ *
+ *	@note High_g interrupt delay triggered according to
+ *	v_high_g_durn_u8 * 2.5ms in a range from 2.5ms to 640ms
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_high_g_durn(
+u8 *v_high_g_durn_u8);
+/*!
+ *	@brief This API is used to write Delay
+ *	time definition for the high-g interrupt from the register
+ *	0x5D bit 0 to 7
+ *
+ *
+ *
+ *  @param  v_high_g_durn_u8 :  The value of high duration
+ *
+ *	@note High_g interrupt delay triggered according to
+ *	v_high_g_durn_u8 * 2.5ms in a range from 2.5ms to 640ms
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_high_g_durn(
+u8 v_high_g_durn_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR HIGH_G THRESHOLD CONFIGURATION     */
+/***************************************************************/
+/*!
+ *	@brief This API is used to read Threshold
+ *	definition for the high-g interrupt from the register 0x5E 0 to 7
+ *
+ *
+ *
+ *
+ *  @param  v_high_g_thres_u8 : Pointer holding the value of Threshold
+ *	@note High_g threshold changes according to Accel g range
+ *	accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | high_g threshold
+ *  ----------------|---------------------
+ *      2g          |  v_high_g_thres_u8*7.81 mg
+ *      4g          |  v_high_g_thres_u8*15.63 mg
+ *      8g          |  v_high_g_thres_u8*31.25 mg
+ *      16g         |  v_high_g_thres_u8*62.5 mg
+ *	@note when v_high_g_thres_u8 = 0
+ *   accel_range    | high_g threshold
+ *  ----------------|---------------------
+ *      2g          |  3.91 mg
+ *      4g          |  7.81 mg
+ *      8g          |  15.63 mg
+ *      16g         |  31.25 mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_high_g_thres(
+u8 *v_high_g_thres_u8);
+/*!
+ *	@brief This API is used to write Threshold
+ *	definition for the high-g interrupt from the register 0x5E 0 to 7
+ *
+ *
+ *
+ *
+ *  @param  v_high_g_thres_u8 : Pointer holding the value of Threshold
+ *	@note High_g threshold changes according to Accel g range
+ *	accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | high_g threshold
+ *  ----------------|---------------------
+ *      2g          |  v_high_g_thres_u8*7.81 mg
+ *      4g          |  v_high_g_thres_u8*15.63 mg
+ *      8g          |  v_high_g_thres_u8*31.25 mg
+ *      16g         |  v_high_g_thres_u8*62.5 mg
+ *	@note when v_high_g_thres_u8 = 0
+ *   accel_range    | high_g threshold
+ *  ----------------|---------------------
+ *      2g          |  3.91 mg
+ *      4g          |  7.81 mg
+ *      8g          |  15.63 mg
+ *      16g         |  31.25 mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_high_g_thres(
+u8 v_high_g_thres_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR ANY MOTION DURATION CONFIGURATION     */
+/***************************************************************/
+/*!
+ *	@brief This API reads any motion duration
+ *	from the register 0x5F bit 0 and 1
+ *
+ *  @param v_any_motion_durn_u8 : The value of any motion duration
+ *
+ *	@note Any motion duration can be calculated by "v_any_motion_durn_u8 + 1"
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_any_motion_durn(
+u8 *v_any_motion_durn_u8);
+/*!
+ *	@brief This API writes any motion duration
+ *	from the register 0x5F bit 0 and 1
+ *
+ *  @param v_any_motion_durn_u8 : The value of any motion duration
+ *
+ *	@note Any motion duration can be calculated by "v_any_motion_durn_u8 + 1"
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_any_motion_durn(
+u8 nomotion);
+/***************************************************************/
+/**\name	FUNCTION FOR SLOW NO MOTION DURATION CONFIGURATION  */
+/***************************************************************/
+ /*!
+ *	@brief This API reads Slow/no-motion
+ *	interrupt trigger delay duration from the register 0x5F bit 2 to 7
+ *
+ *  @param v_slow_no_motion_u8 :The value of slow no motion duration
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *	@note
+ *	@note v_slow_no_motion_u8(5:4)=0b00 ->
+ *	[v_slow_no_motion_u8(3:0) + 1] * 1.28s (1.28s-20.48s)
+ *	@note v_slow_no_motion_u8(5:4)=1 ->
+ *	[v_slow_no_motion_u8(3:0)+5] * 5.12s (25.6s-102.4s)
+ *	@note v_slow_no_motion_u8(5)='1' ->
+ *	[(v_slow_no_motion_u8:0)+11] * 10.24s (112.64s-430.08s);
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_slow_no_motion_durn(
+u8 *v_slow_no_motion_u8);
+ /*!
+ *	@brief This API writes Slow/no-motion
+ *	interrupt trigger delay duration from the register 0x5F bit 2 to 7
+ *
+ *  @param v_slow_no_motion_u8 :The value of slow no motion duration
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *	@note
+ *	@note v_slow_no_motion_u8(5:4)=0b00 ->
+ *	[v_slow_no_motion_u8(3:0) + 1] * 1.28s (1.28s-20.48s)
+ *	@note v_slow_no_motion_u8(5:4)=1 ->
+ *	[v_slow_no_motion_u8(3:0)+5] * 5.12s (25.6s-102.4s)
+ *	@note v_slow_no_motion_u8(5)='1' ->
+ *	[(v_slow_no_motion_u8:0)+11] * 10.24s (112.64s-430.08s);
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_slow_no_motion_durn(
+u8 v_slow_no_motion_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR ANY MOTION THRESHOLD CONFIGURATION  */
+/***************************************************************/
+/*!
+ *	@brief This API is used to read threshold
+ *	definition for the any-motion interrupt
+ *	from the register 0x60 bit 0 to 7
+ *
+ *
+ *  @param  v_any_motion_thres_u8 : The value of any motion threshold
+ *
+ *	@note any motion threshold changes according to Accel g range
+ *	accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | any motion threshold
+ *  ----------------|---------------------
+ *      2g          |  v_any_motion_thres_u8*3.91 mg
+ *      4g          |  v_any_motion_thres_u8*7.81 mg
+ *      8g          |  v_any_motion_thres_u8*15.63 mg
+ *      16g         |  v_any_motion_thres_u8*31.25 mg
+ *	@note when v_any_motion_thres_u8 = 0
+ *   accel_range    | any motion threshold
+ *  ----------------|---------------------
+ *      2g          |  1.95 mg
+ *      4g          |  3.91 mg
+ *      8g          |  7.81 mg
+ *      16g         |  15.63 mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_any_motion_thres(
+u8 *v_any_motion_thres_u8);
+/*!
+ *	@brief This API is used to write threshold
+ *	definition for  any-motion interrupt
+ *	from the register 0x60 bit 0 to 7
+ *
+ *
+ *  @param  v_any_motion_thres_u8 : The value of any motion threshold
+ *
+ *	@note any motion threshold changes according to Accel g range
+ *	accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | any motion threshold
+ *  ----------------|---------------------
+ *      2g          |  v_any_motion_thres_u8*3.91 mg
+ *      4g          |  v_any_motion_thres_u8*7.81 mg
+ *      8g          |  v_any_motion_thres_u8*15.63 mg
+ *      16g         |  v_any_motion_thres_u8*31.25 mg
+ *	@note when v_any_motion_thres_u8 = 0
+ *   accel_range    | any motion threshold
+ *  ----------------|---------------------
+ *      2g          |  1.95 mg
+ *      4g          |  3.91 mg
+ *      8g          |  7.81 mg
+ *      16g         |  15.63 mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_any_motion_thres(
+u8 v_any_motion_thres_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR SLOW/NO MOTION THRESHOLD CONFIGURATION  */
+/***************************************************************/
+ /*!
+ *	@brief This API is used to read threshold
+ *	for the slow/no-motion interrupt
+ *	from the register 0x61 bit 0 to 7
+ *
+ *
+ *
+ *
+ *  @param v_slow_no_motion_thres_u8 : The value of slow no motion threshold
+ *	@note slow no motion threshold changes according to Accel g range
+ *	accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | slow no motion threshold
+ *  ----------------|---------------------
+ *      2g          |  v_slow_no_motion_thres_u8*3.91 mg
+ *      4g          |  v_slow_no_motion_thres_u8*7.81 mg
+ *      8g          |  v_slow_no_motion_thres_u8*15.63 mg
+ *      16g         |  v_slow_no_motion_thres_u8*31.25 mg
+ *	@note when v_slow_no_motion_thres_u8 = 0
+ *   accel_range    | slow no motion threshold
+ *  ----------------|---------------------
+ *      2g          |  1.95 mg
+ *      4g          |  3.91 mg
+ *      8g          |  7.81 mg
+ *      16g         |  15.63 mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_slow_no_motion_thres(
+u8 *v_slow_no_motion_thres_u8);
+ /*!
+ *	@brief This API is used to write threshold
+ *	for the slow/no-motion interrupt
+ *	in the register 0x61 bit 0 to 7
+ *
+ *
+ *
+ *
+ *  @param v_slow_no_motion_thres_u8 : The value of slow no motion threshold
+ *	@note slow no motion threshold changes according to Accel g range
+ *	accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | slow no motion threshold
+ *  ----------------|---------------------
+ *      2g          |  v_slow_no_motion_thres_u8*3.91 mg
+ *      4g          |  v_slow_no_motion_thres_u8*7.81 mg
+ *      8g          |  v_slow_no_motion_thres_u8*15.63 mg
+ *      16g         |  v_slow_no_motion_thres_u8*31.25 mg
+ *	@note when v_slow_no_motion_thres_u8 = 0
+ *   accel_range    | slow no motion threshold
+ *  ----------------|---------------------
+ *      2g          |  1.95 mg
+ *      4g          |  3.91 mg
+ *      8g          |  7.81 mg
+ *      16g         |  15.63 mg
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_slow_no_motion_thres(
+u8 v_slow_no_motion_thres_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR SLOW/NO MOTION SELECT CONFIGURATION  */
+/***************************************************************/
+ /*!
+ *	@brief This API is used to read
+ *	the slow/no-motion selection from the register 0x62 bit 0
+ *
+ *
+ *
+ *
+ *  @param  v_intr_slow_no_motion_select_u8 :
+ *	The value of slow/no-motion select
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  SLOW_MOTION
+ *  0x01     |  NO_MOTION
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_slow_no_motion_select(
+u8 *v_intr_slow_no_motion_select_u8);
+ /*!
+ *	@brief This API is used to write
+ *	the slow/no-motion selection from the register 0x62 bit 0
+ *
+ *
+ *
+ *
+ *  @param  v_intr_slow_no_motion_select_u8 :
+ *	The value of slow/no-motion select
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  SLOW_MOTION
+ *  0x01     |  NO_MOTION
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_slow_no_motion_select(
+u8 v_intr_slow_no_motion_select_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR SIGNIFICANT MOTION SELECT CONFIGURATION*/
+/***************************************************************/
+ /*!
+ *	@brief This API is used to select
+ *	the significant or any motion interrupt from the register 0x62 bit 1
+ *
+ *
+ *
+ *
+ *  @param  v_intr_significant_motion_select_u8 :
+ *	the value of significant or any motion interrupt selection
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  ANY_MOTION
+ *  0x01     |  SIGNIFICANT_MOTION
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_significant_motion_select(
+u8 *int_sig_mot_sel);
+ /*!
+ *	@brief This API is used to write, select
+ *	the significant or any motion interrupt from the register 0x62 bit 1
+ *
+ *
+ *
+ *
+ *  @param  v_intr_significant_motion_select_u8 :
+ *	the value of significant or any motion interrupt selection
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  ANY_MOTION
+ *  0x01     |  SIGNIFICANT_MOTION
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_significant_motion_select(
+u8 int_sig_mot_sel);
+/*!
+ *	@brief This API is used to unmap the  signification motion
+ *	interrupt
+ *
+ *
+ *  @param v_significant_u8   : The value of interrupt selection
+ *
+ *      BMI160_MAP_INTR1	0
+ *      BMI160_MAP_INTR2	1
+ *
+ *  \return results of communication routine
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_unmap_significant_motion_intr(
+u8 v_significant_u8);
+
+ /*!
+ *	@brief This API is used to read
+ *	the significant skip time from the register 0x62 bit  2 and 3
+ *
+ *
+ *
+ *
+ *  @param  v_int_sig_mot_skip_u8 : the value of significant skip time
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  skip time 1.5 seconds
+ *  0x01     |  skip time 3 seconds
+ *  0x02     |  skip time 6 seconds
+ *  0x03     |  skip time 12 seconds
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_significant_motion_skip(
+u8 *v_int_sig_mot_skip_u8);
+ /*!
+ *	@brief This API is used to write
+ *	the significant skip time in the register 0x62 bit  2 and 3
+ *
+ *
+ *
+ *
+ *  @param  v_int_sig_mot_skip_u8 : the value of significant skip time
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  skip time 1.5 seconds
+ *  0x01     |  skip time 3 seconds
+ *  0x02     |  skip time 6 seconds
+ *  0x03     |  skip time 12 seconds
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_significant_motion_skip(
+u8 v_int_sig_mot_skip_u8);
+ /*!
+ *	@brief This API is used to read
+ *	the significant proof time from the register 0x62 bit  4 and 5
+ *
+ *
+ *
+ *
+ *  @param  v_significant_motion_proof_u8 :
+ *	the value of significant proof time
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  proof time 0.25 seconds
+ *  0x01     |  proof time 0.5 seconds
+ *  0x02     |  proof time 1 seconds
+ *  0x03     |  proof time 2 seconds
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_significant_motion_proof(
+u8 *int_sig_mot_proof);
+ /*!
+ *	@brief This API is used to write
+ *	the significant proof time in the register 0x62 bit  4 and 5
+ *
+ *
+ *
+ *
+ *  @param  v_significant_motion_proof_u8 :
+ *	the value of significant proof time
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     |  proof time 0.25 seconds
+ *  0x01     |  proof time 0.5 seconds
+ *  0x02     |  proof time 1 seconds
+ *  0x03     |  proof time 2 seconds
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_significant_motion_proof(
+u8 int_sig_mot_proof);
+/***************************************************************/
+/**\name	FUNCTION FOR TAP DURATION CONFIGURATION*/
+/***************************************************************/
+/*!
+ *	@brief This API is used to get the tap duration
+ *	from the register 0x63 bit 0 to 2
+ *
+ *
+ *
+ *  @param v_tap_durn_u8 : The value of tap duration
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | BMI160_TAP_DURN_50MS
+ *  0x01     | BMI160_TAP_DURN_100MS
+ *  0x02     | BMI160_TAP_DURN_150MS
+ *  0x03     | BMI160_TAP_DURN_200MS
+ *  0x04     | BMI160_TAP_DURN_250MS
+ *  0x05     | BMI160_TAP_DURN_375MS
+ *  0x06     | BMI160_TAP_DURN_500MS
+ *  0x07     | BMI160_TAP_DURN_700MS
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_tap_durn(
+u8 *v_tap_durn_u8);
+/*!
+ *	@brief This API is used to write the tap duration
+ *	in the register 0x63 bit 0 to 2
+ *
+ *
+ *
+ *  @param v_tap_durn_u8 : The value of tap duration
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | BMI160_TAP_DURN_50MS
+ *  0x01     | BMI160_TAP_DURN_100MS
+ *  0x02     | BMI160_TAP_DURN_150MS
+ *  0x03     | BMI160_TAP_DURN_200MS
+ *  0x04     | BMI160_TAP_DURN_250MS
+ *  0x05     | BMI160_TAP_DURN_375MS
+ *  0x06     | BMI160_TAP_DURN_500MS
+ *  0x07     | BMI160_TAP_DURN_700MS
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_tap_durn(
+u8 v_tap_durn_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR TAP SHOCK CONFIGURATION*/
+/***************************************************************/
+ /*!
+ *	@brief This API reads the
+ *	tap shock duration from the register 0x63 bit 2
+ *
+ *  @param v_tap_shock_u8 :The value of tap shock
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | BMI160_TAP_SHOCK_50MS
+ *  0x01     | BMI160_TAP_SHOCK_75MS
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_tap_shock(
+u8 *v_tap_shock_u8);
+ /*!
+ *	@brief This API writes the
+ *	tap shock duration from the register 0x63 bit 2
+ *
+ *  @param v_tap_shock_u8 :The value of tap shock
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | BMI160_TAP_SHOCK_50MS
+ *  0x01     | BMI160_TAP_SHOCK_75MS
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_tap_shock(
+u8 v_tap_shock_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR TAP QUIET CONFIGURATION*/
+/***************************************************************/
+/*!
+ *	@brief This API reads
+ *	tap quiet duration from the register 0x63 bit 7
+ *
+ *
+ *  @param v_tap_quiet_u8 : The value of tap quiet
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | BMI160_TAP_QUIET_30MS
+ *  0x01     | BMI160_TAP_QUIET_20MS
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_tap_quiet(
+u8 *v_tap_quiet_u8);
+/*!
+ *	@brief This API writes
+ *	tap quiet duration in the register 0x63 bit 7
+ *
+ *
+ *  @param v_tap_quiet_u8 : The value of tap quiet
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | BMI160_TAP_QUIET_30MS
+ *  0x01     | BMI160_TAP_QUIET_20MS
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_tap_quiet(
+u8 v_tap_quiet_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR TAP THRESHOLD CONFIGURATION*/
+/***************************************************************/
+ /*!
+ *	@brief This API reads the threshold of the
+ *	single/double tap interrupt from the register 0x64 bit 0 to 4
+ *
+ *
+ *	@param v_tap_thres_u8 : The value of single/double tap threshold
+ *
+ *	@note single/double tap threshold changes according to Accel g range
+ *	accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | single/double tap threshold
+ *  ----------------|---------------------
+ *      2g          |  ((v_tap_thres_u8 + 1) * 62.5)mg
+ *      4g          |  ((v_tap_thres_u8 + 1) * 125)mg
+ *      8g          |  ((v_tap_thres_u8 + 1) * 250)mg
+ *      16g         |  ((v_tap_thres_u8 + 1) * 500)mg
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_tap_thres(
+u8 *v_tap_thres_u8);
+ /*!
+ *	@brief This API writes the threshold of the
+ *	single/double tap interrupt in the register 0x64 bit 0 to 4
+ *
+ *
+ *	@param v_tap_thres_u8 : The value of single/double tap threshold
+ *
+ *	@note single/double tap threshold changes according to Accel g range
+ *	accel g range can be set by the function "bmi160_set_accel_range"
+ *   accel_range    | single/double tap threshold
+ *  ----------------|---------------------
+ *      2g          |  ((v_tap_thres_u8 + 1) * 62.5)mg
+ *      4g          |  ((v_tap_thres_u8 + 1) * 125)mg
+ *      8g          |  ((v_tap_thres_u8 + 1) * 250)mg
+ *      16g         |  ((v_tap_thres_u8 + 1) * 500)mg
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_tap_thres(
+u8 v_tap_thres_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR ORIENT MODE CONFIGURATION*/
+/***************************************************************/
+ /*!
+ *	@brief This API reads the threshold for orientation interrupt
+ *	from the register 0x65 bit 0 and 1
+ *
+ *  @param v_orient_mode_u8 : The value of threshold for orientation
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | symmetrical
+ *  0x01     | high-asymmetrical
+ *  0x02     | low-asymmetrical
+ *  0x03     | symmetrical
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_mode(
+u8 *v_orient_mode_u8);
+ /*!
+ *	@brief This API writes the threshold for orientation interrupt
+ *	from the register 0x65 bit 0 and 1
+ *
+ *  @param v_orient_mode_u8 : The value of threshold for orientation
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | symmetrical
+ *  0x01     | high-asymmetrical
+ *  0x02     | low-asymmetrical
+ *  0x03     | symmetrical
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_mode(
+u8 v_orient_mode_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR ORIENT BLOCKING CONFIGURATION*/
+/***************************************************************/
+/*!
+ *	@brief This API reads the orientation blocking mode
+ *	that is used for the generation of the orientation interrupt.
+ *	from the register 0x65 bit 2 and 3
+ *
+ *  @param v_orient_blocking_u8 : The value of orient blocking mode
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | No blocking
+ *  0x01     | Theta blocking or acceleration in any axis > 1.5g
+ *  0x02     | Theta blocking or acceleration slope in any axis >
+ *   -       | 0.2g or acceleration in any axis > 1.5g
+ *  0x03     | Theta blocking or acceleration slope in any axis >
+ *   -       | 0.4g or acceleration in any axis >
+ *   -       | 1.5g and value of orient is not stable
+ *   -       | for at least 100 ms
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_blocking(
+u8 *v_orient_blocking_u8);
+/*!
+ *	@brief This API writes the orientation blocking mode
+ *	that is used for the generation of the orientation interrupt.
+ *	in the register 0x65 bit 2 and 3
+ *
+ *  @param v_orient_blocking_u8 : The value of orient blocking mode
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | No blocking
+ *  0x01     | Theta blocking or acceleration in any axis > 1.5g
+ *  0x02     | Theta blocking or acceleration slope in any axis >
+ *   -       | 0.2g or acceleration in any axis > 1.5g
+ *  0x03     | Theta blocking or acceleration slope in any axis >
+ *   -       | 0.4g or acceleration in any axis >
+ *   -       | 1.5g and value of orient is not stable
+ *   -       | for at least 100 ms
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_blocking(
+u8 v_orient_blocking_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR ORIENT HYSTERESIS CONFIGURATION*/
+/***************************************************************/
+/*!
+ *	@brief This API reads the orientation interrupt
+ *	hysteresis, from the register 0x64 bit 4 to 7
+ *
+ *
+ *
+ *  @param v_orient_hyst_u8 : The value of orient hysteresis
+ *
+ *	@note 1 LSB corresponds to 62.5 mg,
+ *	irrespective of the selected Accel range
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_hyst(
+u8 *v_orient_hyst_u8);
+/*!
+ *	@brief This API writes the orientation interrupt
+ *	hysteresis, in the register 0x64 bit 4 to 7
+ *
+ *
+ *
+ *  @param v_orient_hyst_u8 : The value of orient hysteresis
+ *
+ *	@note 1 LSB corresponds to 62.5 mg,
+ *	irrespective of the selected Accel range
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_hyst(
+u8 v_orient_hyst_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR ORIENT THETA CONFIGURATION*/
+/***************************************************************/
+ /*!
+ *	@brief This API reads the orientation
+ *	blocking angle (0 to 44.8) from the register 0x66 bit 0 to 5
+ *
+ *  @param v_orient_theta_u8 : The value of Orient blocking angle
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_theta(
+u8 *v_orient_theta_u8);
+ /*!
+ *	@brief This API writes orientation
+ *	blocking angle (0 to 44.8) in the register 0x66 bit 0 to 5
+ *
+ *  @param v_orient_theta_u8 : The value of Orient blocking angle
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_theta(
+u8 v_orient_theta_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR ORIENT OUTPUT ENABLE CONFIGURATION*/
+/***************************************************************/
+/*!
+ *	@brief This API reads the orientation change
+ *	of up/down bit from the register 0x66 bit 6
+ *
+ *  @param v_orient_ud_u8 : The value of orient change of up/down
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | Is ignored
+ *  0x01     | Generates orientation interrupt
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_ud_enable(
+u8 *v_orient_ud_u8);
+/*!
+ *	@brief This API writes orientation change
+ *	of up/down bit in the register 0x66 bit 6
+ *
+ *  @param v_orient_ud_u8 : The value of orient change of up/down
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | Is ignored
+ *  0x01     | Generates orientation interrupt
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_ud_enable(
+u8 v_orient_ud_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR ORIENT AXIS ENABLE CONFIGURATION*/
+/***************************************************************/
+ /*!
+ *	@brief This API reads orientation axes changes
+ *	from the register 0x66 bit 7
+ *
+ *  @param v_orient_axes_u8 : The value of orient axes assignment
+ *	value    |       Behaviour    | Name
+ * ----------|--------------------|------
+ *  0x00     | x = x, y = y, z = z|orient_ax_noex
+ *  0x01     | x = y, y = z, z = x|orient_ax_ex
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_axes_enable(
+u8 *v_orient_axes_u8);
+ /*!
+ *	@brief This API writes orientation axes changes
+ *	in the register 0x66 bit 7
+ *
+ *  @param v_orient_axes_u8 : The value of orient axes assignment
+ *	value    |       Behaviour    | Name
+ * ----------|--------------------|------
+ *  0x00     | x = x, y = y, z = z|orient_ax_noex
+ *  0x01     | x = y, y = z, z = x|orient_ax_ex
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_axes_enable(
+u8 v_orient_axes_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR FLAT THETA CONFIGURATION*/
+/***************************************************************/
+ /*!
+ *	@brief This API reads Flat angle (0 to 44.8) for flat interrupt
+ *	from the register 0x67 bit 0 to 5
+ *
+ *  @param v_flat_theta_u8 : The value of flat angle
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_flat_theta(
+u8 *v_flat_theta_u8);
+ /*!
+ *	@brief This API writes Flat angle (0 to 44.8) for flat interrupt
+ *	in the register 0x67 bit 0 to 5
+ *
+ *  @param v_flat_theta_u8 : The value of flat angle
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_flat_theta(
+u8 v_flat_theta_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR FLAT HOLD CONFIGURATION*/
+/***************************************************************/
+/*!
+ *	@brief This API reads Flat interrupt hold time;
+ *	from the register 0x68 bit 4 and 5
+ *
+ *  @param v_flat_hold_u8 : The value of flat hold time
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | 0ms
+ *  0x01     | 512ms
+ *  0x01     | 1024ms
+ *  0x01     | 2048ms
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_flat_hold(
+u8 *v_flat_hold_u8);
+/*!
+ *	@brief This API writes flat interrupt hold time in
+ *	the register 0x68 bit 4 and 5
+ *
+ *  @param v_flat_hold_u8 : The value of flat hold time
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | 0ms
+ *  0x01     | 512ms
+ *  0x01     | 1024ms
+ *  0x01     | 2048ms
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_flat_hold(
+u8 v_flat_hold_u8);
+/***************************************************************/
+/**\name	FUNCTION FOR FLAT HYSTERESIS CONFIGURATION*/
+/***************************************************************/
+/*!
+ *	@brief This API reads flat interrupt hysteresis
+ *	from the register 0x68 bit 0 to 3
+ *
+ *  @param v_flat_hyst_u8 : The value of flat hysteresis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_flat_hyst(
+u8 *v_flat_hyst_u8);
+/*!
+ *	@brief This API writes flat interrupt hysteresis
+ *	in the register 0x68 bit 0 to 3
+ *
+ *  @param v_flat_hyst_u8 : The value of flat hysteresis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_flat_hyst(
+u8 v_flat_hyst_u8);
+/***************************************************************/
+/**\name	FUNCTION FAST OFFSET COMPENSATION FOR ACCEL */
+/***************************************************************/
+ /*!
+ *	@brief This API reads Accel offset compensation
+ *	target value for z-axis from the register 0x69 bit 0 and 1
+ *
+ *  @param v_foc_accel_z_u8 : the value of Accel offset compensation z axis
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_foc_accel_z(
+u8 *v_foc_accel_z_u8);
+ /*!
+ *	@brief This API writes Accel offset compensation
+ *	target value for z-axis in the register 0x69 bit 0 and 1
+ *
+ *  @param v_foc_accel_z_u8 : the value of Accel offset compensation z axis
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_foc_accel_z(
+u8 v_foc_accel_z_u8);
+/*!
+ *	@brief This API reads Accel offset compensation
+ *	target value for y-axis
+ *	from the register 0x69 bit 2 and 3
+ *
+ *  @param v_foc_accel_y_u8 : the value of Accel offset compensation y axis
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_foc_accel_y(
+u8 *v_foc_accel_y_u8);
+/*!
+ *	@brief This API writes Accel offset compensation
+ *	target value for y-axis in the register 0x69 bit 2 and 3
+ *
+ *  @param v_foc_accel_y_u8 : the value of Accel offset compensation y axis
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x02     | -1g
+ *  0x03     | 0g
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_foc_accel_y(
+u8 v_foc_accel_y_u8);
+/*!
+ *	@brief This API reads Accel offset compensation
+ *	target value for x-axis from the register 0x69 bit 4 and 5
+ *
+ *  @param v_foc_accel_x_u8 : the value of Accel offset compensation x axis
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x02     | -1g
+ *  0x03     | 0g
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_foc_accel_x(
+u8 *v_foc_accel_x_u8);
+/*!
+ *	@brief This API writes Accel offset compensation
+ *	target value for x-axis in the register 0x69 bit 4 and 5
+ *
+ *  @param v_foc_accel_x_u8 : the value of Accel offset compensation x axis
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_foc_accel_x(
+u8 v_foc_accel_x_u8);
+/***************************************************************/
+/**\name	FUNCTION FAST OFFSET COMPENSATION FOR GYRO */
+/***************************************************************/
+/*!
+ *	@brief This API writes the Gyro fast offset enable
+ *	from the register 0x69 bit 6
+ *
+ *  @param v_foc_gyro_u8 : The value of Gyro fast offset enable
+ *  value    |  Description
+ * ----------|-------------
+ *    0      | fast offset compensation disabled
+ *    1      |  fast offset compensation enabled
+ *
+ *	@param v_gyro_off_x_s16 : The value of Gyro fast offset x axis data
+ *	@param v_gyro_off_y_s16 : The value of Gyro fast offset y axis data
+ *	@param v_gyro_off_z_s16 : The value of Gyro fast offset z axis data
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_foc_gyro_enable(
+u8 v_foc_gyro_u8, s16 *v_gyro_off_x_s16,
+s16 *v_gyro_off_y_s16, s16 *v_gyro_off_z_s16);
+
+/***************************************************/
+/**\name	FUNCTION FOR SPI MODE*/
+/***************************************************/
+ /*!
+ * @brief This API reads  SPI
+ * Interface Mode for primary and OIS interface
+ * from the register 0x6B bit 0
+ *
+ *  @param v_spi3_u8 : The value of SPI mode selection
+ *  Value  |  Description
+ * --------|-------------
+ *   0     |  SPI 4-wire mode
+ *   1     |  SPI 3-wire mode
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_spi3(
+u8 *v_spi3_u8);
+/*!
+ * @brief This API configures SPI
+ * Interface Mode for primary and OIS interface
+ * in the register 0x6B bit 0
+ *
+ *  @param v_spi3_u8 : The value of SPI mode selection
+ *  Value  |  Description
+ * --------|-------------
+ *   0     |  SPI 4-wire mode
+ *   1     |  SPI 3-wire mode
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_spi3(
+u8 v_spi3_u8);
+/***************************************************/
+/**\name	FUNCTION FOR FOC GYRO */
+/***************************************************/
+/*!
+ *	@brief This API reads the Gyro fast offset enable
+ *	from the register 0x69 bit 6
+ *
+ *  @param v_foc_gyro_u8 : The value of Gyro fast offset enable
+ *  value    |  Description
+ * ----------|-------------
+ *    0      | fast offset compensation disabled
+ *    1      |  fast offset compensation enabled
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_foc_gyro_enable(
+u8 *v_foc_gyro_u8);
+/***************************************************/
+/**\name	FUNCTION FOR I2C WATCHDOG TIMBER */
+/***************************************************/
+/*!
+ *	@brief This API reads I2C Watchdog timer
+ *	from the register 0x70 bit 1
+ *
+ *  @param v_i2c_wdt_u8 : The value of I2C watch dog timer
+ *  Value  |  Description
+ * --------|-------------
+ *   0     |  I2C watchdog v_timeout_u8 after 1 ms
+ *   1     |  I2C watchdog v_timeout_u8 after 50 ms
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_i2c_wdt_select(
+u8 *v_i2c_wdt_u8);
+/*!
+ *	@brief This API writes the I2C Watchdog timer
+ *	in the register 0x70 bit 1
+ *
+ *  @param v_i2c_wdt_u8 : The value of I2C watch dog timer
+ *  Value  |  Description
+ * --------|-------------
+ *   0     |  I2C watchdog v_timeout_u8 after 1 ms
+ *   1     |  I2C watchdog v_timeout_u8 after 50 ms
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE
+bmi160_set_i2c_wdt_select(u8 v_i2c_wdt_u8);
+/*!
+ *	@brief This API reads the status of I2C watchdog enable
+ *	from the register 0x70 bit 2
+ *
+ *  @param v_i2c_wdt_u8 : The value of I2C watchdog enable
+ *  Value  |  Description
+ * --------|-------------
+ *   0     |  DISABLE
+ *   1     |  ENABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_i2c_wdt_enable(
+u8 *v_i2c_wdt_u8);
+/*!
+ *	@brief This API enables the I2C watchdog
+ *	 in the register 0x70 bit 2
+ *
+ *  @param v_i2c_wdt_u8 : The value of I2C watchdog enable
+ *  Value  |  Description
+ * --------|-------------
+ *   0     |  DISABLE
+ *   1     |  ENABLE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_i2c_wdt_enable(
+u8 v_i2c_wdt_u8);
+/***************************************************/
+/**\name	FUNCTION FOR IF MODE*/
+/***************************************************/
+/*!
+ * @brief This API reads the I2C interface configuration(if) mode
+ * from the register 0x6B bit 4 and 5
+ *
+ *  @param  v_if_mode_u8 : The value of interface configuration mode
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  |  Primary interface:autoconfig / secondary interface:off
+ *   0x01  |  Primary interface:I2C / secondary interface:OIS
+ *   0x02  |  Primary interface:autoconfig/secondary interface:Magnetometer
+ *   0x03  |   Reserved
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_if_mode(
+u8 *v_if_mode_u8);
+/*!
+ * @brief This API writes the I2C interface configuration(if) mode
+ * in the register 0x6B bit 4 and 5
+ *
+ *  @param  v_if_mode_u8 : The value of interface configuration mode
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  |  Primary interface:autoconfig / secondary interface:off
+ *   0x01  |  Primary interface:I2C / secondary interface:OIS
+ *   0x02  |  Primary interface:autoconfig/secondary interface:Magnetometer
+ *   0x03  |   Reserved
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_if_mode(
+u8 v_if_mode_u8);
+/***************************************************/
+/**\name	FUNCTION FOR GYRO SLEEP TRIGGER INTERRUPT CONFIGURATION*/
+/***************************************************/
+/*!
+ *	@brief This API reads the Gyro sleep trigger
+ *	from the register 0x6C bit 0 to 2
+ *
+ *  @param v_gyro_sleep_trigger_u8 : The value of Gyro sleep trigger
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | nomotion: no / Not INT1 pin: no / INT2 pin: no
+ *   0x01  | nomotion: no / Not INT1 pin: no / INT2 pin: yes
+ *   0x02  | nomotion: no / Not INT1 pin: yes / INT2 pin: no
+ *   0x03  | nomotion: no / Not INT1 pin: yes / INT2 pin: yes
+ *   0x04  | nomotion: yes / Not INT1 pin: no / INT2 pin: no
+ *   0x05  | anymotion: yes / Not INT1 pin: no / INT2 pin: yes
+ *   0x06  | anymotion: yes / Not INT1 pin: yes / INT2 pin: no
+ *   0x07  | anymotion: yes / Not INT1 pin: yes / INT2 pin: yes
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_sleep_trigger(
+u8 *v_gyro_sleep_trigger_u8);
+/*!
+ *	@brief This API writes the Gyro sleep trigger
+ *	in the register 0x6C bit 0 to 2
+ *
+ *  @param v_gyro_sleep_trigger_u8 : The value of Gyro sleep trigger
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | nomotion: no / Not INT1 pin: no / INT2 pin: no
+ *   0x01  | nomotion: no / Not INT1 pin: no / INT2 pin: yes
+ *   0x02  | nomotion: no / Not INT1 pin: yes / INT2 pin: no
+ *   0x03  | nomotion: no / Not INT1 pin: yes / INT2 pin: yes
+ *   0x04  | nomotion: yes / Not INT1 pin: no / INT2 pin: no
+ *   0x05  | anymotion: yes / Not INT1 pin: no / INT2 pin: yes
+ *   0x06  | anymotion: yes / Not INT1 pin: yes / INT2 pin: no
+ *   0x07  | anymotion: yes / Not INT1 pin: yes / INT2 pin: yes
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_sleep_trigger(
+u8 v_gyro_sleep_trigger_u8);
+/*!
+ *	@brief This API reads Gyro wakeup trigger
+ *	from the register 0x6C bit 3 and 4
+ *
+ *  @param v_gyro_wakeup_trigger_u8 : The value of Gyro wakeup trigger
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | anymotion: no / INT1 pin: no
+ *   0x01  | anymotion: no / INT1 pin: yes
+ *   0x02  | anymotion: yes / INT1 pin: no
+ *   0x03  | anymotion: yes / INT1 pin: yes
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_wakeup_trigger(
+u8 *v_gyro_wakeup_trigger_u8);
+/*!
+ *	@brief This API writes Gyro wakeup trigger
+ *	in the register 0x6C bit 3 and 4
+ *
+ *  @param v_gyro_wakeup_trigger_u8 : The value of Gyro wakeup trigger
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | anymotion: no / INT1 pin: no
+ *   0x01  | anymotion: no / INT1 pin: yes
+ *   0x02  | anymotion: yes / INT1 pin: no
+ *   0x03  | anymotion: yes / INT1 pin: yes
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_wakeup_trigger(
+u8 v_gyro_wakeup_trigger_u8);
+/*!
+ *	@brief This API reads target state for Gyro sleep mode
+ *	from the register 0x6C bit 5
+ *
+ *  @param v_gyro_sleep_state_u8 : The value of Gyro sleep mode
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | Sleep transition to fast wake up state
+ *   0x01  | Sleep transition to suspend state
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_sleep_state(
+u8 *v_gyro_sleep_state_u8);
+/*!
+ *	@brief This API writes target state for Gyro sleep mode
+ *	in the register 0x6C bit 5
+ *
+ *  @param v_gyro_sleep_state_u8 : The value of Gyro sleep mode
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | Sleep transition to fast wake up state
+ *   0x01  | Sleep transition to suspend state
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_sleep_state(
+u8 v_gyro_sleep_state_u8);
+/*!
+ *	@brief This API reads Gyro wakeup interrupt
+ *	from the register 0x6C bit 6
+ *
+ *  @param v_gyro_wakeup_intr_u8 : The value of Gyro wakeup interrupt
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | DISABLE
+ *   0x01  | ENABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_wakeup_intr(
+u8 *v_gyro_wakeup_intr_u8);
+/*!
+ *	@brief This API writes Gyro wakeup interrupt
+ *	in the register 0x6C bit 6
+ *
+ *  @param v_gyro_wakeup_intr_u8 : The value of Gyro wakeup interrupt
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | DISABLE
+ *   0x01  | ENABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_wakeup_intr(
+u8 v_gyro_wakeup_intr_u8);
+/***************************************************/
+/**\name	FUNCTION FOR ACCEL SELF TEST */
+/***************************************************/
+/*!
+ * @brief This API reads Accel selftest axis selected for self-test
+ * functionality.
+ *
+ *  @param v_accel_selftest_axis_u8 :
+ *	The value of Accel self test axis selection
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | disabled
+ *   0x01  | x-axis
+ *   0x02  | y-axis
+ *   0x03  | z-axis
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_selftest_axis(
+u8 *acc_selftest_axis);
+/*!
+ * @brief This API writes Accel self test axis for self-test
+ * functionality.
+ *
+ *  @param v_accel_selftest_axis_u8 :
+ *	The value of Accel self test axis selection
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | disabled
+ *   0x01  | x-axis
+ *   0x02  | y-axis
+ *   0x03  | z-axis
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_selftest_axis(
+u8 acc_selftest_axis);
+/*!
+ *	@brief This API reads Accel self test axis sign
+ *	from the register 0x6D bit 2
+ *
+ *  @param v_accel_selftest_sign_u8: The value of Accel self test axis sign
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | negative
+ *   0x01  | positive
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_selftest_sign(
+u8 *acc_selftest_sign);
+/*!
+ *	@brief This API writes Accel self test axis sign
+ *	in the register 0x6D bit 2
+ *
+ *  @param v_accel_selftest_sign_u8: The value of Accel self test axis sign
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | negative
+ *   0x01  | positive
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_selftest_sign(
+u8 acc_selftest_sign);
+/*!
+ *	@brief This API reads Accel self test amplitude
+ *	from the register 0x6D bit 3
+ *
+ *
+ *  @param v_accel_selftest_amp_u8 : The value of Accel self test amplitude
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | LOW
+ *   0x01  | HIGH
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_selftest_amp(
+u8 *acc_selftest_amp);
+/*!
+ *	@brief This API writes Accel self test amplitude
+ *	in the register 0x6D bit 3
+ *
+ *
+ *  @param v_accel_selftest_amp_u8 : The value of Accel self test amplitude
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | LOW
+ *   0x01  | HIGH
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_selftest_amp(
+u8 acc_selftest_amp);
+/***************************************************/
+/**\name	FUNCTION FOR GYRO SELF TEST */
+/***************************************************/
+/*!
+ *	@brief This API reads the Gyro self test trigger
+ *
+ *	@param v_gyro_selftest_start_u8: The value of Gyro self test start
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_selftest_start(
+u8 *v_gyro_selftest_start_u8);
+/*!
+ *	@brief This API writes the Gyro self test trigger
+ *
+ *	@param v_gyro_selftest_start_u8: The value of Gyro self test start
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_selftest_start(
+u8 v_gyro_selftest_start_u8);
+/***************************************************/
+/**\name	FUNCTION FOR SPI/I2C ENABLE */
+/***************************************************/
+ /*!
+ * @brief This API reads the primary interface selection I2C or SPI
+ *	from the register 0x70 bit 0
+ *
+ *  @param v_spi_enable_u8: The value of Interface selection
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | I2C Enable
+ *   0x01  | I2C DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_spi_enable(
+u8 *v_spi_enable_u8);
+ /*!
+ * @brief This API writes primary interface selection I2C or SPI
+ *	in the register 0x70 bit 0
+ *
+ *  @param v_spi_enable_u8: The value of Interface selection
+ *  Value  |  Description
+ * --------|-------------
+ *   0x00  | I2C Enable
+ *   0x01  | I2C DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_spi_enable(
+u8 v_spi_enable_u8);
+
+/***************************************************/
+/**\name	FUNCTION FOR ACCEL MANUAL OFFSET COMPENSATION */
+/***************************************************/
+ /*!
+ *	@brief This API reads the Accel manual offset compensation of x axis
+ *	from the register 0x71 bit 0 to 7
+ *
+ *
+ *
+ *  @param v_accel_off_x_s8:
+ *	The value of Accel manual offset compensation of x axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_offset_compensation_xaxis(
+s8 *v_accel_off_x_s8);
+/*!
+ *	@brief This API writes the Accel manual offset compensation of x axis
+ *	in the register 0x71 bit 0 to 7
+ *
+ *
+ *
+ *  @param v_accel_off_x_s8:
+ *	The value of Accel manual offset compensation of x axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_offset_compensation_xaxis(
+s8 v_accel_off_x_s8);
+/*!
+ *	@brief This API reads the  Accel manual offset compensation of y axis
+ *	from the register 0x72 bit 0 to 7
+ *
+ *
+ *
+ *  @param v_accel_off_y_s8:
+ *	The value of Accel manual offset compensation of y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_offset_compensation_yaxis(
+s8 *v_accel_off_y_s8);
+/*!
+ *	@brief This API writes the Accel manual offset compensation of y axis
+ *	in the register 0x72 bit 0 to 7
+ *
+ *
+ *
+ *  @param v_accel_off_y_s8:
+ *	The value of Accel manual offset compensation of y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_offset_compensation_yaxis(
+s8 v_accel_off_y_s8);
+/*!
+ *	@brief This API reads the Accel manual offset compensation of z axis
+ *	from the register 0x73 bit 0 to 7
+ *
+ *
+ *
+ *  @param v_accel_off_z_s8:
+ *	The value of Accel manual offset compensation of z axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_offset_compensation_zaxis(
+s8 *v_accel_off_z_s8);
+/*!
+ *	@brief This API writes the Accel manual offset compensation of z axis
+ *	in the register 0x73 bit 0 to 7
+ *
+ *
+ *
+ *  @param v_accel_off_z_s8:
+ *	The value of Accel manual offset compensation of z axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_offset_compensation_zaxis(
+s8 v_accel_off_z_s8);
+/***************************************************/
+/**\name	FUNCTION FOR GYRO MANUAL OFFSET COMPENSATION */
+/***************************************************/
+/*!
+ *	@brief This API reads the Gyro manual offset compensation of x axis
+ *	from the register 0x74 bit 0 to 7 and 0x77 bit 0 and 1
+ *
+ *
+ *
+ *  @param v_gyro_off_x_s16:
+ *	The value of Gyro manual offset compensation of x axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_offset_compensation_xaxis(
+s16 *v_gyro_off_x_s16);
+/*!
+ *	@brief This API writes the Gyro manual offset compensation of x axis
+ *	in the register 0x74 bit 0 to 7 and 0x77 bit 0 and 1
+ *
+ *
+ *
+ *  @param v_gyro_off_x_s16:
+ *	The value of Gyro manual offset compensation of x axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_offset_compensation_xaxis(
+s16 v_gyro_off_x_s16);
+/*!
+ *	@brief This API reads the Gyro manual offset compensation of y axis
+ *	from the register 0x75 bit 0 to 7 and 0x77 bit 2 and 3
+ *
+ *
+ *
+ *  @param v_gyro_off_y_s16:
+ *	The value of Gyro  manual offset compensation of y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_offset_compensation_yaxis(
+s16 *v_gyro_off_y_s16);
+/*!
+ *	@brief This API writes Gyro  manual offset compensation of y axis
+ *	in the register 0x75 bit 0 to 7 and 0x77 bit 2 and 3
+ *
+ *
+ *
+ *  @param v_gyro_off_y_s16:
+ *	The value of Gyro  manual offset compensation of y axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_offset_compensation_yaxis(
+s16 v_gyro_off_y_s16);
+/*!
+ *	@brief This API reads the Gyro  manual offset compensation of z axis
+ *	from the register 0x76 bit 0 to 7 and 0x77 bit 4 and 5
+ *
+ *
+ *
+ *  @param v_gyro_off_z_s16:
+ *	The value of Gyro  manual offset compensation of z axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_offset_compensation_zaxis(
+s16 *v_gyro_off_z_s16);
+/*!
+ *	@brief This API writes Gyro  manual offset compensation of z axis
+ *	in the register 0x76 bit 0 to 7 and 0x77 bit 4 and 5
+ *
+ *
+ *
+ *  @param v_gyro_off_z_s16:
+ *	The value of Gyro  manual offset compensation of z axis
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_offset_compensation_zaxis(
+s16 v_gyro_off_z_s16);
+/*!
+ *	@brief This API writes Accel fast offset compensation
+ *	from the register 0x69 bit 0 to 5
+ *	@brief This API writes each axis individually
+ *	FOC_X_AXIS - bit 4 and 5
+ *	FOC_Y_AXIS - bit 2 and 3
+ *	FOC_Z_AXIS - bit 0 and 1
+ *
+ *  @param  v_foc_accel_u8: The value of Accel offset compensation
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *  @param  v_axis_u8: The value of Accel offset axis selection
+  *	value    | axis
+ * ----------|-------------------
+ *  0        | FOC_X_AXIS
+ *  1        | FOC_Y_AXIS
+ *  2        | FOC_Z_AXIS
+ *
+ *	@param v_accel_offset_s8: The Accel offset value
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_foc_trigger(u8 axis,
+u8 foc_acc, s8 *accel_offset);
+/*!
+ *	@brief This API writes fast Accel offset compensation
+ *	for all axis in the register 0x69 bit 0 to 5
+ *	FOC_X_AXIS - bit 4 and 5
+ *	FOC_Y_AXIS - bit 2 and 3
+ *	FOC_Z_AXIS - bit 0 and 1
+ *
+ *  @param  v_foc_accel_x_u8: The value of Accel offset x compensation
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *  @param  v_foc_accel_y_u8: The value of Accel offset y compensation
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *  @param  v_foc_accel_z_u8: The value of Accel offset z compensation
+ *	value    | Behaviour
+ * ----------|-------------------
+ *  0x00     | disable
+ *  0x01     | +1g
+ *  0x01     | -1g
+ *  0x01     | 0g
+ *
+ *  @param  v_accel_off_x_s8: The value of Accel offset x axis
+ *  @param  v_accel_off_y_s8: The value of Accel offset y axis
+ *  @param  v_accel_off_z_s8: The value of Accel offset z axis
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_accel_foc_trigger_xyz(u8 v_foc_accel_x_u8,
+u8 v_foc_accel_y_u8, u8 v_foc_accel_z_u8,
+s8 *acc_off_x, s8 *acc_off_y, s8 *acc_off_z);
+/***************************************************/
+/**\name	FUNCTION FOR ACCEL AND GYRO OFFSET ENABLE */
+/***************************************************/
+/*!
+ *	@brief This API reads the Accel offset enable bit
+ *	from the register 0x77 bit 6
+ *
+ *
+ *
+ *  @param v_accel_off_enable_u8: The value of Accel offset enable
+ *  value    |  Description
+ * ----------|--------------
+ *   0x01    | ENABLE
+ *   0x00    | DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_offset_enable(
+u8 *acc_off_en);
+/*!
+ *	@brief This API writes the Accel offset enable bit
+ *	in the register 0x77 bit 6
+ *
+ *
+ *
+ *  @param v_accel_off_enable_u8: The value of Accel offset enable
+ *  value    |  Description
+ * ----------|--------------
+ *   0x01    | ENABLE
+ *   0x00    | DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_offset_enable(
+u8 acc_off_en);
+/*!
+ *	@brief This API reads the Accel offset enable bit
+ *	from the register 0x77 bit 7
+ *
+ *
+ *
+ *  @param v_gyro_off_enable_u8: The value of Gyro  offset enable
+ *  value    |  Description
+ * ----------|--------------
+ *   0x01    | ENABLE
+ *   0x00    | DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_offset_enable(
+u8 *v_gyro_off_enable_u8);
+/*!
+ *	@brief This API writes the gyro offset enable bit
+ *	in the register 0x77 bit 7
+ *
+ *
+ *
+ *  @param v_gyro_off_enable_u8: The value of Gyro  offset enable
+ *  value    |  Description
+ * ----------|--------------
+ *   0x01    | ENABLE
+ *   0x00    | DISABLE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_offset_enable(
+u8 v_gyro_off_enable_u8);
+/***************************************************/
+/**\name	FUNCTION FOR STEP COUNTER INTERRUPT */
+/***************************************************/
+/*!
+ *	@brief This API reads step counter output value
+ *	from the register 0x78 and 0x79
+ *
+ *
+ *
+ *
+ *  @param v_step_cnt_s16 : The value of step counter output
+ *
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_step_count(s16 *v_step_cnt_s16);
+ /*!
+ *	@brief This API reads
+ *	step counter configuration
+ *	from the register 0x7A bit 0 to 7
+ *	and also from the register 0x7B bit 0 to 2 and 4 to 7
+ *
+ *
+ *  @param v_step_config_u16 : The value of step counter configuration
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_step_config(
+u16 *v_step_config_u16);
+ /*!
+ *	@brief This API writes the
+ *	step counter configuration
+ *	in the register 0x7A bit 0 to 7
+ *	and also in the register 0x7B bit 0 to 2 and 4 to 7
+ *
+ *
+ *  @param v_step_config_u16   :
+ *	the value of step configuration
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_step_config(
+u16 v_step_config_u16);
+ /*!
+ *	@brief This API is used to get the step counter enable/disable status
+ *	from the register 0x7B bit 3
+ *
+ *
+ *  @param v_step_counter_u8 : The value of step counter enable
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_get_step_counter_enable(
+u8 *v_step_counter_u8);
+ /*!
+ *	@brief This API is used to enable step counter
+ *	by setting the register 0x7B bit 3
+ *
+ *
+ *  @param v_step_counter_u8 : The value of step counter enable
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_step_counter_enable(
+u8 v_step_counter_u8);
+ /*!
+ *	@brief This API is used to set step counter modes
+ *
+ *
+ *  @param  v_step_mode_u8 : The value of step counter mode
+ *  value    |   mode
+ * ----------|-----------
+ *   0       | BMI160_STEP_NORMAL_MODE
+ *   1       | BMI160_STEP_SENSITIVE_MODE
+ *   2       | BMI160_STEP_ROBUST_MODE
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_step_mode(u8 v_step_mode_u8);
+/*!
+ *	@brief This API is used to trigger the  signification motion
+ *	interrupt
+ *
+ *
+ *  @param  v_significant_u8 : The value of interrupt selection
+ *  value    |  interrupt
+ * ----------|-----------
+ *   0       |  BMI160_MAP_INTR1
+ *   1       |  BMI160_MAP_INTR2
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_map_significant_motion_intr(
+u8 v_significant_u8);
+/*!
+ *	@brief This API is used to trigger the step detector
+ *	interrupt
+ *
+ *
+ *  @param  v_step_detector_u8 : The value of interrupt selection
+ *  value    |  interrupt
+ * ----------|-----------
+ *   0       |  BMI160_MAP_INTR1
+ *   1       |  BMI160_MAP_INTR2
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_map_step_detector_intr(
+u8 v_step_detector_u8);
+ /*!
+ *	@brief This API is used to clear the step counter interrupt
+ *
+ *
+ *  @param  : None
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_clear_step_counter(void);
+/***************************************************/
+/**\name	FUNCTION FOR STEP COMMAND REGISTER WRITE */
+/***************************************************/
+/*!
+ *	@brief This API writes the value to the register 0x7E bit 0 to 7
+ *
+ *
+ *  @param  v_command_reg_u8 : The value to write command register
+ *  value   |  Description
+ * ---------|--------------------------------------------------------
+ *	0x00	|	Reserved
+ *  0x03	|	Starts fast offset calibration for the Accel and gyro
+ *	0x10	|	Sets the PMU mode for the Accel to suspend
+ *	0x11	|	Sets the PMU mode for the Accel to normal
+ *	0x12	|	Sets the PMU mode for the Accel Lowpower
+ *  0x14	|	Sets the PMU mode for the Gyro to suspend
+ *	0x15	|	Sets the PMU mode for the Gyro to normal
+ *	0x16	|	Reserved
+ *	0x17	|	Sets the PMU mode for the Gyro to fast start-up
+ *  0x18	|	Sets the PMU mode for the Mag to suspend
+ *	0x19	|	Sets the PMU mode for the Mag to normal
+ *	0x1A	|	Sets the PMU mode for the Mag to Lowpower
+ *	0xB0	|	Clears all data in the FIFO
+ *  0xB1	|	Resets the interrupt engine
+ *	0xB2	|	step_cnt_clr Clears the step counter
+ *	0xB6	|	Triggers a reset
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_command_register(
+u8 v_command_reg_u8);
+
+/***************************************************/
+/**\name	FUNCTION FOR BMM150 */
+/***************************************************/
+ /*!
+ *	@brief This function is used to initialize the bmm150 sensor
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bmm150_mag_interface_init(u8 *v_chip_id_u8);
+ /*!
+ *	@brief This function is used to set the Mag power control
+ *	bit enable
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bmm150_mag_wakeup(void);
+ /*!
+ *	@brief This function is used to read the trim values of magnetometer
+ *
+ *	@note Before reading the Mag trimming values
+ *	make sure the following two points are addressed
+ *	@note
+ *	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note
+ *	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_bmm150_mag_trim(void);
+ /*!
+ *	@brief This function is used to read the compensated value of mag
+ *	Before start reading the mag compensated data
+ *	make sure the following two points are addressed
+ *	@note
+ *	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note
+ *	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bmm150_mag_compensate_xyz(
+struct bmi160_mag_xyz_s32_t *mag_comp_xyz);
+/*!
+ *	@brief This API is used to get the compensated BMM150-X axis data
+ *
+ *	Before start reading the Mag compensated X data
+ *	make sure the following two points are addressed
+ *	@note
+ *	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note
+ *	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *
+ *  @param  v_mag_data_x_s16 : The value of Mag raw X data
+ *  @param  v_data_r_u16 : The value of Mag R data
+ *
+ *	@return compensated X axis data
+ *
+ */
+s32 bmi160_bmm150_mag_compensate_X(s16 v_mag_data_x_s16, u16 v_data_r_u16);
+/*!
+ *	@brief This API is used to get the compensated BMM150-Y axis data
+ *
+ *	Before reading the Mag compensated Y axis data
+ *	make sure the following two points are addressed
+ *	@note
+ *	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled then set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note
+ *	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *
+ *  @param  v_mag_data_y_s16 : The value of Mag raw Y axis data
+ *  @param  v_data_r_u16 : The value of Mag R data
+ *
+ *	@return results of compensated Y axis data
+ */
+s32 bmi160_bmm150_mag_compensate_Y(s16 v_mag_data_y_s16, u16 v_data_r_u16);
+/*!
+ *	@brief This API is used to get the compensated BMM150-Z axis data
+ *
+ *	Before reading the Mag compensated Z data
+ *	make sure the following two points are addressed
+ *	@note
+ *	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled then set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note
+ *	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *
+ *  @param  v_mag_data_z_s16 : The value of Mag raw Z data
+ *  @param  v_data_r_u16 : The value of Mag R data
+ *
+ *	@return results of compensated Z axis data
+ */
+s32 bmi160_bmm150_mag_compensate_Z(s16 v_mag_data_z_s16, u16 v_data_r_u16);
+/*!
+ *	@brief This API is used to set the pre-set modes of bmm150
+ *	The pre-set mode setting depends on the data rate and xy and z
+ *	repetitions
+ *
+ *	@note
+ *	Before setting the Mag preset mode
+ *	make sure the following two points are addressed
+ *	@note
+ *	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note
+ *	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode by using the function
+ *		bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *  @param  v_mode_u8: The value of pre-set mode selection value
+ *  value    |  pre_set mode
+ * ----------|------------
+ *   1       | BMI160_MAG_PRESETMODE_LOWPOWER
+ *   2       | BMI160_MAG_PRESETMODE_REGULAR
+ *   3       | BMI160_MAG_PRESETMODE_HIGHACCURACY
+ *   4       | BMI160_MAG_PRESETMODE_ENHANCED
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_bmm150_mag_presetmode(u8 mode);
+/*!
+ *	@brief This function is used to set the magnetometer
+ *	power mode.
+ *	@note
+ *	Before setting the Mag power mode make sure the following
+ *	two points are addressed
+ *	@note
+ *	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled then set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note
+ *	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode by using the
+ *		function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *	@param v_mag_pow_mode_u8 : The value of Mag power mode
+ *  value    |  mode
+ * ----------|------------
+ *   0       | FORCE_MODE
+ *   1       | SUSPEND_MODE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bmm150_mag_set_power_mode(u8 mag_pow_mode);
+ /*!
+ *	@brief This function is used to set the magnetometer
+ *	power mode.
+ *	@note Before setting the Mag power mode
+ *	make sure the following points are addressed
+ *		Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *
+ *	@param v_mag_sec_if_pow_mode_u8 : The value of Mag power mode
+ *  value    |  mode
+ * ----------|------------
+ *   0       | BMI160_MAG_FORCE_MODE
+ *   1       | BMI160_MAG_SUSPEND_MODE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_set_bmm150_mag_and_secondary_if_power_mode(
+u8 v_mag_sec_if_pow_mode_u8);
+#if defined AKM09911 || defined AKM09912
+/***************************************************/
+/**\name	FUNCTIONS FOR AKM09911 AND AKM09912*/
+/***************************************************/
+
+		/*!
+	 *	@brief Used to read the akm compensated values
+	*/
+	struct bmi160_bst_akm_xyz_t {
+	s32 x;/**<AKM09911 and AKM09912 X compensated data*/
+	s32 y;/**<AKM09911 and AKM09912 Y compensated data*/
+	s32 z;/**<AKM09911 and AKM09912 Z compensated data*/
+	};
+	/*!
+	*	@brief Structure for reading AKM compensating data
+	*/
+	struct bst_akm_sensitivity_data_t {
+	u8 asax;/**<AKM09911 and AKM09912 X sensitivity data*/
+	u8 asay;/**<AKM09911 and AKM09912 Y sensitivity data*/
+	u8 asaz;/**<AKM09911 and AKM09912 Z sensitivity data*/
+	};
+/*!
+ *	@brief This function is used to initialize
+ *	the AKM09911 and AKM09912 sensor
+ *
+ *
+ *	@param v_akm_i2c_address_u8: The value of device address
+ *	AKM sensor   |  Slave address
+ * --------------|---------------------
+ *  AKM09911     |  AKM09911_I2C_ADDR_1
+ *     -         |  and AKM09911_I2C_ADDR_2
+ *  AKM09912     |  AKM09912_I2C_ADDR_1
+ *     -         |  AKM09912_I2C_ADDR_2
+ *     -         |  AKM09912_I2C_ADDR_3
+ *     -         |  AKM09912_I2C_ADDR_4
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_akm_mag_interface_init(
+u8 v_akm_i2c_address_u8);
+/*!
+ *	@brief This function is used to read the sensitivity data of
+ *	AKM09911 and AKM09912
+ *
+ *	@note Before reading the Mag sensitivity values
+ *	make sure the following two points are addressed
+ *	@note	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode by using the function
+ *		bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_bst_akm_sensitivity_data(void);
+/*!
+ *	@brief This function is used to set the AKM09911 and AKM09912
+ *	power mode.
+ *	@note Before setting the AKM power mode
+ *	make sure the following two points are addressed
+ *	@note	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled then set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *	@param v_akm_pow_mode_u8 : The value of akm power mode
+ *  value   |    Description
+ * ---------|--------------------
+ *    0     |  AKM_POWER_DOWN_MODE
+ *    1     |  AKM_SINGLE_MEAS_MODE
+ *    2     |  FUSE_ROM_MODE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_akm_set_powermode(
+u8 v_akm_pow_mode_u8);
+ /*!
+ *	@brief This function is used to set the magnetometer
+ *	power mode of AKM09911 and AKM09912
+ *	@note Before setting the Mag power mode
+ *	make sure the following two points are addressed
+ *		Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled then set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *
+ *	@param v_mag_sec_if_pow_mode_u8 : The value of secondary if power mode
+ *  value   |    Description
+ * ---------|--------------------
+ *    0     |  BMI160_MAG_FORCE_MODE
+ *    1     |  BMI160_MAG_SUSPEND_MODE
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE
+bmi160_set_bst_akm_and_secondary_if_powermode(
+u8 v_mag_sec_if_pow_mode_u8);
+
+#endif
+#ifdef AKM09911
+/***************************************************/
+/**\name	FUNCTIONS FOR AKM09911 */
+/***************************************************/
+/*!
+ *	@brief This API is used to get the compensated X data
+ *	of AKM09911 sensor
+ *	Output of X is s32
+ *	@note	Before start reading the Mag compensated X data
+ *			make sure the following two points are addressed
+ *	@note 1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note 2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *  @param v_bst_akm_x_s16 : The value of X data
+ *
+ *	@return compensated X data value
+ *
+ */
+s32 bmi160_bst_akm09911_compensate_X(s16 v_bst_akm_x_s16);
+/*!
+ *	@brief This API is used to get the compensated Y data
+ *	of AKM09911 sensor
+ *  Output of Y is s32
+ *	@note	Before start reading the Mag compensated Y data
+ *			make sure the following two points are addressed
+ *	@note 1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note 2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *  @param v_bst_akm_y_s16 : The value of Y data
+ *
+ *	@return compensated Y data value
+ *
+ */
+s32 bmi160_bst_akm09911_compensate_Y(s16 v_bst_akm_y_s16);
+/*!
+ *	@brief This API is used to get the compensated Z data
+ *	of AKM09911 sensor
+ *  Out put of Z is s32
+ *	@note	Before start reading the Mag compensated Z data
+ *			make sure the following two points are addressed
+ *	@note 1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note 2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *  @param v_bst_akm_z_s16 : The value of Z data
+ *
+ *	@return compensated Z data value
+ *
+ */
+s32 bmi160_bst_akm09911_compensate_Z(s16 v_bst_akm_z_s16);
+ /*!
+ *	@brief This function is used to read the compensated value of
+ *	AKM09911
+ *	@note Before start reading the Mag compensated data's
+ *	make sure the following two points are addressed
+ *	@note	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode by using the function
+ *		bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_akm09911_compensate_xyz(
+struct bmi160_bst_akm_xyz_t *bst_akm_xyz);
+#endif
+ #ifdef AKM09912
+ /***************************************************/
+/**\name	FUNCTIONS FOR AKM09912*/
+/***************************************************/
+/*!
+ *	@brief This API is used to get the compensated X data
+ *	of AKM09912 sensor
+ *	Output of X is s32
+ *	@note	Before start reading the Mag compensated X data
+ *			make sure the following two points are addressed
+ *	@note 1. Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note 2. And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *	@param v_bst_akm_x_s16 : The value of X data
+ *
+ *	@return compensated X data value
+ *
+ */
+s32 bmi160_bst_akm09912_compensate_X(s16 v_bst_akm_x_s16);
+/*!
+ *	@brief This API is used to get the compensated Y data
+ *	of AKM09912 sensor
+ *	@note	Before reading the Mag compensated Y data
+ *		make sure the following two points are addressed
+ *	@note 1. Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note 2. And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode by using the function
+ *		bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *  @param v_bst_akm_y_s16 : The value of Y data
+ *
+ *	@return compensated Y data value
+ *
+ */
+s32 bmi160_bst_akm09912_compensate_Y(s16 v_bst_akm_y_s16);
+/*!
+ *	@brief This API is used to get the compensated Z data
+ *	of AKM09912
+ *  Output of X is s32
+ *	@note	Before start reading the Mag compensated Z data
+ *			make sure the following two points are addressed
+ *	@note 1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note 2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode.
+ *		by using the function bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *  @param v_bst_akm_z_s16 : The value of Z data
+ *
+ *	@return compensated Z data value
+ *
+ */
+s32 bmi160_bst_akm09912_compensate_Z(s16 v_bst_akm_z_s16);
+ /*!
+ *	@brief This function is used to read the compensated value of
+ *	AKM09912 sensor
+ *	@note Before start reading the Mag compensated data's
+ *	make sure the following two points are addressed
+ *	@note	1.	Make sure the Mag interface is enabled or not,
+ *		by using the bmi160_get_if_mode() function.
+ *		If Mag interface is not enabled set the value of 0x02
+ *		to the function bmi160_get_if_mode(0x02)
+ *	@note	2.	And also confirm the secondary-interface power mode
+ *		is not in the SUSPEND mode by using the function
+ *		bmi160_get_mag_pmu_status().
+ *		If the secondary-interface power mode is in SUSPEND mode
+ *		set the value of 0x19(NORMAL mode)by using the
+ *		bmi160_set_command_register(0x19) function.
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_akm09912_compensate_xyz(
+struct bmi160_bst_akm_xyz_t *bst_akm_xyz);
+ #endif
+
+#ifdef FIFO_ENABLE
+/***************************************************/
+/**\name	FUNCTIONS FOR FIFO DATA READ */
+/***************************************************/
+/*!
+ *	@brief This function is used to read the
+ *	fifo data for  header less mode
+ *
+ *
+ *
+ *	@note Configure the below functions for FIFO header less mode
+ *	@note 1. bmi160_set_fifo_down_gyro
+ *	@note 2. bmi160_set_gyro_fifo_filter_data
+ *	@note 3. bmi160_set_fifo_down_accel
+ *	@note 4. bmi160_set_accel_fifo_filter_dat
+ *	@note 5. bmi160_set_fifo_mag_enable
+ *	@note 6. bmi160_set_fifo_accel_enable
+ *	@note 7. bmi160_set_fifo_gyro_enable
+ *	@note For interrupt configuration
+ *	@note 1. bmi160_set_intr_fifo_full
+ *	@note 2. bmi160_set_intr_fifo_wm
+ *	@note 3. bmi160_set_fifo_tag_intr2_enable
+ *	@note 4. bmi160_set_fifo_tag_intr1_enable
+ *
+ *	@note The FIFO reads the whole 1024 bytes of data and
+ *	processing it.
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_fifo_headerless_mode(
+u8 v_mag_if_u8, struct bmi160_fifo_data_header_less_t *headerless_data);
+/*!
+ *	@brief This function is used to read the
+ *	fifo data for header less mode according to user defined length
+ *
+ *
+ *	@param v_fifo_user_length_u16: length of FIFO data to be read
+ *	@param v_mag_if_mag_u8 : the Mag interface data
+ *	@param fifo_data : the pointer to fifo_data_header_less_t structure
+ *
+ *	@note Configure the below functions for FIFO header less mode
+ *	@note 1. bmi160_set_fifo_down_gyro
+ *	@note 2. bmi160_set_gyro_fifo_filter_data
+ *	@note 3. bmi160_set_fifo_down_accel
+ *	@note 4. bmi160_set_accel_fifo_filter_dat
+ *	@note 5. bmi160_set_fifo_mag_enable
+ *	@note 6. bmi160_set_fifo_accel_enable
+ *	@note 7. bmi160_set_fifo_gyro_enable
+ *	@note For interrupt configuration
+ *	@note 1. bmi160_set_intr_fifo_full
+ *	@note 2. bmi160_set_intr_fifo_wm
+ *	@note 3. bmi160_set_fifo_tag_intr2_enable
+ *	@note 4. bmi160_set_fifo_tag_intr1_enable
+ *
+ *	@note The FIFO reads the whole 1024 bytes
+ *	of data and process it.
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE
+bmi160_read_fifo_headerless_mode_user_defined_length(
+u16 v_fifo_user_length_u16,
+struct bmi160_fifo_data_header_less_t *fifo_data, u8 v_mag_if_mag_u8);
+/*!
+ *	@brief This function is used to read the
+ *	fifo data of  header mode
+ *
+ *
+ *	@note Configure the below functions for FIFO header mode
+ *	@note 1. bmi160_set_fifo_down_gyro()
+ *	@note 2. bmi160_set_gyro_fifo_filter_data()
+ *	@note 3. bmi160_set_fifo_down_accel()
+ *	@note 4. bmi160_set_accel_fifo_filter_dat()
+ *	@note 5. bmi160_set_fifo_mag_enable()
+ *	@note 6. bmi160_set_fifo_accel_enable()
+ *	@note 7. bmi160_set_fifo_gyro_enable()
+ *	@note 8. bmi160_set_fifo_header_enable()
+ *	@note For interrupt configuration
+ *	@note 1. bmi160_set_intr_fifo_full()
+ *	@note 2. bmi160_set_intr_fifo_wm()
+ *	@note 3. bmi160_set_fifo_tag_intr2_enable()
+ *	@note 4. bmi160_set_fifo_tag_intr1_enable()
+ *
+ *	@note The FIFO reads the whole 1024 bytes
+ *	of data and process it.
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_fifo_header_data(
+u8 v_mag_if_u8, struct bmi160_fifo_data_header_t *header_data);
+/*!
+ *	@brief This function is used to read the
+ *	fifo data of  header mode for user defined length
+ *
+ *
+ *	@note Configure the below functions for FIFO header mode
+ *	@note 1. bmi160_set_fifo_down_gyro()
+ *	@note 2. bmi160_set_gyro_fifo_filter_data()
+ *	@note 3. bmi160_set_fifo_down_accel()
+ *	@note 4. bmi160_set_accel_fifo_filter_dat()
+ *	@note 5. bmi160_set_fifo_mag_enable()
+ *	@note 6. bmi160_set_fifo_accel_enable()
+ *	@note 7. bmi160_set_fifo_gyro_enable()
+ *	@note 8. bmi160_set_fifo_header_enable()
+ *	@note For interrupt configuration
+ *	@note 1. bmi160_set_intr_fifo_full()
+ *	@note 2. bmi160_set_intr_fifo_wm()
+ *	@note 3. bmi160_set_fifo_tag_intr2_enable()
+ *	@note 4. bmi160_set_fifo_tag_intr1_enable()
+ *
+ *	@note The FIFO reads the whole 1024 bytes
+ *	of data and process it.
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_read_fifo_header_data_user_defined_length(
+u16 v_fifo_user_length_u16, u8 v_mag_if_mag_u8,
+struct bmi160_fifo_data_header_t *fifo_header_data);
+#endif
+/*!
+ *	@brief This function is used to read the compensated xyz axis data of
+ *	mag secondary interface
+ *	@note v_mag_x_s16: The value of Mag x data
+ *	@note v_mag_y_s16: The value of Mag y data
+ *	@note v_mag_z_s16: The value of Mag z data
+ *	@note v_mag_r_s16: The value of Mag r data
+ *	@param v_mag_second_if_u8: The value of Mag selection
+ *
+ *  value   |   v_mag_second_if_u8
+ * ---------|----------------------
+ *    0     |    BMM150
+ *    1     |    AKM09911
+ *    2     |    AKM09912
+ *    3     |    YAS532
+ *    4     |    YAS537
+ *	@param mag_fifo_data: The value of compensated Mag xyz data
+ *
+ *
+ *  @return
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_second_if_mag_compensate_xyz(
+struct bmi160_mag_fifo_data_t mag_fifo_data,
+u8 v_mag_second_if_u8);
+#ifdef YAS537
+/***************************************************/
+/**\name	FUNCTIONS FOR YAMAHA-YAS537 */
+/***************************************************/
+/**
+ * @struct yas_vector
+ * @brief Stores the sensor data
+ */
+struct yas_vector {
+	s32 yas537_vector_xyz[3]; /*!< vector data */
+};
+/*!
+* @brief YAMAHA-YAS532 struct
+* Calibration YAS532 data struct
+*/
+struct bst_yas537_calib_data_t {
+s8 a2;/**<YAS532 calib a2 data */
+s8 a3;/**<YAS532 calib a3 data */
+s8 a4;/**<YAS532 calib a4 data */
+s16 a5;/**<YAS532 calib a5 data */
+s8 a6;/**<YAS532 calib a6 data */
+s8 a7;/**<YAS532 calib a7 data */
+s8 a8;/**<YAS532 calib a8 data */
+s16 a9;/**<YAS532 calib a9 data */
+u8 k;/**<YAS532 calib k data */
+u8 ver;/**<YAS532 calib ver data*/
+};
+/*!
+* @brief YAS537 sensor initialization
+*/
+struct yas537_t {
+struct bst_yas537_calib_data_t calib_yas537;/**< calib data */
+s8 measure_state;/**< update measure state */
+s8 hard_offset[3];/**< offset write array*/
+u16 last_after_rcoil[3];/**< rcoil write array*/
+s32 coef[3];/**< coefficient data */
+s8 overflow;/**< over flow condition check */
+u8 dev_id;/**< device id information */
+u8 average;/**<average selection for offset configuration*/
+const s8 *transform;/**< transform condition check  */
+u16 last_raw[4];/**< raw data */
+struct yas_vector xyz; /*!< X, Y, Z measurement data of the sensor */
+};
+/*!
+ *	@brief This function is used to read the
+ *	YAMAHA YAS537 xy1y2 data of fifo
+ *
+ *	@param a_xy1y2_u16: The value of xyy1 data
+ *	@param v_over_flow_u8: The value of overflow
+ *	@param v_rcoil_u8: The value of rcoil
+ *	@param v_busy_u8: The value of busy flag
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas537_fifo_xyz_data(
+u16 *a_xy1y2_u16, u8 v_over_flow_u8, u8 v_rcoil_u8, u8 v_busy_u8);
+/*!
+ *	@brief This function used to init the YAMAHA-YAS537
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas537_mag_interface_init(
+void);
+/*!
+*	@brief This function is used to read the
+*	YAMAHA YAS537 calibration data
+*
+*
+*	@param v_rcoil_u8 : The value of r coil
+*
+*
+*	@return results of bus communication function
+*	@retval 0 -> Success
+*	@retval -1 -> Error
+*
+*
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas537_calib_values(
+u8 v_rcoil_u8);
+/*!
+ *	@brief This function is used for writing the data acquisition
+ *	command register write in YAS537
+ *	@param	v_command_reg_data_u8	:	the value of data acquisition
+ *	acquisition_command  |   operation
+ *  ---------------------|-------------------------
+ *         0x17          | turn on the acquisition coil
+ *         -             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Deferred acquisition mode
+ *        0x07           | turn on the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Normal acquisition mode
+ *        0x11           | turn OFF the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as plus(+))
+ *         _             | Deferred acquisition mode
+ *       0x01            | turn OFF the acquisition coil
+ *        _              | set direction of the coil
+ *        _              | (x and y as plus(+))
+ *        _              | Normal acquisition mode
+ *
+ *
+ *
+  *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas537_acquisition_command_register(
+u8 v_command_reg_data_u8);
+/*!
+ *	@brief This function is used to read the
+ *	YAMAHA YAS537 xy1y2 data
+ *
+ *	@param v_coil_stat_u8: The value of R coil status
+ *	@param v_busy_u8: The value of busy status
+ *	@param v_temperature_u16: The value of temperature
+ *	@param xy1y2: The value of raw xy1y2 data
+ *	@param v_outflow_u8: The value of overflow
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas537_read_xy1y2_data(
+u8 *v_coil_stat_u8, u8 *v_busy_u8,
+u16 *v_temperature_u16, u16 *xy1y2, u8 *v_outflow_u8);
+/*!
+ *	@brief This function is used to read the
+ *	YAMAHA YAS537 xy1y2 data
+ *
+ *	@param v_outflow_u8: The value of overflow
+ *	@param *vector_xyz : yas vector structure pointer
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas537_measure_xyz_data(
+u8 *v_outflow_u8, struct yas_vector *vector_xyz);
+
+#endif
+
+#ifdef YAS532
+/***************************************************/
+/**\name	FUNCTIONS FOR YAMAHA-YAS532 */
+/***************************************************/
+/*!
+* @brief YAMAHA-YAS532 struct
+* Calibration YAS532 data struct
+*/
+struct bst_yas532_calib_data_t {
+s32 cx;/**<YAS532 calib cx data */
+s32 cy1;/**<YAS532 calib cy1 data */
+s32 cy2;/**<YAS532 calib cy2 data */
+s32 a2;/**<YAS532 calib a2 data */
+s32 a3;/**<YAS532 calib a3 data */
+s32 a4;/**<YAS532 calib a4 data */
+s32 a5;/**<YAS532 calib a5 data */
+s32 a6;/**<YAS532 calib a6 data */
+s32 a7;/**<YAS532 calib a7 data */
+s32 a8;/**<YAS532 calib a8 data */
+s32 a9;/**<YAS532 calib a9 data */
+s32 k;/**<YAS532 calib k data */
+s8 rxy1y2[3];/**<YAS532 calib rxy1y2 data */
+u8 fxy1y2[3];/**<YAS532 calib fxy1y2 data */
+};
+/*!
+* @brief YAS532 Temperature structure
+*/
+#if 1 < YAS532_MAG_TEMPERATURE_LOG
+struct yas_temp_filter_t {
+u16 log[YAS532_MAG_TEMPERATURE_LOG];/**<YAS532 temp log array */
+u8 num;/**< used to increment the index */
+u8 idx;/**< used to increment the index */
+};
+#endif
+/*!
+* @brief YAS532 sensor initialization
+*/
+struct yas532_t {
+struct bst_yas532_calib_data_t calib_yas532;/**< calib data */
+s8 measure_state;/**< update measure state */
+s8 v_hard_offset_s8[3];/**< offset write array*/
+s32 coef[3];/**< co efficient data */
+s8 overflow;/**< over flow condition check */
+u8 dev_id;/**< device id information */
+const s8 *transform;/**< transform condition check  */
+#if 1 < YAS532_MAG_TEMPERATURE_LOG
+struct yas_temp_filter_t temp_data;/**< temp data */
+#endif
+u16 last_raw[4];/**< raw data */
+};
+/*!
+* @brief Used for reading the YAS532 XYZ data
+*/
+struct yas532_vector {
+s32 yas532_vector_xyz[3];/**< YAS532 compensated xyz data*/
+};
+/*!
+* @struct yas532_data
+* @brief Used for reading the YAS532 XYZ data
+*/
+struct yas532_data {
+s32 x;
+s32 y;
+s32 z;
+};
+/*!
+ *	@brief This function is used to initlalize the YAMAHA-YAS532 sensor
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas532_mag_interface_init(
+void);
+/*!
+ *	@brief This function used to set the YAS532 initial values
+ *
+ *
+  *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_set_initial_values(void);
+/*!
+ *	@brief This function is used to perform YAS532 offset correction
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+*/
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_magnetic_measure_set_offset(
+void);
+/*!
+ *	@brief This function used to read the
+ *	YAMAHA YAS532 calibration data
+ *
+ *
+  *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas532_calib_values(void);
+/*!
+ *	@brief This function is used to calculate the
+ *	linear data in YAS532 sensor.
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_xy1y2_to_linear(
+u16 *v_xy1y2_u16, s32 *xy1y2_linear);
+/*!
+ *	@brief This function is used to read the YAS532 sensor data
+ *	@param	v_acquisition_command_u8: used to set the data acquisition
+ *	acquisition_command  |   operation
+ *  ---------------------|-------------------------
+ *         0x17          | turn on the acquisition coil
+ *         -             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Deferred acquisition mode
+ *        0x07           | turn on the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Normal acquisition mode
+ *        0x11           | turn OFF the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as plus(+))
+ *         _             | Deferred acquisition mode
+ *       0x01            | turn OFF the acquisition coil
+ *        _              | set direction of the coil
+ *        _              | (x and y as plus(+))
+ *        _              | Normal acquisition mode
+ *
+ *	@param	v_busy_u8 : used to get the busy flag for sensor data read
+ *	@param	v_temp_u16 : used to get the temperature data
+ *	@param	v_xy1y2_u16 : used to get the sensor xy1y2 data
+ *	@param	v_overflow_u8 : used to get the overflow data
+ *
+ *
+ *
+  *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_normal_measurement_data(
+u8 v_acquisition_command_u8, u8 *v_busy_u8,
+u16 *v_temp_u16, u16 *v_xy1y2_u16, u8 *v_overflow_u8);
+/*!
+ *	@brief This function is used to read the YAS532 sensor data
+ *	@param	v_acquisition_command_u8	:	the value of CMDR
+ *	acquisition_command  |   operation
+ *  ---------------------|-------------------------
+ *         0x17          | turn on the acquisition coil
+ *         -             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Deferred acquisition mode
+ *        0x07           | turn on the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Normal acquisition mode
+ *        0x11           | turn OFF the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as plus(+))
+ *         _             | Deferred acquisition mode
+ *       0x01            | turn OFF the acquisition coil
+ *        _              | set direction of the coil
+ *        _              | (x and y as plus(+))
+ *        _              | Normal acquisition mode
+ *
+ * @param xyz_data : the vector xyz output
+ * @param v_overflow_s8 : the value of overflow
+ * @param v_temp_correction_u8 : the value of temperate correction enable
+ *
+ *
+  *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_measurement_xyz_data(
+struct yas532_vector *xyz_data, u8 *v_overflow_s8, u8 v_temp_correction_u8,
+u8 v_acquisition_command_u8);
+
+/*!
+ *	@brief This function is used to write the data acquisition
+ *	command register in YAS532 sensor.
+ *	@param v_command_reg_data_u8	:	the value of data acquisition
+ *
+ *	acquisition_command  |   operation
+ *  ---------------------|-------------------------
+ *         0x17          | turn on the acquisition coil
+ *         -             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Deferred acquisition mode
+ *        0x07           | turn on the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as minus(-))
+ *         _             | Normal acquisition mode
+ *        0x11           | turn OFF the acquisition coil
+ *         _             | set direction of the coil
+ *         _             | (x and y as plus(+))
+ *         _             | Deferred acquisition mode
+ *       0x01            | turn OFF the acquisition coil
+ *        _              | set direction of the coil
+ *        _              | (x and y as plus(+))
+ *        _              | Normal acquisition mode
+ *
+ *
+ *
+  *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_acquisition_command_register(
+u8 v_command_reg_data_u8);
+/*!
+ *	@brief This function is used write the offset for YAS532 sensor
+ *
+ *	@param	p_offset_s8	: The value of offset to write
+ *
+ *
+  *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_set_offset(
+const s8 *p_offset_s8);
+/*!
+ *	@brief This function is used to read YAS532 sensor data
+ *
+ *
+ * @param v_xy1y2_u16 : the vector xyz output
+ * @param v_overflow_s8 : the value of overflow
+ * @param v_temp_correction_u8 : the value of temperate correction enable
+ * @param v_temp_u16 : the value of temperature
+ * @param v_busy_u8 : the value denoting the sensor is busy
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval -1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_fifo_xyz_data(
+u16 *v_xy1y2_u16, u8 v_temp_correction_u8,
+s8 v_overflow_s8, u16 v_temp_u16, u8 v_busy_u8);
+
+#endif
+#endif
+

bmi160_support.c

@@ -0,0 +1,839 @@
+/*
+****************************************************************************
+* Copyright (C) 2016 Bosch Sensortec GmbH
+*
+* bmi160_support.c
+* Date: 2016/06/22
+* Revision: 1.1.4 $
+*
+* Usage: Sensor Driver support file for BMI160 sensor
+*
+****************************************************************************
+* License:
+*
+* 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.
+**************************************************************************/
+
+#include "bmi160_support.h"
+#include "bmi160.h"
+/* Mapping the structure*/
+struct bmi160_t s_bmi160;
+/* Read the sensor data of accel, gyro and mag*/
+struct bmi160_gyro_t gyroxyz;
+struct bmi160_accel_t accelxyz;
+struct bmi160_mag_xyz_s32_t magxyz;
+
+/*!
+ *	@brief This function used for initialize the sensor
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval 1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_initialize_sensor(void)
+{
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = BMI160_INIT_VALUE;
+ /*	Based on the user need configure I2C or SPI interface.
+  *	It is sample code to explain how to use the bmi160 API*/
+	#ifdef INCLUDE_BMI160API
+	com_rslt = i2c_routine();
+	/*SPI_routine(); */
+	#endif
+/*
+ *  This function used to assign the value/reference of
+ *	the following parameters
+ *	I2C address
+ *	Bus Write
+ *	Bus read
+ *	company_id
+ */
+	com_rslt += bmi160_init(&s_bmi160);
+	/**** standard 9Dof with FIFO output****/
+	com_rslt += bmi160_config_running_mode(STANDARD_UI_9DOF_FIFO);
+	return com_rslt;
+}
+/*!
+ *	@brief This Function used to read the sensor data using
+ *	different running mode
+ *	@param v_running_mode_u8 : The value of running mode
+ *      Description                |  value
+ * --------------------------------|----------
+ *  STANDARD_UI_9DOF_FIFO          |   0
+ *	STANDARD_UI_IMU_FIFO           |   1
+ *	STANDARD_UI_IMU                |   2
+ *	STANDARD_UI_ADVANCEPOWERSAVE   |   3
+ *	ACCEL_PEDOMETER                |   4
+ *	APPLICATION_HEAD_TRACKING      |   5
+ *	APPLICATION_NAVIGATION         |   6
+ *	APPLICATION_REMOTE_CONTROL     |   7
+ *	APPLICATION_INDOOR_NAVIGATION  |   8
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval 1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_config_running_mode(
+u8 v_running_mode_u8)
+{
+	struct gyro_sleep_setting gyr_setting;
+	struct bmi160_fifo_data_header_t header_data;
+
+	/* Variable used for get the status of mag interface*/
+	u8 v_mag_interface_u8 = BMI160_INIT_VALUE;
+	u8 v_bmm_chip_id_u8 = BMI160_INIT_VALUE;
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+		/* Configure the gyro sleep setting based on your need*/
+	if (v_running_mode_u8 == STANDARD_UI_ADVANCEPOWERSAVE) {
+		gyr_setting. sleep_trigger = BMI160_SLEEP_TRIGGER;
+		gyr_setting. wakeup_trigger = BMI160_WAKEUP_TRIGGER;
+		gyr_setting. sleep_state = BMI160_SLEEP_STATE;
+		gyr_setting. wakeup_int = BMI160_WAKEUP_INTR;
+	}
+	/* The below code used for enable and
+	disable the secondary mag interface*/
+	com_rslt = bmi160_get_if_mode(&v_mag_interface_u8);
+	if (((v_running_mode_u8 == STANDARD_UI_IMU_FIFO) ||
+	(v_running_mode_u8 == STANDARD_UI_IMU) ||
+	(v_running_mode_u8 == STANDARD_UI_ADVANCEPOWERSAVE) ||
+	(v_running_mode_u8 == APPLICATION_NAVIGATION) ||
+	(v_running_mode_u8 == ACCEL_PEDOMETER) ||
+	(v_running_mode_u8 == APPLICATION_REMOTE_CONTROL) ||
+	(v_running_mode_u8 == APPLICATION_INDOOR_NAVIGATION))
+	&& (v_mag_interface_u8 == BMI160_MAG_INTERFACE_ON_PRIMARY_ON)) {
+		com_rslt +=
+		bmi160_set_bmm150_mag_and_secondary_if_power_mode(
+		MAG_SUSPEND_MODE);
+		s_bmi160.delay_msec(
+			BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		com_rslt += bmi160_set_if_mode(
+		BMI160_MAG_INTERFACE_OFF_PRIMARY_ON);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+	}
+	if (((v_running_mode_u8 == STANDARD_UI_9DOF_FIFO)
+		|| (v_running_mode_u8 == APPLICATION_HEAD_TRACKING) ||
+		(v_running_mode_u8 == APPLICATION_NAVIGATION)) &&
+		(v_mag_interface_u8 == BMI160_MAG_INTERFACE_OFF_PRIMARY_ON)) {
+			/* Init the magnetometer */
+			com_rslt += bmi160_bmm150_mag_interface_init(
+			&v_bmm_chip_id_u8);
+			/* bmi160_delay_ms in ms*/
+			s_bmi160.delay_msec(BMI160_GEN_READ_WRITE_DELAY);
+	}
+	switch (v_running_mode_u8) {
+	case STANDARD_UI_9DOF_FIFO:
+		/*Set the accel mode as Normal write in the register 0x7E*/
+		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
+		/* bmi160_delay_ms in ms*/
+		s_bmi160.delay_msec(BMI160_MODE_SWITCHING_DELAY);
+		/*Set the gyro mode as Normal write in the register 0x7E*/
+		com_rslt += bmi160_set_command_register(GYRO_MODE_NORMAL);
+		/* bmi160_delay_ms in ms*/
+		s_bmi160.delay_msec(BMI160_MODE_SWITCHING_DELAY);
+		/* Set the accel bandwidth as Normal */
+		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_NORMAL_AVG4);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Set the gryo bandwidth as Normal */
+		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_NORMAL_MODE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set gyro data rate as 100Hz*/
+		com_rslt += bmi160_set_gyro_output_data_rate(
+		BMI160_GYRO_OUTPUT_DATA_RATE_100HZ);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set accel data rate as 100Hz*/
+		com_rslt += bmi160_set_accel_output_data_rate(
+		BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ, BMI160_ACCEL_OSR4_AVG1);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/***** read FIFO data based on interrupt*****/
+		com_rslt += bmi160_interrupt_configuration();
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable the FIFO header*/
+		com_rslt += bmi160_set_fifo_header_enable(FIFO_HEADER_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable the FIFO mag*/
+		com_rslt += bmi160_set_fifo_mag_enable(FIFO_MAG_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable the FIFO accel*/
+		com_rslt += bmi160_set_fifo_accel_enable(FIFO_ACCEL_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable the FIFO gyro*/
+		com_rslt += bmi160_set_fifo_gyro_enable(FIFO_GYRO_ENABLE);
+		/* Enable the FIFO time*/
+		com_rslt += bmi160_set_fifo_time_enable(FIFO_TIME_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable the FIFO water mark interrupt1*/
+		/* Enable FIFO water mark interrupts in INT_EN[1] */
+		com_rslt += bmi160_set_intr_enable_1(BMI160_FIFO_WM_ENABLE,
+		BMI160_ENABLE);
+		com_rslt += bmi160_set_intr_fifo_wm(BMI160_INIT_VALUE,
+		FIFO_WM_INTERRUPT_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable the FIFO water mark interrupt2*/
+		com_rslt += bmi160_set_intr_fifo_wm(BMI160_ENABLE,
+		FIFO_WM_INTERRUPT_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set the fifo water mark*/
+		com_rslt += bmi160_set_fifo_wm(BMI160_ENABLE_FIFO_WM);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* read the FIFO data*/
+		com_rslt +=  bmi160_read_fifo_header_data(BMI160_SEC_IF_BMM150,
+		&header_data);
+	break;
+	case STANDARD_UI_IMU_FIFO:
+		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
+				/* bmi160_delay_ms in ms*/
+		s_bmi160.delay_msec(BMI160_MODE_SWITCHING_DELAY);
+		/*Set the gyro mode as Normal write in the register 0x7E*/
+		com_rslt += bmi160_set_command_register(GYRO_MODE_NORMAL);
+				/* bmi160_delay_ms in ms*/
+		s_bmi160.delay_msec(BMI160_MODE_SWITCHING_DELAY);
+		/* Set the accel bandwidth as Normal */
+		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_NORMAL_AVG4);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Set the gryo bandwidth as Normal */
+		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_NORMAL_MODE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set gyro data rate as 100Hz*/
+		com_rslt += bmi160_set_gyro_output_data_rate(
+			BMI160_GYRO_OUTPUT_DATA_RATE_100HZ);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set accel data rate as 100Hz*/
+		com_rslt += bmi160_set_accel_output_data_rate(
+			BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ,
+			BMI160_ACCEL_OSR4_AVG1);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/***** read FIFO data based on interrupt*****/
+		com_rslt += bmi160_interrupt_configuration();
+		/* Enable the FIFO header*/
+		com_rslt += bmi160_set_fifo_header_enable(FIFO_HEADER_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable the FIFO accel*/
+		com_rslt += bmi160_set_fifo_accel_enable(FIFO_ACCEL_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable the FIFO gyro*/
+		com_rslt += bmi160_set_fifo_gyro_enable(FIFO_GYRO_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable the FIFO time*/
+		com_rslt += bmi160_set_fifo_time_enable(FIFO_TIME_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable FIFO water mark interrupts in INT_EN[1] */
+		com_rslt += bmi160_set_intr_enable_1(BMI160_FIFO_WM_ENABLE,
+		BMI160_ENABLE);
+		/* Enable the FIFO water mark interrupt1*/
+		com_rslt += bmi160_set_intr_fifo_wm(BMI160_INIT_VALUE,
+		BMI160_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable the FIFO water mark interrupt2*/
+		com_rslt += bmi160_set_intr_fifo_wm(BMI160_ENABLE,
+		BMI160_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set the fifo water mark as 10*/
+		com_rslt += bmi160_set_fifo_wm(BMI160_ENABLE_FIFO_WM);
+		/* read the FIFO data*/
+		com_rslt +=  bmi160_read_fifo_header_data(BMI160_SEC_IF_BMM150,
+		&header_data);
+	break;
+	case STANDARD_UI_IMU:
+		/*Set the accel mode as Normal write in the register 0x7E*/
+		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
+				/* bmi160_delay_ms in ms*/
+		s_bmi160.delay_msec(BMI160_MODE_SWITCHING_DELAY);
+		/*Set the gyro mode as Normal write in the register 0x7E*/
+		com_rslt += bmi160_set_command_register(GYRO_MODE_NORMAL);
+				/* bmi160_delay_ms in ms*/
+		s_bmi160.delay_msec(BMI160_MODE_SWITCHING_DELAY);
+		/* Set the accel bandwidth as Normal */
+		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_NORMAL_AVG4);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Set the gryo bandwidth as Normal */
+		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_NORMAL_MODE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set gyro data rate as 100Hz*/
+		com_rslt += bmi160_set_gyro_output_data_rate(
+			BMI160_GYRO_OUTPUT_DATA_RATE_100HZ);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set accel data rate as 100Hz*/
+		com_rslt += bmi160_set_accel_output_data_rate(
+			BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ,
+			BMI160_ACCEL_OSR4_AVG1);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* read gyro data*/
+		com_rslt += bmi160_read_gyro_xyz(&gyroxyz);
+		/* read accel data*/
+		com_rslt += bmi160_read_accel_xyz(&accelxyz);
+	break;
+	case STANDARD_UI_ADVANCEPOWERSAVE:
+		/*Set the accel mode as Normal write in the register 0x7E*/
+		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
+				/* bmi160_delay_ms in ms*/
+		s_bmi160.delay_msec(BMI160_MODE_SWITCHING_DELAY);
+		/* Set the accel bandwidth as Normal */
+		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_NORMAL_AVG4);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Set the gryo bandwidth as Normal */
+		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_NORMAL_MODE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set gyro data rate as 100Hz*/
+		com_rslt += bmi160_set_gyro_output_data_rate(
+			BMI160_GYRO_OUTPUT_DATA_RATE_100HZ);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set accel data rate as 100Hz*/
+		com_rslt += bmi160_set_accel_output_data_rate(
+			BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ,
+			BMI160_ACCEL_OSR4_AVG1);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+
+		/* Enable any motion interrupt - x axis*/
+		com_rslt += bmi160_set_intr_enable_0(BMI160_ANY_MOTION_X_ENABLE,
+		BMI160_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable any motion interrupt - y axis*/
+		com_rslt += bmi160_set_intr_enable_0(BMI160_ANY_MOTION_Y_ENABLE,
+		BMI160_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable any motion interrupt - z axis*/
+		com_rslt += bmi160_set_intr_enable_0(BMI160_ANY_MOTION_Z_ENABLE,
+		BMI160_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable no motion interrupt - x axis*/
+		com_rslt += bmi160_set_intr_enable_2(BMI160_NOMOTION_X_ENABLE,
+		BMI160_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable no motion interrupt - y axis*/
+		com_rslt += bmi160_set_intr_enable_2(BMI160_NOMOTION_Y_ENABLE,
+		BMI160_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Enable no motion interrupt - z axis*/
+		com_rslt += bmi160_set_intr_enable_2(BMI160_NOMOTION_Z_ENABLE,
+		BMI160_ENABLE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set the gyro sleep trigger*/
+		com_rslt += bmi160_set_gyro_sleep_trigger(
+		gyr_setting.sleep_trigger);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set the gyro wakeup trigger*/
+		com_rslt += bmi160_set_gyro_wakeup_trigger(
+		gyr_setting.wakeup_trigger);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set the gyro sleep state*/
+		com_rslt += bmi160_set_gyro_sleep_state(
+		gyr_setting.sleep_state);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set the gyro wakeup interrupt*/
+		com_rslt += bmi160_set_gyro_wakeup_intr(gyr_setting.wakeup_int);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* read gyro data*/
+		com_rslt += bmi160_read_gyro_xyz(&gyroxyz);
+		/* read accel data*/
+		com_rslt += bmi160_read_accel_xyz(&accelxyz);
+	break;
+	case ACCEL_PEDOMETER:
+		/*Set the accel mode as Normal write in the register 0x7E*/
+		com_rslt = bmi160_set_command_register(ACCEL_LOWPOWER);
+				/* bmi160_delay_ms in ms*/
+		s_bmi160.delay_msec(BMI160_MODE_SWITCHING_DELAY);
+		/*Set the gyro mode as SUSPEND write in the register 0x7E*/
+		com_rslt += bmi160_set_command_register(GYRO_MODE_SUSPEND);
+				/* bmi160_delay_ms in ms*/
+		s_bmi160.delay_msec(BMI160_MODE_SWITCHING_DELAY);
+		/* Set the accel bandwidth as OSR4 */
+		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_OSR4_AVG1);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set accel data rate as 25Hz*/
+		com_rslt += bmi160_set_accel_output_data_rate(
+			BMI160_ACCEL_OUTPUT_DATA_RATE_25HZ,
+			BMI160_ACCEL_OSR4_AVG1);
+		/* 10 not available*/
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* read accel data*/
+		com_rslt += bmi160_read_accel_xyz(&accelxyz);
+	break;
+	case APPLICATION_HEAD_TRACKING:
+		/*Set the accel mode as Normal write in the register 0x7E*/
+		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
+				/* bmi160_delay_ms in ms*/
+		s_bmi160.delay_msec(BMI160_MODE_SWITCHING_DELAY);
+		/*Set the gyro mode as Normal write in the register 0x7E*/
+		com_rslt += bmi160_set_command_register(GYRO_MODE_NORMAL);
+				/* bmi160_delay_ms in ms*/
+		s_bmi160.delay_msec(BMI160_MODE_SWITCHING_DELAY);
+		/* Set the accel bandwidth as Normal */
+		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_NORMAL_AVG4);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Set the gryo bandwidth as Normal */
+		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_NORMAL_MODE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set gyro data rate as 1600Hz*/
+		com_rslt += bmi160_set_gyro_output_data_rate(
+		BMI160_GYRO_OUTPUT_DATA_RATE_1600HZ);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set accel data rate as 1600Hz*/
+		com_rslt += bmi160_set_accel_output_data_rate(
+		BMI160_ACCEL_OUTPUT_DATA_RATE_1600HZ, BMI160_ACCEL_OSR4_AVG1);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* read gyro data*/
+		com_rslt += bmi160_read_gyro_xyz(&gyroxyz);
+		/* read accel data */
+		com_rslt += bmi160_read_accel_xyz(&accelxyz);
+		/* read mag data */
+		com_rslt += bmi160_bmm150_mag_compensate_xyz(&magxyz);
+	break;
+	case APPLICATION_NAVIGATION:
+		/*Set the accel mode as Normal write in the register 0x7E*/
+		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
+				/* bmi160_delay_ms in ms*/
+		s_bmi160.delay_msec(BMI160_MODE_SWITCHING_DELAY);
+		/*Set the gyro mode as Normal write in the register 0x7E*/
+		com_rslt += bmi160_set_command_register(GYRO_MODE_NORMAL);
+				/* bmi160_delay_ms in ms*/
+		s_bmi160.delay_msec(BMI160_MODE_SWITCHING_DELAY);
+		/* Set the accel bandwidth as OSRS4 */
+		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_OSR4_AVG1);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Set the gryo bandwidth as Normal */
+		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_NORMAL_MODE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set gyro data rate as 200Hz*/
+		com_rslt += bmi160_set_gyro_output_data_rate(
+			BMI160_GYRO_OUTPUT_DATA_RATE_200HZ);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set accel data rate as 200Hz*/
+		com_rslt += bmi160_set_accel_output_data_rate(
+			BMI160_ACCEL_OUTPUT_DATA_RATE_200HZ,
+			BMI160_ACCEL_OSR4_AVG1);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* read gyro data*/
+		com_rslt += bmi160_read_gyro_xyz(&gyroxyz);
+		/* read accel data */
+		com_rslt += bmi160_read_accel_xyz(&accelxyz);
+		/* read mag data*/
+		com_rslt += bmi160_bmm150_mag_compensate_xyz(&magxyz);
+	break;
+	case APPLICATION_REMOTE_CONTROL:
+		/*Set the accel mode as Normal write in the register 0x7E*/
+		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
+				/* bmi160_delay_ms in ms*/
+		s_bmi160.delay_msec(BMI160_MODE_SWITCHING_DELAY);
+		/*Set the gyro mode as Normal write in the register 0x7E*/
+		com_rslt += bmi160_set_command_register(GYRO_MODE_NORMAL);
+		/* bmi160_delay_ms in ms*/
+		s_bmi160.delay_msec(BMI160_MODE_SWITCHING_DELAY);
+		/* Set the accel bandwidth as OSRS4 */
+		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_OSR4_AVG1);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Set the gryo bandwidth as OSR4 */
+		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_OSR4_MODE);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set gyro data rate as 200Hz*/
+		com_rslt += bmi160_set_gyro_output_data_rate(
+			BMI160_GYRO_OUTPUT_DATA_RATE_200HZ);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set accel data rate as 200Hz*/
+		com_rslt += bmi160_set_accel_output_data_rate(
+			BMI160_ACCEL_OUTPUT_DATA_RATE_200HZ,
+			BMI160_ACCEL_OSR4_AVG1);
+		s_bmi160.delay_msec(
+		BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* read gyro data */
+		com_rslt += bmi160_read_gyro_xyz(&gyroxyz);
+		/* read accel data*/
+		com_rslt += bmi160_read_accel_xyz(&accelxyz);
+	break;
+	case APPLICATION_INDOOR_NAVIGATION:
+		/*Set the accel mode as Normal write in the register 0x7E*/
+		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
+		s_bmi160.delay_msec(
+			BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/*Set the gyro mode as Normal write in the register 0x7E*/
+		com_rslt += bmi160_set_command_register(GYRO_MODE_NORMAL);
+		s_bmi160.delay_msec(
+			BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Set the accel bandwidth as OSRS4 */
+		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_OSR4_AVG1);
+		s_bmi160.delay_msec(
+			BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* Set the gryo bandwidth as OSR4 */
+		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_OSR4_MODE);
+		s_bmi160.delay_msec(
+			BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set gyro data rate as 200Hz*/
+		com_rslt += bmi160_set_gyro_output_data_rate(
+			BMI160_GYRO_OUTPUT_DATA_RATE_400HZ);
+		s_bmi160.delay_msec(
+			BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* set accel data rate as 200Hz*/
+		com_rslt += bmi160_set_accel_output_data_rate(
+			BMI160_ACCEL_OUTPUT_DATA_RATE_400HZ,
+			BMI160_ACCEL_OSR4_AVG1);
+		s_bmi160.delay_msec(
+			BMI160_GEN_READ_WRITE_DELAY);/* bmi160_delay_ms in ms*/
+		/* read gyro data*/
+		com_rslt += bmi160_read_gyro_xyz(&gyroxyz);
+		/* read accel data */
+		com_rslt += bmi160_read_accel_xyz(&accelxyz);
+		break;
+	}
+
+	return com_rslt;
+
+}
+/*!
+ *	@brief This function used for interrupt configuration
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval 1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_interrupt_configuration(void)
+{
+	/* This variable used for provide the communication
+	results*/
+	BMI160_RETURN_FUNCTION_TYPE com_rslt = ERROR;
+
+	/* Configure the in/out control of interrupt1*/
+	com_rslt = bmi160_set_output_enable(BMI160_INIT_VALUE,
+	BMI160_ENABLE);
+	s_bmi160.delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	/* Configure the in/out control of interrupt2*/
+	com_rslt += bmi160_set_output_enable(BMI160_ENABLE,
+	BMI160_ENABLE);
+	s_bmi160.delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	/* Configure the interrupt1 active high
+	0x00 -	Active low
+	0x01 -	Active high*/
+	com_rslt += bmi160_set_intr_level(BMI160_INIT_VALUE,
+	BMI160_ENABLE);
+	s_bmi160.delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	/* Configure the interrupt2 active high
+	0x00 -	Active low
+	0x01 -	Active high*/
+	com_rslt += bmi160_set_intr_level(BMI160_ENABLE,
+	BMI160_ENABLE);
+	s_bmi160.delay_msec(BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY);
+	return com_rslt;
+}
+#ifdef INCLUDE_BMI160API
+#define MASK_DATA1	0xFF
+#define MASK_DATA2	0x80
+#define MASK_DATA3	0x7F
+/*!
+ *	@brief Used for I2C initialization
+ *	@note
+ *	The following function is used to map the
+ *	I2C bus read, write, bmi160_delay_ms and
+ *	device address with global structure bmi160_t
+*/
+s8 i2c_routine(void)
+{
+/*--------------------------------------------------------------------------*
+ *  By using bmi160 the following structure parameter can be accessed
+ *	Bus write function pointer: BMI160_WR_FUNC_PTR
+ *	Bus read function pointer: BMI160_RD_FUNC_PTR
+ *	bmi160_delay_ms function pointer: bmi160_delay_ms_msec
+ *	I2C address: dev_addr
+ *--------------------------------------------------------------------------*/
+	struct_bmi160.bus_write = bmi160_i2c_bus_write;
+	struct_bmi160.bus_read = bmi160_i2c_bus_read;
+	struct_bmi160.delay_msec = bmi160_delay_ms;
+	struct_bmi160.dev_addr = BMI160_I2C_ADDR2;
+
+	return BMI160_INIT_VALUE;
+}
+/*!
+ *	@brief Used for SPI initialization
+ *	@note
+ *	The following function is used to map the
+ *	SPI bus read, write and bmi160_delay_ms
+ *	with global structure bmi160
+*/
+s8 spi_routine(void)
+{
+/*--------------------------------------------------------------------------*
+ *  By using bmi160 the following structure parameter can be accessed
+ *	Bus write function pointer: BMI160_WR_FUNC_PTR
+ *	Bus read function pointer: BMI160_RD_FUNC_PTR
+ *	bmi160_delay_ms function pointer: bmi160_delay_ms_msec
+ *--------------------------------------------------------------------------*/
+
+	struct_bmi160.bus_write = bmi160_spi_bus_write;
+	struct_bmi160.bus_read = bmi160_spi_bus_read;
+	struct_bmi160.delay_msec = bmi160_delay_ms;
+
+	return BMI160_INIT_VALUE;
+}
+/**************************************************************/
+/**\name I2C/SPI read write function */
+/**************************************************************/
+/*-------------------------------------------------------------------*
+*
+*	This is a sample code for read and write the data by using I2C/SPI
+*	Use either I2C or SPI based on your need
+*	Configure the below code to your SPI or I2C driver
+*
+*-----------------------------------------------------------------------*/
+ /*!
+ *	@brief : The function is used as I2C bus read
+ *	@return : Status of the I2C read
+ *	@param dev_addr : The device address of the sensor
+ *	@param reg_addr : Address of the first register, will data is going to be read
+ *	@param reg_data : This data read from the sensor, which is hold in an array
+ *	@param cnt : The no of byte of data to be read
+ */
+s8 bmi160_i2c_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt)
+{
+	s32 ierror = BMI160_INIT_VALUE;
+	#ifdef INCLUDE_BMI160API
+	u8 array[I2C_BUFFER_LEN] = {BMI160_INIT_VALUE};
+	u8 stringpos = BMI160_INIT_VALUE;
+
+	array[BMI160_INIT_VALUE] = reg_addr;
+	/* Please take the below function as your reference
+	 * for read the data using I2C communication
+	 * add your I2C rad function here.
+	 * "IERROR = I2C_WRITE_READ_STRING(DEV_ADDR, ARRAY, ARRAY, 1, CNT)"
+	 * iError is an return value of SPI write function
+	 * Please select your valid return value
+     * In the driver SUCCESS defined as 0
+     * and FAILURE defined as -1
+	 */
+	for (stringpos = BMI160_INIT_VALUE; stringpos < cnt; stringpos++)
+		*(reg_data + stringpos) = array[stringpos];
+	#endif
+	return (s8)ierror;
+
+}
+ /*!
+ *	@brief : The function is used as I2C bus write
+ *	@return : Status of the I2C write
+ *	@param dev_addr : The device address of the sensor
+ *	@param reg_addr : Address of the first register,
+ *	will data is going to be written
+ *	@param reg_data : It is a value hold in the array,
+ *		will be used for write the value into the register
+ *	@param cnt : The no of byte of data to be write
+ */
+s8 bmi160_i2c_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt)
+{
+	s32 ierror = BMI160_INIT_VALUE;
+	#ifdef INCLUDE_BMI160API
+	u8 array[I2C_BUFFER_LEN];
+	u8 stringpos = BMI160_INIT_VALUE;
+
+	array[0] = reg_addr;
+	for (stringpos = BMI160_INIT_VALUE; stringpos
+	< cnt; stringpos++)
+		array[stringpos + BMI160_GEN_READ_WRITE_DATA_LENGTH]
+		= *(reg_data + stringpos);
+	/*
+	* Please take the below function as your reference for
+	* write the data using I2C communication
+	* "IERROR = I2C_WRITE_STRING(DEV_ADDR, ARRAY, CNT+1)"
+	* add your I2C write function here
+	* iError is an return value of I2C read function
+	* Please select your valid return value
+	* In the driver SUCCESS defined as 0
+    * and FAILURE defined as -1
+	* Note :
+	* This is a full duplex operation,
+	* The first read data is discarded, for that extra write operation
+	* have to be initiated. For that cnt+1 operation done
+	* in the I2C write string function
+	* For more information please refer data sheet SPI communication:
+	*/
+	#endif
+	return (s8)ierror;
+}
+/*!
+ *	@brief : The function is used as SPI bus read
+ *	@return : Status of the SPI read
+ *	@param dev_addr : The device address of the sensor
+ *	@param reg_addr : Address of the first register,
+ *	will data is going to be read
+ *	@param reg_data : This data read from the sensor,
+ *	which is hold in an array
+ *	@param cnt : The no of byte of data to be read
+ */
+s8 bmi160_spi_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt)
+{
+	s32 ierror = BMI160_INIT_VALUE;
+	#ifdef INCLUDE_BMI160API
+
+	u8 array[SPI_BUFFER_LEN] = {MASK_DATA1};
+	u8 stringpos;
+	/*	For the SPI mode only 7 bits of register addresses are used.
+	The MSB of register address is declared the bit what functionality it is
+	read/write (read as 1/write as 0)*/
+	array[BMI160_INIT_VALUE] = reg_addr|MASK_DATA2;
+	/*
+	* Please take the below function as your reference for
+	* read the data using SPI communication
+	* " IERROR = SPI_READ_WRITE_STRING(ARRAY, ARRAY, CNT+1)"
+	* add your SPI read function here
+	* ierror is an return value of SPI read function
+	* Please select your valid return value
+	* In the driver SUCCESS defined as 0
+    * and FAILURE defined as -1
+	* Note :
+	* This is a full duplex operation,
+	* The first read data is discarded, for that extra write operation
+	* have to be initiated. For that cnt+1 operation done in the SPI read
+	* and write string function
+	* For more information please refer data sheet SPI communication:
+	*/
+	for (stringpos = BMI160_INIT_VALUE; stringpos
+	< cnt; stringpos++)
+		*(reg_data + stringpos) = array[stringpos
+		+ BMI160_GEN_READ_WRITE_DATA_LENGTH];
+	#endif
+	return (s8)ierror;
+}
+/*!
+ *	@brief : The function is used as SPI bus write
+ *	@return : Status of the SPI write
+ *	@param dev_addr : The device address of the sensor
+ *	@param reg_addr : Address of the first register,
+ *	will data is going to be written
+ *	@param reg_data : It is a value hold in the array,
+ *		will be used for write the value into the register
+ *	@param cnt : The no of byte of data to be write
+ */
+s8 bmi160_spi_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt)
+{
+	s32 ierror = BMI160_INIT_VALUE;
+	#ifdef INCLUDE_BMI160API
+
+	u8 array[SPI_BUFFER_LEN * C_BMI160_BYTE_COUNT];
+	u8 stringpos = BMI160_INIT_VALUE;
+
+	for (stringpos = BMI160_INIT_VALUE;
+	stringpos < cnt; stringpos++) {
+		/* the operation of (reg_addr++)&0x7F done:
+		because it ensure the
+		   0 and 1 of the given value
+		   It is done only for 8bit operation*/
+		array[stringpos * C_BMI160_BYTE_COUNT] =
+		(reg_addr++) & MASK_DATA3;
+		array[stringpos * C_BMI160_BYTE_COUNT +
+		BMI160_GEN_READ_WRITE_DATA_LENGTH] =
+		*(reg_data + stringpos);
+	}
+		/* Please take the below function as your reference
+	 * for write the data using SPI communication
+	 * add your SPI write function here.
+	 * "IERROR = SPI_WRITE_STRING(ARRAY, CNT*2)"
+	 * ierror is an return value of SPI write function
+	 * Please select your valid return value
+	 * In the driver SUCCESS defined as 0
+     * and FAILURE defined as -1
+	 */
+	 #endif
+	return (s8)ierror;
+}
+#endif
+/*!
+ *	@brief This function is an example for delay
+ *	@param msec: delay in milli seconds
+ *	@return : communication result
+ */
+void bmi160_delay_ms(u32 msec)
+{
+ /* user delay*/
+}

bmi160_support.h

@@ -0,0 +1,218 @@
+/*
+*
+****************************************************************************
+* Copyright (C) 2016 Bosch Sensortec GmbH
+*
+* File : bmi160_support.h
+*
+* Date : 2016/06/22
+*
+* Revision : 1.1.2 $
+*
+* Usage: Sensor Driver support file for BMI160 sensor
+*
+****************************************************************************
+*
+* \section License
+*
+* 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_support.h
+    \brief BMI160 Sensor Driver Support Header File */
+/* user defined code to be added here ... */
+#ifndef __BMI160_SUPPORT_H__
+#define __BMI160_SUPPORT_H__
+
+#include "bmi160.h"
+
+/*!
+ * @brief struct used for assign the value for
+ *	gyro sleep configuration
+ */
+struct gyro_sleep_setting {
+	u8 sleep_trigger;/**< gyro sleep trigger configuration*/
+	u8 wakeup_trigger;/**< gyro wakeup trigger configuration*/
+	u8 sleep_state;/**< gyro sleep state configuration*/
+	u8 wakeup_int;/**< gyro wakeup interrupt configuration*/
+};
+/********************************/
+/**\name POWER MODES DEFINITION */
+/*******************************/
+#define ACCEL_MODE_NORMAL	(0x11)
+#define GYRO_MODE_NORMAL	(0x15)
+#define	ACCEL_LOWPOWER		(0X12)
+#define MAG_SUSPEND_MODE	(1)
+#define BMI160_MODE_SWITCHING_DELAY		(30)
+/********************************/
+/**\name RETURN TYPE */
+/*******************************/
+/* return type of communication routine*/
+#define BMI160_RETURN_FUNCTION_TYPE s8
+/********************************/
+/**\name RUNNING MODE DEFINITIONS */
+/*******************************/
+#define	STANDARD_UI_9DOF_FIFO			(0)
+#define	STANDARD_UI_IMU_FIFO			(1)
+#define	STANDARD_UI_IMU					(2)
+#define	STANDARD_UI_ADVANCEPOWERSAVE	(3)
+#define	ACCEL_PEDOMETER					(4)
+#define APPLICATION_HEAD_TRACKING		(5)
+#define APPLICATION_NAVIGATION			(6)
+#define APPLICATION_REMOTE_CONTROL		(7)
+#define APPLICATION_INDOOR_NAVIGATION	(8)
+/********************************/
+/**\name MAG INTERFACE */
+/*******************************/
+#define	C_BMI160_BYTE_COUNT	   (2)
+#define BMI160_SLEEP_STATE     (0x00)
+#define BMI160_WAKEUP_INTR     (0x00)
+#define BMI160_SLEEP_TRIGGER   (0x04)
+#define BMI160_WAKEUP_TRIGGER  (0x02)
+#define BMI160_ENABLE_FIFO_WM  (0x02)
+#define	BMI160_MAG_INTERFACE_OFF_PRIMARY_ON		(0x00)
+#define	BMI160_MAG_INTERFACE_ON_PRIMARY_ON		(0x02)
+/*!
+ *	@brief This function used for initialize the sensor
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval 1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_initialize_sensor(void);
+/*!
+ *	@brief This Function used to read the sensor data using
+ *	different running mode
+ *	@param v_running_mode_u8 : The value of running mode
+ *      Description                |  value
+ * --------------------------------|----------
+ *  STANDARD_UI_9DOF_FIFO          |   0
+ *	STANDARD_UI_IMU_FIFO           |   1
+ *	STANDARD_UI_IMU                |   2
+ *	STANDARD_UI_ADVANCEPOWERSAVE   |   3
+ *	ACCEL_PEDOMETER                |   4
+ *	APPLICATION_HEAD_TRACKING      |   5
+ *	APPLICATION_NAVIGATION         |   6
+ *	APPLICATION_REMOTE_CONTROL     |   7
+ *	APPLICATION_INDOOR_NAVIGATION  |   8
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval 1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_config_running_mode(u8 v_running_mode_u8);
+/*!
+ *	@brief This function used for interrupt configuration
+ *
+ *
+ *	@return results of bus communication function
+ *	@retval 0 -> Success
+ *	@retval 1 -> Error
+ *
+ *
+ */
+BMI160_RETURN_FUNCTION_TYPE bmi160_interrupt_configuration(void);
+/*!
+ *	@brief This function is an example for delay
+ *	@param msec: delay in milli seconds
+ *	@return : communication result
+ */
+void bmi160_delay_ms(u32 msec);
+
+#ifdef INCLUDE_BMI160API
+/*!
+ *	@brief Used for I2C initialization
+*/
+s8 i2c_routine(void);
+/*!
+ *	@brief Used for SPI initialization
+*/
+s8 spi_routine(void);
+ /*!
+ *	@brief : The function is used as I2C bus read
+ *	@return : Status of the I2C read
+ *	@param dev_addr : The device address of the sensor
+ *	@param reg_addr : Address of the first register,
+ *	will data is going to be read
+ *	@param reg_data : This data read from the sensor,
+ *	which is hold in an array
+ *	@param cnt : The no of byte of data to be read
+ */
+s8 bmi160_i2c_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt);
+ /*!
+ *	@brief : The function is used as I2C bus write
+ *	@return : Status of the I2C write
+ *	@param dev_addr : The device address of the sensor
+ *	@param reg_addr : Address of the first register,
+ *	will data is going to be written
+ *	@param reg_data : It is a value hold in the array,
+ *		will be used for write the value into the register
+ *	@param cnt : The no of byte of data to be write
+ */
+s8 bmi160_i2c_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt);
+/*!
+ *	@brief : The function is used as SPI bus read
+ *	@return : Status of the SPI read
+ *	@param dev_addr : The device address of the sensor
+ *	@param reg_addr : Address of the first register,
+ *	will data is going to be read
+ *	@param reg_data : This data read from the sensor,
+ *	which is hold in an array
+ *	@param cnt : The no of byte of data to be read
+ */
+s8 bmi160_spi_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt);
+/*!
+ *	@brief : The function is used as SPI bus write
+ *	@return : Status of the SPI write
+ *	@param dev_addr : The device address of the sensor
+ *	@param reg_addr : Address of the first register,
+ *	will data is going to be written
+ *	@param reg_data : It is a value hold in the array,
+ *		will be used for write the value into the register
+ *	@param cnt : The no of byte of data to be write
+ */
+s8 bmi160_spi_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt);
+#endif
+#endif