fbt format, switch to bmi160

tracking/imu/bmi160.c

@@ -1,5988 +1,5988 @@
-/**
-* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
-*
-* BSD-3-Clause
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-* 1. Redistributions of source code must retain the above copyright
-*    notice, this list of conditions and the following disclaimer.
-*
-* 2. Redistributions in binary form must reproduce the above copyright
-*    notice, this list of conditions and the following disclaimer in the
-*    documentation and/or other materials provided with the distribution.
-*
-* 3. Neither the name of the copyright holder nor the names of its
-*    contributors may be used to endorse or promote products derived from
-*    this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
-* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
-* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
-* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* @file       bmi160.c
-* @date       2021-10-05
-* @version    v3.9.2
-*
-*/
-
-#include "bmi160.h"
-
-/* Below look up table follows the enum bmi160_int_types.
- * Hence any change should match to the enum bmi160_int_types
- */
-const uint8_t int_mask_lookup_table[13] = {
-    BMI160_INT1_SLOPE_MASK,
-    BMI160_INT1_SLOPE_MASK,
-    BMI160_INT2_LOW_STEP_DETECT_MASK,
-    BMI160_INT1_DOUBLE_TAP_MASK,
-    BMI160_INT1_SINGLE_TAP_MASK,
-    BMI160_INT1_ORIENT_MASK,
-    BMI160_INT1_FLAT_MASK,
-    BMI160_INT1_HIGH_G_MASK,
-    BMI160_INT1_LOW_G_MASK,
-    BMI160_INT1_NO_MOTION_MASK,
-    BMI160_INT2_DATA_READY_MASK,
-    BMI160_INT2_FIFO_FULL_MASK,
-    BMI160_INT2_FIFO_WM_MASK};
-
-/*********************************************************************/
-/* Static function declarations */
-
-/*!
- * @brief This API configures the pins to fire the
- * interrupt signal when it occurs
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_intr_pin_config(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the any-motion interrupt of the sensor.
- * This interrupt occurs when accel values exceeds preset threshold
- * for a certain period of time.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_any_motion_int(struct bmi160_int_settg* int_config, struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets tap interrupts.Interrupt is fired when
- * tap movements happen.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_tap_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the data ready interrupt for both accel and gyro.
- * This interrupt occurs when new accel and gyro data come.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_gyro_data_ready_int(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the significant motion interrupt of the sensor.This
- * interrupt occurs when there is change in user location.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_sig_motion_int(struct bmi160_int_settg* int_config, struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the no motion/slow motion interrupt of the sensor.
- * Slow motion is similar to any motion interrupt.No motion interrupt
- * occurs when slope bet. two accel values falls below preset threshold
- * for preset duration.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_no_motion_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the step detection interrupt.This interrupt
- * occurs when the single step causes accel values to go above
- * preset threshold.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_step_detect_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the orientation interrupt of the sensor.This
- * interrupt occurs when there is orientation change in the sensor
- * with respect to gravitational field vector g.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_orientation_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the flat interrupt of the sensor.This interrupt
- * occurs in case of flat orientation
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_flat_detect_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the low-g interrupt of the sensor.This interrupt
- * occurs during free-fall.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_low_g_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the high-g interrupt of the sensor.The interrupt
- * occurs if the absolute value of acceleration data of any enabled axis
- * exceeds the programmed threshold and the sign of the value does not
- * change for a preset duration.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t
-    set_accel_high_g_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the default configuration parameters of accel & gyro.
- * Also maintain the previous state of configurations.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static void default_param_settg(struct bmi160_dev* dev);
-
-/*!
- * @brief This API is used to validate the device structure pointer for
- * null conditions.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t null_ptr_check(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API set the accel configuration.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_conf(struct bmi160_dev* dev);
-
-/*!
- * @brief This API gets the accel configuration.
- *
- * @param[out] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t get_accel_conf(struct bmi160_dev* dev);
-
-/*!
- * @brief This API check the accel configuration.
- *
- * @param[in] data        : Pointer to store the updated accel config.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t check_accel_config(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API process the accel odr.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_accel_odr(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API process the accel bandwidth.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_accel_bw(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API process the accel range.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_accel_range(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API checks the invalid settings for ODR & Bw for Accel and Gyro.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t check_invalid_settg(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API set the gyro configuration.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_gyro_conf(struct bmi160_dev* dev);
-
-/*!
- * @brief This API get the gyro configuration.
- *
- * @param[out] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t get_gyro_conf(struct bmi160_dev* dev);
-
-/*!
- * @brief This API check the gyro configuration.
- *
- * @param[in] data        : Pointer to store the updated gyro config.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t check_gyro_config(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API process the gyro odr.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_gyro_odr(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API process the gyro bandwidth.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_gyro_bw(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API process the gyro range.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_gyro_range(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the accel power mode.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_accel_pwr(struct bmi160_dev* dev);
-
-/*!
- * @brief This API process the undersampling setting of Accel.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t process_under_sampling(uint8_t* data, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API sets the gyro power mode.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
- */
-static int8_t set_gyro_pwr(struct bmi160_dev* dev);
-
-/*!
- * @brief This API reads accel data along with sensor time if time is requested
- * by user. Kindly refer the user guide(README.md) for more info.
- *
- * @param[in] len    : len to read no of bytes
- * @param[out] accel    : Structure pointer to store accel data
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    get_accel_data(uint8_t len, struct bmi160_sensor_data* accel, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API reads accel data along with sensor time if time is requested
- * by user. Kindly refer the user guide(README.md) for more info.
- *
- * @param[in] len    : len to read no of bytes
- * @param[out] gyro    : Structure pointer to store accel data
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    get_gyro_data(uint8_t len, struct bmi160_sensor_data* gyro, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API reads accel and gyro data along with sensor time
- * if time is requested by user.
- * Kindly refer the user guide(README.md) for more info.
- *
- * @param[in] len    : len to read no of bytes
- * @param[out] accel    : Structure pointer to store accel data
- * @param[out] gyro    : Structure pointer to store accel data
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t get_accel_gyro_data(
-    uint8_t len,
-    struct bmi160_sensor_data* accel,
-    struct bmi160_sensor_data* gyro,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the any-motion interrupt for accel.
- *
- * @param[in] any_motion_int_cfg   : Structure instance of
- *                   bmi160_acc_any_mot_int_cfg.
- * @param[in] dev          : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_accel_any_motion_int(
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    struct bmi160_dev* dev);
-
-/*!
- * @brief This API disable the sig-motion interrupt.
- *
- * @param[in] dev   : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t disable_sig_motion_int(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for any-motion interrupt.
- *
- * @param[in] any_motion_int_cfg  : Structure instance of
- *                  bmi160_acc_any_mot_int_cfg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_any_motion_src(
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the duration and threshold of
- * any-motion interrupt.
- *
- * @param[in] any_motion_int_cfg  : Structure instance of
- *                  bmi160_acc_any_mot_int_cfg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_any_dur_threshold(
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure necessary setting of any-motion interrupt.
- *
- * @param[in] int_config       : Structure instance of bmi160_int_settg.
- * @param[in] any_motion_int_cfg   : Structure instance of
- *                   bmi160_acc_any_mot_int_cfg.
- * @param[in] dev          : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_any_motion_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enable the data ready interrupt.
- *
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_data_ready_int(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the no motion/slow motion interrupt.
- *
- * @param[in] no_mot_int_cfg    : Structure instance of
- *                bmi160_acc_no_motion_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_no_motion_int(
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * no motion/slow motion interrupt.
- *
- * @param[in] int_config    : structure instance of bmi160_int_settg.
- * @param[in] no_mot_int_cfg    : Structure instance of
- *                bmi160_acc_no_motion_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_no_motion_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the source of interrupt for no motion.
- *
- * @param[in] no_mot_int_cfg    : Structure instance of
- *                bmi160_acc_no_motion_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_no_motion_data_src(
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the duration and threshold of
- * no motion/slow motion interrupt along with selection of no/slow motion.
- *
- * @param[in] no_mot_int_cfg    : Structure instance of
- *                bmi160_acc_no_motion_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_no_motion_dur_thr(
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the sig-motion motion interrupt.
- *
- * @param[in] sig_mot_int_cfg   : Structure instance of
- *                bmi160_acc_sig_mot_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_sig_motion_int(
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * significant motion interrupt.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] sig_mot_int_cfg   : Structure instance of
- *                bmi160_acc_sig_mot_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_sig_motion_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for sig motion interrupt.
- *
- * @param[in] sig_mot_int_cfg   : Structure instance of
- *                bmi160_acc_sig_mot_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_sig_motion_data_src(
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the threshold, skip and proof time of
- * sig motion interrupt.
- *
- * @param[in] sig_mot_int_cfg   : Structure instance of
- *                bmi160_acc_sig_mot_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_sig_dur_threshold(
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the step detector interrupt.
- *
- * @param[in] step_detect_int_cfg   : Structure instance of
- *                    bmi160_acc_step_detect_int_cfg.
- * @param[in] dev           : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_step_detect_int(
-    const struct bmi160_acc_step_detect_int_cfg* step_detect_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the step detector parameter.
- *
- * @param[in] step_detect_int_cfg   : Structure instance of
- *                    bmi160_acc_step_detect_int_cfg.
- * @param[in] dev           : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_step_detect(
-    const struct bmi160_acc_step_detect_int_cfg* step_detect_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the single/double tap interrupt.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_tap_int(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * tap interrupt.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_tap_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for tap interrupt.
- *
- * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_tap_data_src(
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the  parameters of tap interrupt.
- * Threshold, quite, shock, and duration.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_tap_param(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enable the external mode configuration.
- *
- * @param[in] dev   : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_sec_if(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the ODR of the auxiliary sensor.
- *
- * @param[in] dev   : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_aux_odr(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API maps the actual burst read length set by user.
- *
- * @param[in] len   : Pointer to store the read length.
- * @param[in] dev   : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t map_read_len(uint16_t* len, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the settings of auxiliary sensor.
- *
- * @param[in] dev   : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_aux_settg(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API extract the read data from auxiliary sensor.
- *
- * @param[in] map_len     : burst read value.
- * @param[in] reg_addr    : Address of register to read.
- * @param[in] aux_data    : Pointer to store the read data.
- * @param[in] len     : length to read the data.
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
- */
-static int8_t extract_aux_read(
-    uint16_t map_len,
-    uint8_t reg_addr,
-    uint8_t* aux_data,
-    uint16_t len,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the orient interrupt.
- *
- * @param[in] orient_int_cfg : Structure instance of bmi160_acc_orient_int_cfg.
- * @param[in] dev        : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_orient_int(
-    const struct bmi160_acc_orient_int_cfg* orient_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the necessary setting of orientation interrupt.
- *
- * @param[in] orient_int_cfg : Structure instance of bmi160_acc_orient_int_cfg.
- * @param[in] dev        : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_orient_int_settg(
-    const struct bmi160_acc_orient_int_cfg* orient_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the flat interrupt.
- *
- * @param[in] flat_int  : Structure instance of bmi160_acc_flat_detect_int_cfg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_flat_int(
-    const struct bmi160_acc_flat_detect_int_cfg* flat_int,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the necessary setting of flat interrupt.
- *
- * @param[in] flat_int  : Structure instance of bmi160_acc_flat_detect_int_cfg.
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_flat_int_settg(
-    const struct bmi160_acc_flat_detect_int_cfg* flat_int,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the Low-g interrupt.
- *
- * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_low_g_int(
-    const struct bmi160_acc_low_g_int_cfg* low_g_int,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter) for low-g interrupt.
- *
- * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_low_g_data_src(
-    const struct bmi160_acc_low_g_int_cfg* low_g_int,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the necessary setting of low-g interrupt.
- *
- * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_low_g_int_settg(
-    const struct bmi160_acc_low_g_int_cfg* low_g_int,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the high-g interrupt.
- *
- * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
- * @param[in] dev        : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_high_g_int(
-    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for high-g interrupt.
- *
- * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
- * @param[in] dev        : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_high_g_data_src(
-    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the necessary setting of high-g interrupt.
- *
- * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
- * @param[in] dev        : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t config_high_g_int_settg(
-    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the behavioural setting of interrupt pin.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    config_int_out_ctrl(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API configure the mode(input enable, latch or non-latch) of interrupt pin.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    config_int_latch(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API performs the self test for accelerometer of BMI160
- *
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t perform_accel_self_test(struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables to perform the accel self test by setting proper
- * configurations to facilitate accel self test
- *
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_accel_self_test(struct bmi160_dev* dev);
-
-/*!
- * @brief This API performs accel self test with positive excitation
- *
- * @param[in] accel_pos : Structure pointer to store accel data
- *                        for positive excitation
- * @param[in] dev   : structure instance of bmi160_dev
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t accel_self_test_positive_excitation(
-    struct bmi160_sensor_data* accel_pos,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API performs accel self test with negative excitation
- *
- * @param[in] accel_neg : Structure pointer to store accel data
- *                        for negative excitation
- * @param[in] dev   : structure instance of bmi160_dev
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t accel_self_test_negative_excitation(
-    struct bmi160_sensor_data* accel_neg,
-    const struct bmi160_dev* dev);
-
-/*!
- * @brief This API validates the accel self test results
- *
- * @param[in] accel_pos : Structure pointer to store accel data
- *                        for positive excitation
- * @param[in] accel_neg : Structure pointer to store accel data
- *                        for negative excitation
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error / +ve value -> Self test fail
- */
-static int8_t validate_accel_self_test(
-    const struct bmi160_sensor_data* accel_pos,
-    const struct bmi160_sensor_data* accel_neg);
-
-/*!
- * @brief This API performs the self test for gyroscope of BMI160
- *
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t perform_gyro_self_test(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API enables the self test bit to trigger self test for gyro
- *
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t enable_gyro_self_test(const struct bmi160_dev* dev);
-
-/*!
- * @brief This API validates the self test results of gyro
- *
- * @param[in] dev   : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t validate_gyro_self_test(const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API sets FIFO full interrupt of the sensor.This interrupt
- *  occurs when the FIFO is full and the next full data sample would cause
- *  a FIFO overflow, which may delete the old samples.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    set_fifo_full_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This enable the FIFO full interrupt engine.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    enable_fifo_full_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API sets FIFO watermark interrupt of the sensor.The FIFO
- *  watermark interrupt is fired, when the FIFO fill level is above a fifo
- *  watermark.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    set_fifo_watermark_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This enable the FIFO watermark interrupt engine.
- *
- * @param[in] int_config    : Structure instance of bmi160_int_settg.
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    enable_fifo_wtm_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- * @brief This API is used to reset the FIFO related configurations
- *  in the fifo_frame structure.
- *
- * @param[in] dev       : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static void reset_fifo_data_structure(const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to read number of bytes filled
- *  currently in FIFO buffer.
- *
- *  @param[in] bytes_to_read  : Number of bytes available in FIFO at the
- *                              instant which is obtained from FIFO counter.
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success / -ve value -> Error.
- *  @retval Any non zero value -> Fail
- *
- */
-static int8_t get_fifo_byte_counter(uint16_t* bytes_to_read, struct bmi160_dev const* dev);
-
-/*!
- *  @brief This API is used to compute the number of bytes of accel FIFO data
- *  which is to be parsed in header-less mode
- *
- *  @param[out] data_index        : The start index for parsing data
- *  @param[out] data_read_length  : Number of bytes to be parsed
- *  @param[in]  acc_frame_count   : Number of accelerometer frames to be read
- *  @param[in]  dev               : Structure instance of bmi160_dev.
- *
- */
-static void get_accel_len_to_parse(
-    uint16_t* data_index,
-    uint16_t* data_read_length,
-    const uint8_t* acc_frame_count,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed.
- *
- *  @param[in,out] acc      : structure instance of sensor data
- *  @param[in,out] idx      : Index value of number of bytes parsed
- *  @param[in,out] acc_idx  : Index value of accelerometer data
- *                                (x,y,z axes) frames parsed
- *  @param[in] frame_info       : It consists of either fifo_data_enable
- *                                parameter in header-less mode or
- *                                frame header data in header mode
- *  @param[in] dev      : structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_accel_frame(
-    struct bmi160_sensor_data* acc,
-    uint16_t* idx,
-    uint8_t* acc_idx,
-    uint8_t frame_info,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
- *
- * @param[in,out] accel_data        : structure instance of sensor data
- * @param[in,out] data_start_index  : Index value of number of bytes parsed
- * @param[in] dev           : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_accel_data(
-    struct bmi160_sensor_data* accel_data,
-    uint16_t data_start_index,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data in header mode.
- *
- *  @param[in,out] accel_data    : Structure instance of sensor data
- *  @param[in,out] accel_length  : Number of accelerometer frames
- *  @param[in] dev               : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void extract_accel_header_mode(
-    struct bmi160_sensor_data* accel_data,
-    uint8_t* accel_length,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API computes the number of bytes of gyro FIFO data
- *  which is to be parsed in header-less mode
- *
- *  @param[out] data_index       : The start index for parsing data
- *  @param[out] data_read_length : No of bytes to be parsed from FIFO buffer
- *  @param[in] gyro_frame_count  : Number of Gyro data frames to be read
- *  @param[in] dev               : Structure instance of bmi160_dev.
- */
-static void get_gyro_len_to_parse(
-    uint16_t* data_index,
-    uint16_t* data_read_length,
-    const uint8_t* gyro_frame_count,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the gyroscope's data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed.
- *
- *  @param[in,out] gyro     : structure instance of sensor data
- *  @param[in,out] idx      : Index value of number of bytes parsed
- *  @param[in,out] gyro_idx : Index value of gyro data
- *                                (x,y,z axes) frames parsed
- *  @param[in] frame_info       : It consists of either fifo_data_enable
- *                                parameter in header-less mode or
- *                                frame header data in header mode
- *  @param[in] dev      : structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_gyro_frame(
-    struct bmi160_sensor_data* gyro,
-    uint16_t* idx,
-    uint8_t* gyro_idx,
-    uint8_t frame_info,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the gyro data from the
- *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
- *
- *  @param[in,out] gyro_data         : structure instance of sensor data
- *  @param[in,out] data_start_index  : Index value of number of bytes parsed
- *  @param[in] dev           : structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_gyro_data(
-    struct bmi160_sensor_data* gyro_data,
-    uint16_t data_start_index,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the gyro data from the
- *  FIFO data in header mode.
- *
- *  @param[in,out] gyro_data     : Structure instance of sensor data
- *  @param[in,out] gyro_length   : Number of gyro frames
- *  @param[in] dev               : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void extract_gyro_header_mode(
-    struct bmi160_sensor_data* gyro_data,
-    uint8_t* gyro_length,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API computes the number of bytes of aux FIFO data
- *  which is to be parsed in header-less mode
- *
- *  @param[out] data_index       : The start index for parsing data
- *  @param[out] data_read_length : No of bytes to be parsed from FIFO buffer
- *  @param[in] aux_frame_count   : Number of Aux data frames to be read
- *  @param[in] dev               : Structure instance of bmi160_dev.
- */
-static void get_aux_len_to_parse(
-    uint16_t* data_index,
-    uint16_t* data_read_length,
-    const uint8_t* aux_frame_count,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the aux's data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed
- *
- *  @param[in,out] aux_data : structure instance of sensor data
- *  @param[in,out] idx      : Index value of number of bytes parsed
- *  @param[in,out] aux_index    : Index value of gyro data
- *                                (x,y,z axes) frames parsed
- *  @param[in] frame_info       : It consists of either fifo_data_enable
- *                                parameter in header-less mode or
- *                                frame header data in header mode
- *  @param[in] dev      : structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_aux_frame(
-    struct bmi160_aux_data* aux_data,
-    uint16_t* idx,
-    uint8_t* aux_index,
-    uint8_t frame_info,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the aux data from the
- *  FIFO data and store it in the instance of the structure bmi160_aux_data.
- *
- * @param[in,out] aux_data      : structure instance of sensor data
- * @param[in,out] data_start_index  : Index value of number of bytes parsed
- * @param[in] dev           : structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_aux_data(
-    struct bmi160_aux_data* aux_data,
-    uint16_t data_start_index,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse the aux data from the
- *  FIFO data in header mode.
- *
- *  @param[in,out] aux_data     : Structure instance of sensor data
- *  @param[in,out] aux_length   : Number of aux frames
- *  @param[in] dev              : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void extract_aux_header_mode(
-    struct bmi160_aux_data* aux_data,
-    uint8_t* aux_length,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API checks the presence of non-valid frames in the read fifo data.
- *
- *  @param[in,out] data_index    : The index of the current data to
- *                                be parsed from fifo data
- *  @param[in] dev               : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void check_frame_validity(uint16_t* data_index, const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to move the data index ahead of the
- *  current_frame_length parameter when unnecessary FIFO data appears while
- *  extracting the user specified data.
- *
- *  @param[in,out] data_index       : Index of the FIFO data which
- *                                  is to be moved ahead of the
- *                                  current_frame_length
- *  @param[in] current_frame_length : Number of bytes in a particular frame
- *  @param[in] dev                  : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void move_next_frame(
-    uint16_t* data_index,
-    uint8_t current_frame_length,
-    const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse and store the sensor time from the
- *  FIFO data in the structure instance dev.
- *
- *  @param[in,out] data_index : Index of the FIFO data which
- *                              has the sensor time.
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_sensortime_frame(uint16_t* data_index, const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to parse and store the skipped_frame_count from
- *  the FIFO data in the structure instance dev.
- *
- *  @param[in,out] data_index   : Index of the FIFO data which
- *                                    has the skipped frame count.
- *  @param[in] dev              : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static void unpack_skipped_frame(uint16_t* data_index, const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to get the FOC status from the sensor
- *
- *  @param[in,out] foc_status   : Result of FOC status.
- *  @param[in] dev              : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static int8_t get_foc_status(uint8_t* foc_status, struct bmi160_dev const* dev);
-
-/*!
- *  @brief This API is used to configure the offset enable bits in the sensor
- *
- *  @param[in,out] foc_conf   : Structure instance of bmi160_foc_conf which
- *                                   has the FOC and offset configurations
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    configure_offset_enable(const struct bmi160_foc_conf* foc_conf, struct bmi160_dev const* dev);
-
-/*!
- *  @brief This API is used to trigger the FOC in the sensor
- *
- *  @param[in,out] offset     : Structure instance of bmi160_offsets which
- *                              reads and stores the offset values after FOC
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static int8_t trigger_foc(struct bmi160_offsets* offset, struct bmi160_dev const* dev);
-
-/*!
- *  @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full
- *  and FIFO watermark interrupt
- *
- *  @param[in] int_config     : Structure instance of bmi160_int_settg which
- *                              stores the interrupt type and interrupt channel
- *              configurations to map/unmap the interrupt pins
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    map_hardware_interrupt(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*!
- *  @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g,
- *  Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins.
- *
- *  @param[in] int_config     : Structure instance of bmi160_int_settg which
- *                              stores the interrupt type and interrupt channel
- *              configurations to map/unmap the interrupt pins
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval zero -> Success  / -ve value -> Error
- */
-static int8_t
-    map_feature_interrupt(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
-
-/*********************** User function definitions ****************************/
-
-/*!
- * @brief This API reads the data from the given register address
- * of sensor.
- */
-int8_t
-    bmi160_get_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->read == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else if(len == 0) {
-        rslt = BMI160_E_READ_WRITE_LENGTH_INVALID;
-    } else {
-        /* Configuring reg_addr for SPI Interface */
-        if(dev->intf == BMI160_SPI_INTF) {
-            reg_addr = (reg_addr | BMI160_SPI_RD_MASK);
-        }
-
-        rslt = dev->read(dev->id, reg_addr, data, len);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API writes the given data to the register address
- * of sensor.
- */
-int8_t
-    bmi160_set_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-    uint8_t count = 0;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->write == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else if(len == 0) {
-        rslt = BMI160_E_READ_WRITE_LENGTH_INVALID;
-    } else {
-        /* Configuring reg_addr for SPI Interface */
-        if(dev->intf == BMI160_SPI_INTF) {
-            reg_addr = (reg_addr & BMI160_SPI_WR_MASK);
-        }
-
-        if((dev->prev_accel_cfg.power == BMI160_ACCEL_NORMAL_MODE) ||
-           (dev->prev_gyro_cfg.power == BMI160_GYRO_NORMAL_MODE)) {
-            rslt = dev->write(dev->id, reg_addr, data, len);
-
-            /* Kindly refer bmi160 data sheet section 3.2.4 */
-            dev->delay_ms(1);
-
-        } else {
-            /*Burst write is not allowed in
-             * suspend & low power mode */
-            for(; count < len; count++) {
-                rslt = dev->write(dev->id, reg_addr, &data[count], 1);
-                reg_addr++;
-
-                /* Kindly refer bmi160 data sheet section 3.2.4 */
-                dev->delay_ms(1);
-            }
-        }
-
-        if(rslt != BMI160_OK) {
-            rslt = BMI160_E_COM_FAIL;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is the entry point for sensor.It performs
- *  the selection of I2C/SPI read mechanism according to the
- *  selected interface and reads the chip-id of bmi160 sensor.
- */
-int8_t bmi160_init(struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data;
-    uint8_t try = 3;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-
-    /* Dummy read of 0x7F register to enable SPI Interface
-     * if SPI is used */
-    if((rslt == BMI160_OK) && (dev->intf == BMI160_SPI_INTF)) {
-        rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
-    }
-
-    if(rslt == BMI160_OK) {
-        /* Assign chip id as zero */
-        dev->chip_id = 0;
-
-        while((try--) && (dev->chip_id != BMI160_CHIP_ID)) {
-            /* Read chip_id */
-            rslt = bmi160_get_regs(BMI160_CHIP_ID_ADDR, &dev->chip_id, 1, dev);
-        }
-
-        if((rslt == BMI160_OK) && (dev->chip_id == BMI160_CHIP_ID)) {
-            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
-
-            /* Soft reset */
-            rslt = bmi160_soft_reset(dev);
-        } else {
-            rslt = BMI160_E_DEV_NOT_FOUND;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API resets and restarts the device.
- * All register values are overwritten with default parameters.
- */
-int8_t bmi160_soft_reset(struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = BMI160_SOFT_RESET_CMD;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Reset the device */
-        rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &data, 1, dev);
-        dev->delay_ms(BMI160_SOFT_RESET_DELAY_MS);
-        if((rslt == BMI160_OK) && (dev->intf == BMI160_SPI_INTF)) {
-            /* Dummy read of 0x7F register to enable SPI Interface
-             * if SPI is used */
-            rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
-        }
-
-        if(rslt == BMI160_OK) {
-            /* Update the default parameters */
-            default_param_settg(dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configures the power mode, range and bandwidth
- * of sensor.
- */
-int8_t bmi160_set_sens_conf(struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = set_accel_conf(dev);
-        if(rslt == BMI160_OK) {
-            rslt = set_gyro_conf(dev);
-            if(rslt == BMI160_OK) {
-                /* write power mode for accel and gyro */
-                rslt = bmi160_set_power_mode(dev);
-                if(rslt == BMI160_OK) {
-                    rslt = check_invalid_settg(dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets accel and gyro configurations.
- */
-int8_t bmi160_get_sens_conf(struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = get_accel_conf(dev);
-        if(rslt == BMI160_OK) {
-            rslt = get_gyro_conf(dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the power mode of the sensor.
- */
-int8_t bmi160_set_power_mode(struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = set_accel_pwr(dev);
-        if(rslt == BMI160_OK) {
-            rslt = set_gyro_pwr(dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the power mode of the sensor.
- */
-int8_t bmi160_get_power_mode(struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t power_mode = 0;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = bmi160_get_regs(BMI160_PMU_STATUS_ADDR, &power_mode, 1, dev);
-        if(rslt == BMI160_OK) {
-            /* Power mode of the accel, gyro sensor is obtained */
-            dev->gyro_cfg.power = BMI160_GET_BITS(power_mode, BMI160_GYRO_POWER_MODE);
-            dev->accel_cfg.power = BMI160_GET_BITS(power_mode, BMI160_ACCEL_POWER_MODE);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads sensor data, stores it in
- * the bmi160_sensor_data structure pointer passed by the user.
- */
-int8_t bmi160_get_sensor_data(
-    uint8_t select_sensor,
-    struct bmi160_sensor_data* accel,
-    struct bmi160_sensor_data* gyro,
-    const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-    uint8_t time_sel;
-    uint8_t sen_sel;
-    uint8_t len = 0;
-
-    /*Extract the sensor  and time select information*/
-    sen_sel = select_sensor & BMI160_SEN_SEL_MASK;
-    time_sel = ((sen_sel & BMI160_TIME_SEL) >> 2);
-    sen_sel = sen_sel & (BMI160_ACCEL_SEL | BMI160_GYRO_SEL);
-    if(time_sel == 1) {
-        len = 3;
-    }
-
-    /* Null-pointer check */
-    if(dev != NULL) {
-        switch(sen_sel) {
-        case BMI160_ACCEL_ONLY:
-
-            /* Null-pointer check */
-            if(accel == NULL) {
-                rslt = BMI160_E_NULL_PTR;
-            } else {
-                rslt = get_accel_data(len, accel, dev);
-            }
-
-            break;
-        case BMI160_GYRO_ONLY:
-
-            /* Null-pointer check */
-            if(gyro == NULL) {
-                rslt = BMI160_E_NULL_PTR;
-            } else {
-                rslt = get_gyro_data(len, gyro, dev);
-            }
-
-            break;
-        case BMI160_BOTH_ACCEL_AND_GYRO:
-
-            /* Null-pointer check */
-            if((gyro == NULL) || (accel == NULL)) {
-                rslt = BMI160_E_NULL_PTR;
-            } else {
-                rslt = get_accel_gyro_data(len, accel, gyro, dev);
-            }
-
-            break;
-        default:
-            rslt = BMI160_E_INVALID_INPUT;
-            break;
-        }
-    } else {
-        rslt = BMI160_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configures the necessary interrupt based on
- *  the user settings in the bmi160_int_settg structure instance.
- */
-int8_t bmi160_set_int_config(struct bmi160_int_settg* int_config, struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-
-    switch(int_config->int_type) {
-    case BMI160_ACC_ANY_MOTION_INT:
-
-        /*Any-motion  interrupt*/
-        rslt = set_accel_any_motion_int(int_config, dev);
-        break;
-    case BMI160_ACC_SIG_MOTION_INT:
-
-        /* Significant motion interrupt */
-        rslt = set_accel_sig_motion_int(int_config, dev);
-        break;
-    case BMI160_ACC_SLOW_NO_MOTION_INT:
-
-        /* Slow or no motion interrupt */
-        rslt = set_accel_no_motion_int(int_config, dev);
-        break;
-    case BMI160_ACC_DOUBLE_TAP_INT:
-    case BMI160_ACC_SINGLE_TAP_INT:
-
-        /* Double tap and single tap Interrupt */
-        rslt = set_accel_tap_int(int_config, dev);
-        break;
-    case BMI160_STEP_DETECT_INT:
-
-        /* Step detector interrupt */
-        rslt = set_accel_step_detect_int(int_config, dev);
-        break;
-    case BMI160_ACC_ORIENT_INT:
-
-        /* Orientation interrupt */
-        rslt = set_accel_orientation_int(int_config, dev);
-        break;
-    case BMI160_ACC_FLAT_INT:
-
-        /* Flat detection interrupt */
-        rslt = set_accel_flat_detect_int(int_config, dev);
-        break;
-    case BMI160_ACC_LOW_G_INT:
-
-        /* Low-g interrupt */
-        rslt = set_accel_low_g_int(int_config, dev);
-        break;
-    case BMI160_ACC_HIGH_G_INT:
-
-        /* High-g interrupt */
-        rslt = set_accel_high_g_int(int_config, dev);
-        break;
-    case BMI160_ACC_GYRO_DATA_RDY_INT:
-
-        /* Data ready interrupt */
-        rslt = set_accel_gyro_data_ready_int(int_config, dev);
-        break;
-    case BMI160_ACC_GYRO_FIFO_FULL_INT:
-
-        /* Fifo full interrupt */
-        rslt = set_fifo_full_int(int_config, dev);
-        break;
-    case BMI160_ACC_GYRO_FIFO_WATERMARK_INT:
-
-        /* Fifo water-mark interrupt */
-        rslt = set_fifo_watermark_int(int_config, dev);
-        break;
-    case BMI160_FIFO_TAG_INT_PIN:
-
-        /* Fifo tagging feature support */
-        /* Configure Interrupt pins */
-        rslt = set_intr_pin_config(int_config, dev);
-        break;
-    default:
-        break;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables or disable the step counter feature.
- * 1 - enable step counter (0 - disable)
- */
-int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = bmi160_get_regs(BMI160_INT_STEP_CONFIG_1_ADDR, &data, 1, dev);
-        if(rslt == BMI160_OK) {
-            if(step_cnt_enable == BMI160_ENABLE) {
-                data |= (uint8_t)(step_cnt_enable << 3);
-            } else {
-                data &= ~BMI160_STEP_COUNT_EN_BIT_MASK;
-            }
-
-            rslt = bmi160_set_regs(BMI160_INT_STEP_CONFIG_1_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the step counter value.
- */
-int8_t bmi160_read_step_counter(uint16_t* step_val, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data[2] = {0, 0};
-    uint16_t msb = 0;
-    uint8_t lsb = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = bmi160_get_regs(BMI160_INT_STEP_CNT_0_ADDR, data, 2, dev);
-        if(rslt == BMI160_OK) {
-            lsb = data[0];
-            msb = data[1] << 8;
-            *step_val = msb | lsb;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the mention no of byte of data from the given
- * register address of auxiliary sensor.
- */
-int8_t bmi160_aux_read(
-    uint8_t reg_addr,
-    uint8_t* aux_data,
-    uint16_t len,
-    const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-    uint16_t map_len = 0;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->read == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        if(dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) {
-            rslt = map_read_len(&map_len, dev);
-            if(rslt == BMI160_OK) {
-                rslt = extract_aux_read(map_len, reg_addr, aux_data, len, dev);
-            }
-        } else {
-            rslt = BMI160_E_INVALID_INPUT;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API writes the mention no of byte of data to the given
- * register address of auxiliary sensor.
- */
-int8_t bmi160_aux_write(
-    uint8_t reg_addr,
-    uint8_t* aux_data,
-    uint16_t len,
-    const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-    uint8_t count = 0;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->write == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        for(; count < len; count++) {
-            /* set data to write */
-            rslt = bmi160_set_regs(BMI160_AUX_IF_4_ADDR, aux_data, 1, dev);
-            dev->delay_ms(BMI160_AUX_COM_DELAY);
-            if(rslt == BMI160_OK) {
-                /* set address to write */
-                rslt = bmi160_set_regs(BMI160_AUX_IF_3_ADDR, &reg_addr, 1, dev);
-                dev->delay_ms(BMI160_AUX_COM_DELAY);
-                if(rslt == BMI160_OK && (count < len - 1)) {
-                    aux_data++;
-                    reg_addr++;
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API initialize the auxiliary sensor
- * in order to access it.
- */
-int8_t bmi160_aux_init(const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        if(dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) {
-            /* Configures the auxiliary sensor interface settings */
-            rslt = config_aux_settg(dev);
-        } else {
-            rslt = BMI160_E_INVALID_INPUT;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API is used to setup the auxiliary sensor of bmi160 in auto mode
- * Thus enabling the auto update of 8 bytes of data from auxiliary sensor
- * to BMI160 register address 0x04 to 0x0B
- */
-int8_t bmi160_set_aux_auto_mode(uint8_t* data_addr, struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        if(dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) {
-            /* Write the aux. address to read in 0x4D of BMI160*/
-            rslt = bmi160_set_regs(BMI160_AUX_IF_2_ADDR, data_addr, 1, dev);
-            dev->delay_ms(BMI160_AUX_COM_DELAY);
-            if(rslt == BMI160_OK) {
-                /* Configure the polling ODR for
-                 * auxiliary sensor */
-                rslt = config_aux_odr(dev);
-                if(rslt == BMI160_OK) {
-                    /* Disable the aux. manual mode, i.e aux.
-                     * sensor is in auto-mode (data-mode) */
-                    dev->aux_cfg.manual_enable = BMI160_DISABLE;
-                    rslt = bmi160_config_aux_mode(dev);
-
-                    /*  Auxiliary sensor data is obtained
-                     * in auto mode from this point */
-                }
-            }
-        } else {
-            rslt = BMI160_E_INVALID_INPUT;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configures the 0x4C register and settings like
- * Auxiliary sensor manual enable/ disable and aux burst read length.
- */
-int8_t bmi160_config_aux_mode(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t aux_if[2] = {(uint8_t)(dev->aux_cfg.aux_i2c_addr * 2), 0};
-
-    rslt = bmi160_get_regs(BMI160_AUX_IF_1_ADDR, &aux_if[1], 1, dev);
-    if(rslt == BMI160_OK) {
-        /* update the Auxiliary interface to manual/auto mode */
-        aux_if[1] = BMI160_SET_BITS(aux_if[1], BMI160_MANUAL_MODE_EN, dev->aux_cfg.manual_enable);
-
-        /* update the burst read length defined by user */
-        aux_if[1] =
-            BMI160_SET_BITS_POS_0(aux_if[1], BMI160_AUX_READ_BURST, dev->aux_cfg.aux_rd_burst_len);
-
-        /* Set the secondary interface address and manual mode
-         * along with burst read length */
-        rslt = bmi160_set_regs(BMI160_AUX_IF_0_ADDR, &aux_if[0], 2, dev);
-        dev->delay_ms(BMI160_AUX_COM_DELAY);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API is used to read the raw uncompensated auxiliary sensor
- * data of 8 bytes from BMI160 register address 0x04 to 0x0B
- */
-int8_t bmi160_read_aux_data_auto_mode(uint8_t* aux_data, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        if((dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) &&
-           (dev->aux_cfg.manual_enable == BMI160_DISABLE)) {
-            /* Read the aux. sensor's raw data */
-            rslt = bmi160_get_regs(BMI160_AUX_DATA_ADDR, aux_data, 8, dev);
-        } else {
-            rslt = BMI160_E_INVALID_INPUT;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This is used to perform self test of accel/gyro of the BMI160 sensor
- */
-int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev* dev) {
-    int8_t rslt;
-    int8_t self_test_rslt = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Proceed if null check is fine */
-        switch(select_sensor) {
-        case BMI160_ACCEL_ONLY:
-            rslt = perform_accel_self_test(dev);
-            break;
-        case BMI160_GYRO_ONLY:
-
-            /* Set the power mode as normal mode */
-            dev->gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
-            rslt = bmi160_set_power_mode(dev);
-
-            /* Perform gyro self test */
-            if(rslt == BMI160_OK) {
-                /* Perform gyro self test */
-                rslt = perform_gyro_self_test(dev);
-            }
-
-            break;
-        default:
-            rslt = BMI160_E_INVALID_INPUT;
-            break;
-        }
-
-        /* Check to ensure bus error does not occur */
-        if(rslt >= BMI160_OK) {
-            /* Store the status of self test result */
-            self_test_rslt = rslt;
-
-            /* Perform soft reset */
-            rslt = bmi160_soft_reset(dev);
-        }
-
-        /* Check to ensure bus operations are success */
-        if(rslt == BMI160_OK) {
-            /* Restore self_test_rslt as return value */
-            rslt = self_test_rslt;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the data from fifo buffer.
- */
-int8_t bmi160_get_fifo_data(struct bmi160_dev const* dev) {
-    int8_t rslt = 0;
-    uint16_t bytes_to_read = 0;
-    uint16_t user_fifo_len = 0;
-
-    /* check the bmi160 structure as NULL*/
-    if((dev == NULL) || (dev->fifo->data == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        reset_fifo_data_structure(dev);
-
-        /* get current FIFO fill-level*/
-        rslt = get_fifo_byte_counter(&bytes_to_read, dev);
-        if(rslt == BMI160_OK) {
-            user_fifo_len = dev->fifo->length;
-            if((dev->fifo->length > bytes_to_read)) {
-                /* Handling the case where user requests
-                 * more data than available in FIFO */
-                dev->fifo->length = bytes_to_read;
-            }
-
-            if((dev->fifo->fifo_time_enable == BMI160_FIFO_TIME_ENABLE) &&
-               (bytes_to_read + BMI160_FIFO_BYTES_OVERREAD <= user_fifo_len)) {
-                /* Handling case of sensor time availability*/
-                dev->fifo->length = dev->fifo->length + BMI160_FIFO_BYTES_OVERREAD;
-            }
-
-            /* read only the filled bytes in the FIFO Buffer */
-            rslt = bmi160_get_regs(BMI160_FIFO_DATA_ADDR, dev->fifo->data, dev->fifo->length, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API writes fifo_flush command to command register.This
- *  action clears all data in the Fifo without changing fifo configuration
- *  settings
- */
-int8_t bmi160_set_fifo_flush(const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t data = BMI160_FIFO_FLUSH_VALUE;
-    uint8_t reg_addr = BMI160_COMMAND_REG_ADDR;
-
-    /* Check the bmi160_dev structure for NULL address*/
-    if(dev == NULL) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the FIFO configuration in the sensor.
- */
-int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const* dev) {
-    int8_t rslt = 0;
-    uint8_t data = 0;
-    uint8_t reg_addr = BMI160_FIFO_CONFIG_1_ADDR;
-    uint8_t fifo_config = config & BMI160_FIFO_CONFIG_1_MASK;
-
-    /* Check the bmi160_dev structure for NULL address*/
-    if(dev == NULL) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
-        if(rslt == BMI160_OK) {
-            if(fifo_config > 0) {
-                if(enable == BMI160_ENABLE) {
-                    data = data | fifo_config;
-                } else {
-                    data = data & (~fifo_config);
-                }
-            }
-
-            /* write fifo frame content configuration*/
-            rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
-            if(rslt == BMI160_OK) {
-                /* read fifo frame content configuration*/
-                rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
-                if(rslt == BMI160_OK) {
-                    /* extract fifo header enabled status */
-                    dev->fifo->fifo_header_enable = data & BMI160_FIFO_HEAD_ENABLE;
-
-                    /* extract accel/gyr/aux. data enabled status */
-                    dev->fifo->fifo_data_enable = data & BMI160_FIFO_M_G_A_ENABLE;
-
-                    /* extract fifo sensor time enabled status */
-                    dev->fifo->fifo_time_enable = data & BMI160_FIFO_TIME_ENABLE;
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*! @brief This API is used to configure the down sampling ratios of
- *  the accel and gyro data for FIFO.Also, it configures filtered or
- *  pre-filtered data for accel and gyro.
- *
- */
-int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t data = 0;
-    uint8_t reg_addr = BMI160_FIFO_DOWN_ADDR;
-
-    /* Check the bmi160_dev structure for NULL address*/
-    if(dev == NULL) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
-        if(rslt == BMI160_OK) {
-            data = data | fifo_down;
-            rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API sets the FIFO watermark level in the sensor.
- *
- */
-int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t data = fifo_wm;
-    uint8_t reg_addr = BMI160_FIFO_CONFIG_0_ADDR;
-
-    /* Check the bmi160_dev structure for NULL address*/
-    if(dev == NULL) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API parses and extracts the accelerometer frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the "accel_data" structure instance.
- */
-int8_t bmi160_extract_accel(
-    struct bmi160_sensor_data* accel_data,
-    uint8_t* accel_length,
-    struct bmi160_dev const* dev) {
-    int8_t rslt = 0;
-    uint16_t data_index = 0;
-    uint16_t data_read_length = 0;
-    uint8_t accel_index = 0;
-    uint8_t fifo_data_enable = 0;
-
-    if(dev == NULL || dev->fifo == NULL || dev->fifo->data == NULL) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Parsing the FIFO data in header-less mode */
-        if(dev->fifo->fifo_header_enable == 0) {
-            /* Number of bytes to be parsed from FIFO */
-            get_accel_len_to_parse(&data_index, &data_read_length, accel_length, dev);
-            for(; data_index < data_read_length;) {
-                /*Check for the availability of next two bytes of FIFO data */
-                check_frame_validity(&data_index, dev);
-                fifo_data_enable = dev->fifo->fifo_data_enable;
-                unpack_accel_frame(accel_data, &data_index, &accel_index, fifo_data_enable, dev);
-            }
-
-            /* update number of accel data read*/
-            *accel_length = accel_index;
-
-            /*update the accel byte index*/
-            dev->fifo->accel_byte_start_idx = data_index;
-        } else {
-            /* Parsing the FIFO data in header mode */
-            extract_accel_header_mode(accel_data, accel_length, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API parses and extracts the gyro frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the "gyro_data" structure instance.
- */
-int8_t bmi160_extract_gyro(
-    struct bmi160_sensor_data* gyro_data,
-    uint8_t* gyro_length,
-    struct bmi160_dev const* dev) {
-    int8_t rslt = 0;
-    uint16_t data_index = 0;
-    uint16_t data_read_length = 0;
-    uint8_t gyro_index = 0;
-    uint8_t fifo_data_enable = 0;
-
-    if(dev == NULL || dev->fifo->data == NULL) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Parsing the FIFO data in header-less mode */
-        if(dev->fifo->fifo_header_enable == 0) {
-            /* Number of bytes to be parsed from FIFO */
-            get_gyro_len_to_parse(&data_index, &data_read_length, gyro_length, dev);
-            for(; data_index < data_read_length;) {
-                /*Check for the availability of next two bytes of FIFO data */
-                check_frame_validity(&data_index, dev);
-                fifo_data_enable = dev->fifo->fifo_data_enable;
-                unpack_gyro_frame(gyro_data, &data_index, &gyro_index, fifo_data_enable, dev);
-            }
-
-            /* update number of gyro data read */
-            *gyro_length = gyro_index;
-
-            /* update the gyro byte index */
-            dev->fifo->gyro_byte_start_idx = data_index;
-        } else {
-            /* Parsing the FIFO data in header mode */
-            extract_gyro_header_mode(gyro_data, gyro_length, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API parses and extracts the aux frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the "aux_data" structure instance.
- */
-int8_t bmi160_extract_aux(
-    struct bmi160_aux_data* aux_data,
-    uint8_t* aux_len,
-    struct bmi160_dev const* dev) {
-    int8_t rslt = 0;
-    uint16_t data_index = 0;
-    uint16_t data_read_length = 0;
-    uint8_t aux_index = 0;
-    uint8_t fifo_data_enable = 0;
-
-    if((dev == NULL) || (dev->fifo->data == NULL) || (aux_data == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Parsing the FIFO data in header-less mode */
-        if(dev->fifo->fifo_header_enable == 0) {
-            /* Number of bytes to be parsed from FIFO */
-            get_aux_len_to_parse(&data_index, &data_read_length, aux_len, dev);
-            for(; data_index < data_read_length;) {
-                /* Check for the availability of next two
-                 * bytes of FIFO data */
-                check_frame_validity(&data_index, dev);
-                fifo_data_enable = dev->fifo->fifo_data_enable;
-                unpack_aux_frame(aux_data, &data_index, &aux_index, fifo_data_enable, dev);
-            }
-
-            /* update number of aux data read */
-            *aux_len = aux_index;
-
-            /* update the aux byte index */
-            dev->fifo->aux_byte_start_idx = data_index;
-        } else {
-            /* Parsing the FIFO data in header mode */
-            extract_aux_header_mode(aux_data, aux_len, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API starts the FOC of accel and gyro
- *
- *  @note FOC should not be used in low-power mode of sensor
- *
- *  @note Accel FOC targets values of +1g , 0g , -1g
- *  Gyro FOC always targets value of 0 dps
- */
-int8_t bmi160_start_foc(
-    const struct bmi160_foc_conf* foc_conf,
-    struct bmi160_offsets* offset,
-    struct bmi160_dev const* dev) {
-    int8_t rslt;
-    uint8_t data;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Set the offset enable bits */
-        rslt = configure_offset_enable(foc_conf, dev);
-        if(rslt == BMI160_OK) {
-            /* Read the FOC config from the sensor */
-            rslt = bmi160_get_regs(BMI160_FOC_CONF_ADDR, &data, 1, dev);
-
-            /* Set the FOC config for gyro */
-            data = BMI160_SET_BITS(data, BMI160_GYRO_FOC_EN, foc_conf->foc_gyr_en);
-
-            /* Set the FOC config for accel xyz axes */
-            data = BMI160_SET_BITS(data, BMI160_ACCEL_FOC_X_CONF, foc_conf->foc_acc_x);
-            data = BMI160_SET_BITS(data, BMI160_ACCEL_FOC_Y_CONF, foc_conf->foc_acc_y);
-            data = BMI160_SET_BITS_POS_0(data, BMI160_ACCEL_FOC_Z_CONF, foc_conf->foc_acc_z);
-            if(rslt == BMI160_OK) {
-                /* Set the FOC config in the sensor */
-                rslt = bmi160_set_regs(BMI160_FOC_CONF_ADDR, &data, 1, dev);
-                if(rslt == BMI160_OK) {
-                    /* Procedure to trigger
-                     * FOC and check status */
-                    rslt = trigger_foc(offset, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API reads and stores the offset values of accel and gyro
- */
-int8_t bmi160_get_offsets(struct bmi160_offsets* offset, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data[7];
-    uint8_t lsb, msb;
-    int16_t offset_msb, offset_lsb;
-    int16_t offset_data;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Read the FOC config from the sensor */
-        rslt = bmi160_get_regs(BMI160_OFFSET_ADDR, data, 7, dev);
-
-        /* Accel offsets */
-        offset->off_acc_x = (int8_t)data[0];
-        offset->off_acc_y = (int8_t)data[1];
-        offset->off_acc_z = (int8_t)data[2];
-
-        /* Gyro x-axis offset */
-        lsb = data[3];
-        msb = BMI160_GET_BITS_POS_0(data[6], BMI160_GYRO_OFFSET_X);
-        offset_msb = (int16_t)(msb << 14);
-        offset_lsb = lsb << 6;
-        offset_data = offset_msb | offset_lsb;
-
-        /* Divide by 64 to get the Right shift by 6 value */
-        offset->off_gyro_x = (int16_t)(offset_data / 64);
-
-        /* Gyro y-axis offset */
-        lsb = data[4];
-        msb = BMI160_GET_BITS(data[6], BMI160_GYRO_OFFSET_Y);
-        offset_msb = (int16_t)(msb << 14);
-        offset_lsb = lsb << 6;
-        offset_data = offset_msb | offset_lsb;
-
-        /* Divide by 64 to get the Right shift by 6 value */
-        offset->off_gyro_y = (int16_t)(offset_data / 64);
-
-        /* Gyro z-axis offset */
-        lsb = data[5];
-        msb = BMI160_GET_BITS(data[6], BMI160_GYRO_OFFSET_Z);
-        offset_msb = (int16_t)(msb << 14);
-        offset_lsb = lsb << 6;
-        offset_data = offset_msb | offset_lsb;
-
-        /* Divide by 64 to get the Right shift by 6 value */
-        offset->off_gyro_z = (int16_t)(offset_data / 64);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API writes the offset values of accel and gyro to
- *  the sensor but these values will be reset on POR or soft reset.
- */
-int8_t bmi160_set_offsets(
-    const struct bmi160_foc_conf* foc_conf,
-    const struct bmi160_offsets* offset,
-    struct bmi160_dev const* dev) {
-    int8_t rslt;
-    uint8_t data[7];
-    uint8_t x_msb, y_msb, z_msb;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Update the accel offset */
-        data[0] = (uint8_t)offset->off_acc_x;
-        data[1] = (uint8_t)offset->off_acc_y;
-        data[2] = (uint8_t)offset->off_acc_z;
-
-        /* Update the LSB of gyro offset */
-        data[3] = BMI160_GET_LSB(offset->off_gyro_x);
-        data[4] = BMI160_GET_LSB(offset->off_gyro_y);
-        data[5] = BMI160_GET_LSB(offset->off_gyro_z);
-
-        /* Update the MSB of gyro offset */
-        x_msb = BMI160_GET_BITS(offset->off_gyro_x, BMI160_GYRO_OFFSET);
-        y_msb = BMI160_GET_BITS(offset->off_gyro_y, BMI160_GYRO_OFFSET);
-        z_msb = BMI160_GET_BITS(offset->off_gyro_z, BMI160_GYRO_OFFSET);
-        data[6] = (uint8_t)(z_msb << 4 | y_msb << 2 | x_msb);
-
-        /* Set the offset enable/disable for gyro and accel */
-        data[6] = BMI160_SET_BITS(data[6], BMI160_GYRO_OFFSET_EN, foc_conf->gyro_off_en);
-        data[6] = BMI160_SET_BITS(data[6], BMI160_ACCEL_OFFSET_EN, foc_conf->acc_off_en);
-
-        /* Set the offset config and values in the sensor */
-        rslt = bmi160_set_regs(BMI160_OFFSET_ADDR, data, 7, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API writes the image registers values to NVM which is
- *  stored even after POR or soft reset
- */
-int8_t bmi160_update_nvm(struct bmi160_dev const* dev) {
-    int8_t rslt;
-    uint8_t data;
-    uint8_t cmd = BMI160_NVM_BACKUP_EN;
-
-    /* Read the nvm_prog_en configuration */
-    rslt = bmi160_get_regs(BMI160_CONF_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        data = BMI160_SET_BITS(data, BMI160_NVM_UPDATE, 1);
-
-        /* Set the nvm_prog_en bit in the sensor */
-        rslt = bmi160_set_regs(BMI160_CONF_ADDR, &data, 1, dev);
-        if(rslt == BMI160_OK) {
-            /* Update NVM */
-            rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
-            if(rslt == BMI160_OK) {
-                /* Check for NVM ready status */
-                rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &data, 1, dev);
-                if(rslt == BMI160_OK) {
-                    data = BMI160_GET_BITS(data, BMI160_NVM_STATUS);
-                    if(data != BMI160_ENABLE) {
-                        /* Delay to update NVM */
-                        dev->delay_ms(25);
-                    }
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API gets the interrupt status from the sensor.
- */
-int8_t bmi160_get_int_status(
-    enum bmi160_int_status_sel int_status_sel,
-    union bmi160_int_status* int_status,
-    struct bmi160_dev const* dev) {
-    int8_t rslt = 0;
-
-    /* To get the status of all interrupts */
-    if(int_status_sel == BMI160_INT_STATUS_ALL) {
-        rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 4, dev);
-    } else {
-        if(int_status_sel & BMI160_INT_STATUS_0) {
-            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 1, dev);
-        }
-
-        if(int_status_sel & BMI160_INT_STATUS_1) {
-            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 1, &int_status->data[1], 1, dev);
-        }
-
-        if(int_status_sel & BMI160_INT_STATUS_2) {
-            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 2, &int_status->data[2], 1, dev);
-        }
-
-        if(int_status_sel & BMI160_INT_STATUS_3) {
-            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 3, &int_status->data[3], 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*********************** Local function definitions ***************************/
-
-/*!
- * @brief This API sets the any-motion interrupt of the sensor.
- * This interrupt occurs when accel values exceeds preset threshold
- * for a certain period of time.
- */
-static int8_t
-    set_accel_any_motion_int(struct bmi160_int_settg* int_config, struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg =
-            &(int_config->int_type_cfg.acc_any_motion_int);
-        rslt = enable_accel_any_motion_int(any_motion_int_cfg, dev);
-        if(rslt == BMI160_OK) {
-            rslt = config_any_motion_int_settg(int_config, any_motion_int_cfg, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets tap interrupts.Interrupt is fired when
- * tap movements happen.
- */
-static int8_t
-    set_accel_tap_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_tap_int_cfg* tap_int_cfg = &(int_config->int_type_cfg.acc_tap_int);
-        rslt = enable_tap_int(int_config, tap_int_cfg, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                rslt = config_tap_int_settg(int_config, tap_int_cfg, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the data ready interrupt for both accel and gyro.
- * This interrupt occurs when new accel and gyro data comes.
- */
-static int8_t set_accel_gyro_data_ready_int(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        rslt = enable_data_ready_int(dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                rslt = map_hardware_interrupt(int_config, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the significant motion interrupt of the sensor.This
- * interrupt occurs when there is change in user location.
- */
-static int8_t
-    set_accel_sig_motion_int(struct bmi160_int_settg* int_config, struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg =
-            &(int_config->int_type_cfg.acc_sig_motion_int);
-        rslt = enable_sig_motion_int(sig_mot_int_cfg, dev);
-        if(rslt == BMI160_OK) {
-            rslt = config_sig_motion_int_settg(int_config, sig_mot_int_cfg, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the no motion/slow motion interrupt of the sensor.
- * Slow motion is similar to any motion interrupt.No motion interrupt
- * occurs when slope bet. two accel values falls below preset threshold
- * for preset duration.
- */
-static int8_t
-    set_accel_no_motion_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg =
-            &(int_config->int_type_cfg.acc_no_motion_int);
-        rslt = enable_no_motion_int(no_mot_int_cfg, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure the INT PIN settings*/
-            rslt = config_no_motion_int_settg(int_config, no_mot_int_cfg, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the step detection interrupt.This interrupt
- * occurs when the single step causes accel values to go above
- * preset threshold.
- */
-static int8_t
-    set_accel_step_detect_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_step_detect_int_cfg* step_detect_int_cfg =
-            &(int_config->int_type_cfg.acc_step_detect_int);
-        rslt = enable_step_detect_int(step_detect_int_cfg, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                rslt = map_feature_interrupt(int_config, dev);
-                if(rslt == BMI160_OK) {
-                    rslt = config_step_detect(step_detect_int_cfg, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the orientation interrupt of the sensor.This
- * interrupt occurs when there is orientation change in the sensor
- * with respect to gravitational field vector g.
- */
-static int8_t
-    set_accel_orientation_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_orient_int_cfg* orient_int_cfg =
-            &(int_config->int_type_cfg.acc_orient_int);
-        rslt = enable_orient_int(orient_int_cfg, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                /* map INT pin to orient interrupt */
-                rslt = map_feature_interrupt(int_config, dev);
-                if(rslt == BMI160_OK) {
-                    /* configure the
-                     * orientation setting*/
-                    rslt = config_orient_int_settg(orient_int_cfg, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the flat interrupt of the sensor.This interrupt
- * occurs in case of flat orientation
- */
-static int8_t
-    set_accel_flat_detect_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_flat_detect_int_cfg* flat_detect_int =
-            &(int_config->int_type_cfg.acc_flat_int);
-
-        /* enable the flat interrupt */
-        rslt = enable_flat_int(flat_detect_int, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                /* map INT pin to flat interrupt */
-                rslt = map_feature_interrupt(int_config, dev);
-                if(rslt == BMI160_OK) {
-                    /* configure the flat setting*/
-                    rslt = config_flat_int_settg(flat_detect_int, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the low-g interrupt of the sensor.This interrupt
- * occurs during free-fall.
- */
-static int8_t
-    set_accel_low_g_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_low_g_int_cfg* low_g_int = &(int_config->int_type_cfg.acc_low_g_int);
-
-        /* Enable the low-g interrupt*/
-        rslt = enable_low_g_int(low_g_int, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                /* Map INT pin to low-g interrupt */
-                rslt = map_feature_interrupt(int_config, dev);
-                if(rslt == BMI160_OK) {
-                    /* configure the data source
-                     * for low-g interrupt*/
-                    rslt = config_low_g_data_src(low_g_int, dev);
-                    if(rslt == BMI160_OK) {
-                        rslt = config_low_g_int_settg(low_g_int, dev);
-                    }
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the high-g interrupt of the sensor.The interrupt
- * occurs if the absolute value of acceleration data of any enabled axis
- * exceeds the programmed threshold and the sign of the value does not
- * change for a preset duration.
- */
-static int8_t
-    set_accel_high_g_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if((rslt != BMI160_OK) || (int_config == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* updating the interrupt structure to local structure */
-        struct bmi160_acc_high_g_int_cfg* high_g_int_cfg =
-            &(int_config->int_type_cfg.acc_high_g_int);
-
-        /* Enable the high-g interrupt */
-        rslt = enable_high_g_int(high_g_int_cfg, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                /* Map INT pin to high-g interrupt */
-                rslt = map_feature_interrupt(int_config, dev);
-                if(rslt == BMI160_OK) {
-                    /* configure the data source
-                     * for high-g interrupt*/
-                    rslt = config_high_g_data_src(high_g_int_cfg, dev);
-                    if(rslt == BMI160_OK) {
-                        rslt = config_high_g_int_settg(high_g_int_cfg, dev);
-                    }
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configures the pins to fire the
- * interrupt signal when it occurs.
- */
-static int8_t
-    set_intr_pin_config(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* configure the behavioural settings of interrupt pin */
-    rslt = config_int_out_ctrl(int_config, dev);
-    if(rslt == BMI160_OK) {
-        rslt = config_int_latch(int_config, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to validate the device structure pointer for
- * null conditions.
- */
-static int8_t null_ptr_check(const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    if((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Device structure is fine */
-        rslt = BMI160_OK;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the default configuration parameters of accel & gyro.
- * Also maintain the previous state of configurations.
- */
-static void default_param_settg(struct bmi160_dev* dev) {
-    /* Initializing accel and gyro params with
-     * default values */
-    dev->accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
-    dev->accel_cfg.odr = BMI160_ACCEL_ODR_100HZ;
-    dev->accel_cfg.power = BMI160_ACCEL_SUSPEND_MODE;
-    dev->accel_cfg.range = BMI160_ACCEL_RANGE_2G;
-    dev->gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
-    dev->gyro_cfg.odr = BMI160_GYRO_ODR_100HZ;
-    dev->gyro_cfg.power = BMI160_GYRO_SUSPEND_MODE;
-    dev->gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
-
-    /* To maintain the previous state of accel configuration */
-    dev->prev_accel_cfg = dev->accel_cfg;
-
-    /* To maintain the previous state of gyro configuration */
-    dev->prev_gyro_cfg = dev->gyro_cfg;
-}
-
-/*!
- * @brief This API set the accel configuration.
- */
-static int8_t set_accel_conf(struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data[2] = {0};
-
-    rslt = check_accel_config(data, dev);
-    if(rslt == BMI160_OK) {
-        /* Write output data rate and bandwidth */
-        rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, &data[0], 1, dev);
-        if(rslt == BMI160_OK) {
-            dev->prev_accel_cfg.odr = dev->accel_cfg.odr;
-            dev->prev_accel_cfg.bw = dev->accel_cfg.bw;
-
-            /* write accel range */
-            rslt = bmi160_set_regs(BMI160_ACCEL_RANGE_ADDR, &data[1], 1, dev);
-            if(rslt == BMI160_OK) {
-                dev->prev_accel_cfg.range = dev->accel_cfg.range;
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the accel configuration.
- */
-static int8_t get_accel_conf(struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data[2] = {0};
-
-    /* Get accel configurations */
-    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 2, dev);
-    if(rslt == BMI160_OK) {
-        dev->accel_cfg.odr = (data[0] & BMI160_ACCEL_ODR_MASK);
-        dev->accel_cfg.bw = (data[0] & BMI160_ACCEL_BW_MASK) >> BMI160_ACCEL_BW_POS;
-        dev->accel_cfg.range = (data[1] & BMI160_ACCEL_RANGE_MASK);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API check the accel configuration.
- */
-static int8_t check_accel_config(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* read accel Output data rate and bandwidth */
-    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 2, dev);
-    if(rslt == BMI160_OK) {
-        rslt = process_accel_odr(&data[0], dev);
-        if(rslt == BMI160_OK) {
-            rslt = process_accel_bw(&data[0], dev);
-            if(rslt == BMI160_OK) {
-                rslt = process_accel_range(&data[1], dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the accel odr.
- */
-static int8_t process_accel_odr(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t odr = 0;
-
-    if(dev->accel_cfg.odr <= BMI160_ACCEL_ODR_1600HZ) {
-        if(dev->accel_cfg.odr != dev->prev_accel_cfg.odr) {
-            odr = (uint8_t)dev->accel_cfg.odr;
-            temp = *data & ~BMI160_ACCEL_ODR_MASK;
-
-            /* Adding output data rate */
-            *data = temp | (odr & BMI160_ACCEL_ODR_MASK);
-        }
-    } else {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the accel bandwidth.
- */
-static int8_t process_accel_bw(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t bw = 0;
-
-    if(dev->accel_cfg.bw <= BMI160_ACCEL_BW_RES_AVG128) {
-        if(dev->accel_cfg.bw != dev->prev_accel_cfg.bw) {
-            bw = (uint8_t)dev->accel_cfg.bw;
-            temp = *data & ~BMI160_ACCEL_BW_MASK;
-
-            /* Adding bandwidth */
-            *data = temp | ((bw << 4) & BMI160_ACCEL_BW_MASK);
-        }
-    } else {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the accel range.
- */
-static int8_t process_accel_range(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t range = 0;
-
-    if(dev->accel_cfg.range <= BMI160_ACCEL_RANGE_16G) {
-        if(dev->accel_cfg.range != dev->prev_accel_cfg.range) {
-            range = (uint8_t)dev->accel_cfg.range;
-            temp = *data & ~BMI160_ACCEL_RANGE_MASK;
-
-            /* Adding range */
-            *data = temp | (range & BMI160_ACCEL_RANGE_MASK);
-        }
-    } else {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API checks the invalid settings for ODR & Bw for
- * Accel and Gyro.
- */
-static int8_t check_invalid_settg(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-
-    /* read the error reg */
-    rslt = bmi160_get_regs(BMI160_ERROR_REG_ADDR, &data, 1, dev);
-    data = data >> 1;
-    data = data & BMI160_ERR_REG_MASK;
-    if(data == 1) {
-        rslt = BMI160_E_ACCEL_ODR_BW_INVALID;
-    } else if(data == 2) {
-        rslt = BMI160_E_GYRO_ODR_BW_INVALID;
-    } else if(data == 3) {
-        rslt = BMI160_E_LWP_PRE_FLTR_INT_INVALID;
-    } else if(data == 7) {
-        rslt = BMI160_E_LWP_PRE_FLTR_INVALID;
-    }
-
-    return rslt;
-}
-static int8_t set_gyro_conf(struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data[2] = {0};
-
-    rslt = check_gyro_config(data, dev);
-    if(rslt == BMI160_OK) {
-        /* Write output data rate and bandwidth */
-        rslt = bmi160_set_regs(BMI160_GYRO_CONFIG_ADDR, &data[0], 1, dev);
-        if(rslt == BMI160_OK) {
-            dev->prev_gyro_cfg.odr = dev->gyro_cfg.odr;
-            dev->prev_gyro_cfg.bw = dev->gyro_cfg.bw;
-
-            /* Write gyro range */
-            rslt = bmi160_set_regs(BMI160_GYRO_RANGE_ADDR, &data[1], 1, dev);
-            if(rslt == BMI160_OK) {
-                dev->prev_gyro_cfg.range = dev->gyro_cfg.range;
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the gyro configuration.
- */
-static int8_t get_gyro_conf(struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data[2] = {0};
-
-    /* Get accel configurations */
-    rslt = bmi160_get_regs(BMI160_GYRO_CONFIG_ADDR, data, 2, dev);
-    if(rslt == BMI160_OK) {
-        dev->gyro_cfg.odr = (data[0] & BMI160_GYRO_ODR_MASK);
-        dev->gyro_cfg.bw = (data[0] & BMI160_GYRO_BW_MASK) >> BMI160_GYRO_BW_POS;
-        dev->gyro_cfg.range = (data[1] & BMI160_GYRO_RANGE_MASK);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API check the gyro configuration.
- */
-static int8_t check_gyro_config(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* read gyro Output data rate and bandwidth */
-    rslt = bmi160_get_regs(BMI160_GYRO_CONFIG_ADDR, data, 2, dev);
-    if(rslt == BMI160_OK) {
-        rslt = process_gyro_odr(&data[0], dev);
-        if(rslt == BMI160_OK) {
-            rslt = process_gyro_bw(&data[0], dev);
-            if(rslt == BMI160_OK) {
-                rslt = process_gyro_range(&data[1], dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the gyro odr.
- */
-static int8_t process_gyro_odr(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t odr = 0;
-
-    if(dev->gyro_cfg.odr <= BMI160_GYRO_ODR_3200HZ) {
-        if(dev->gyro_cfg.odr != dev->prev_gyro_cfg.odr) {
-            odr = (uint8_t)dev->gyro_cfg.odr;
-            temp = (*data & ~BMI160_GYRO_ODR_MASK);
-
-            /* Adding output data rate */
-            *data = temp | (odr & BMI160_GYRO_ODR_MASK);
-        }
-    } else {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the gyro bandwidth.
- */
-static int8_t process_gyro_bw(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t bw = 0;
-
-    if(dev->gyro_cfg.bw <= BMI160_GYRO_BW_NORMAL_MODE) {
-        bw = (uint8_t)dev->gyro_cfg.bw;
-        temp = *data & ~BMI160_GYRO_BW_MASK;
-
-        /* Adding bandwidth */
-        *data = temp | ((bw << 4) & BMI160_GYRO_BW_MASK);
-    } else {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the gyro range.
- */
-static int8_t process_gyro_range(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t temp = 0;
-    uint8_t range = 0;
-
-    if(dev->gyro_cfg.range <= BMI160_GYRO_RANGE_125_DPS) {
-        if(dev->gyro_cfg.range != dev->prev_gyro_cfg.range) {
-            range = (uint8_t)dev->gyro_cfg.range;
-            temp = *data & ~BMI160_GYRO_RANGE_MASK;
-
-            /* Adding range */
-            *data = temp | (range & BMI160_GYRO_RANGE_MASK);
-        }
-    } else {
-        rslt = BMI160_E_OUT_OF_RANGE;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the accel power.
- */
-static int8_t set_accel_pwr(struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-    uint8_t data = 0;
-
-    if((dev->accel_cfg.power >= BMI160_ACCEL_SUSPEND_MODE) &&
-       (dev->accel_cfg.power <= BMI160_ACCEL_LOWPOWER_MODE)) {
-        if(dev->accel_cfg.power != dev->prev_accel_cfg.power) {
-            rslt = process_under_sampling(&data, dev);
-            if(rslt == BMI160_OK) {
-                /* Write accel power */
-                rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &dev->accel_cfg.power, 1, dev);
-
-                /* Add delay of 3.8 ms - refer data sheet table 24*/
-                if(dev->prev_accel_cfg.power == BMI160_ACCEL_SUSPEND_MODE) {
-                    dev->delay_ms(BMI160_ACCEL_DELAY_MS);
-                }
-
-                dev->prev_accel_cfg.power = dev->accel_cfg.power;
-            }
-        }
-    } else {
-        rslt = BMI160_E_INVALID_CONFIG;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API process the undersampling setting of Accel.
- */
-static int8_t process_under_sampling(uint8_t* data, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t pre_filter[2] = {0};
-
-    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
-    if(rslt == BMI160_OK) {
-        if(dev->accel_cfg.power == BMI160_ACCEL_LOWPOWER_MODE) {
-            temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK;
-
-            /* Set under-sampling parameter */
-            *data = temp | ((1 << 7) & BMI160_ACCEL_UNDERSAMPLING_MASK);
-
-            /* Write data */
-            rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
-
-            /* Disable the pre-filter data in low power mode */
-            if(rslt == BMI160_OK) {
-                /* Disable the Pre-filter data*/
-                rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, pre_filter, 2, dev);
-            }
-        } else if(*data & BMI160_ACCEL_UNDERSAMPLING_MASK) {
-            temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK;
-
-            /* Disable under-sampling parameter if already enabled */
-            *data = temp;
-
-            /* Write data */
-            rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the gyro power mode.
- */
-static int8_t set_gyro_pwr(struct bmi160_dev* dev) {
-    int8_t rslt = 0;
-
-    if((dev->gyro_cfg.power == BMI160_GYRO_SUSPEND_MODE) ||
-       (dev->gyro_cfg.power == BMI160_GYRO_NORMAL_MODE) ||
-       (dev->gyro_cfg.power == BMI160_GYRO_FASTSTARTUP_MODE)) {
-        if(dev->gyro_cfg.power != dev->prev_gyro_cfg.power) {
-            /* Write gyro power */
-            rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &dev->gyro_cfg.power, 1, dev);
-            if(dev->prev_gyro_cfg.power == BMI160_GYRO_SUSPEND_MODE) {
-                /* Delay of 80 ms - datasheet Table 24 */
-                dev->delay_ms(BMI160_GYRO_DELAY_MS);
-            } else if(
-                (dev->prev_gyro_cfg.power == BMI160_GYRO_FASTSTARTUP_MODE) &&
-                (dev->gyro_cfg.power == BMI160_GYRO_NORMAL_MODE)) {
-                /* This delay is required for transition from
-                 * fast-startup mode to normal mode - datasheet Table 3 */
-                dev->delay_ms(10);
-            } else {
-                /* do nothing */
-            }
-
-            dev->prev_gyro_cfg.power = dev->gyro_cfg.power;
-        }
-    } else {
-        rslt = BMI160_E_INVALID_CONFIG;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads accel data along with sensor time if time is requested
- * by user. Kindly refer the user guide(README.md) for more info.
- */
-static int8_t
-    get_accel_data(uint8_t len, struct bmi160_sensor_data* accel, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t idx = 0;
-    uint8_t data_array[9] = {0};
-    uint8_t time_0 = 0;
-    uint16_t time_1 = 0;
-    uint32_t time_2 = 0;
-    uint8_t lsb;
-    uint8_t msb;
-    int16_t msblsb;
-
-    /* read accel sensor data along with time if requested */
-    rslt = bmi160_get_regs(BMI160_ACCEL_DATA_ADDR, data_array, 6 + len, dev);
-    if(rslt == BMI160_OK) {
-        /* Accel Data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->x = msblsb; /* Data in X axis */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->y = msblsb; /* Data in Y axis */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->z = msblsb; /* Data in Z axis */
-        if(len == 3) {
-            time_0 = data_array[idx++];
-            time_1 = (uint16_t)(data_array[idx++] << 8);
-            time_2 = (uint32_t)(data_array[idx++] << 16);
-            accel->sensortime = (uint32_t)(time_2 | time_1 | time_0);
-        } else {
-            accel->sensortime = 0;
-        }
-    } else {
-        rslt = BMI160_E_COM_FAIL;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads accel data along with sensor time if time is requested
- * by user. Kindly refer the user guide(README.md) for more info.
- */
-static int8_t
-    get_gyro_data(uint8_t len, struct bmi160_sensor_data* gyro, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t idx = 0;
-    uint8_t data_array[15] = {0};
-    uint8_t time_0 = 0;
-    uint16_t time_1 = 0;
-    uint32_t time_2 = 0;
-    uint8_t lsb;
-    uint8_t msb;
-    int16_t msblsb;
-
-    if(len == 0) {
-        /* read gyro data only */
-        rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 6, dev);
-        if(rslt == BMI160_OK) {
-            /* Gyro Data */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->x = msblsb; /* Data in X axis */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->y = msblsb; /* Data in Y axis */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->z = msblsb; /* Data in Z axis */
-            gyro->sensortime = 0;
-        } else {
-            rslt = BMI160_E_COM_FAIL;
-        }
-    } else {
-        /* read gyro sensor data along with time */
-        rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev);
-        if(rslt == BMI160_OK) {
-            /* Gyro Data */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->x = msblsb; /* gyro X axis data */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->y = msblsb; /* gyro Y axis data */
-            lsb = data_array[idx++];
-            msb = data_array[idx++];
-            msblsb = (int16_t)((msb << 8) | lsb);
-            gyro->z = msblsb; /* gyro Z axis data */
-            idx = idx + 6;
-            time_0 = data_array[idx++];
-            time_1 = (uint16_t)(data_array[idx++] << 8);
-            time_2 = (uint32_t)(data_array[idx++] << 16);
-            gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0);
-        } else {
-            rslt = BMI160_E_COM_FAIL;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads accel and gyro data along with sensor time
- * if time is requested by user.
- *  Kindly refer the user guide(README.md) for more info.
- */
-static int8_t get_accel_gyro_data(
-    uint8_t len,
-    struct bmi160_sensor_data* accel,
-    struct bmi160_sensor_data* gyro,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t idx = 0;
-    uint8_t data_array[15] = {0};
-    uint8_t time_0 = 0;
-    uint16_t time_1 = 0;
-    uint32_t time_2 = 0;
-    uint8_t lsb;
-    uint8_t msb;
-    int16_t msblsb;
-
-    /* read both accel and gyro sensor data
-     * along with time if requested */
-    rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev);
-    if(rslt == BMI160_OK) {
-        /* Gyro Data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        gyro->x = msblsb; /* gyro X axis data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        gyro->y = msblsb; /* gyro Y axis data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        gyro->z = msblsb; /* gyro Z axis data */
-        /* Accel Data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->x = (int16_t)msblsb; /* accel X axis data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->y = (int16_t)msblsb; /* accel Y axis data */
-        lsb = data_array[idx++];
-        msb = data_array[idx++];
-        msblsb = (int16_t)((msb << 8) | lsb);
-        accel->z = (int16_t)msblsb; /* accel Z axis data */
-        if(len == 3) {
-            time_0 = data_array[idx++];
-            time_1 = (uint16_t)(data_array[idx++] << 8);
-            time_2 = (uint32_t)(data_array[idx++] << 16);
-            accel->sensortime = (uint32_t)(time_2 | time_1 | time_0);
-            gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0);
-        } else {
-            accel->sensortime = 0;
-            gyro->sensortime = 0;
-        }
-    } else {
-        rslt = BMI160_E_COM_FAIL;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the any-motion interrupt for accel.
- */
-static int8_t enable_accel_any_motion_int(
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable any motion x, any motion y, any motion z
-     * in Int Enable 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        if(any_motion_int_cfg->anymotion_en == BMI160_ENABLE) {
-            temp = data & ~BMI160_ANY_MOTION_X_INT_EN_MASK;
-
-            /* Adding Any_motion x axis */
-            data = temp | (any_motion_int_cfg->anymotion_x & BMI160_ANY_MOTION_X_INT_EN_MASK);
-            temp = data & ~BMI160_ANY_MOTION_Y_INT_EN_MASK;
-
-            /* Adding Any_motion y axis */
-            data = temp |
-                   ((any_motion_int_cfg->anymotion_y << 1) & BMI160_ANY_MOTION_Y_INT_EN_MASK);
-            temp = data & ~BMI160_ANY_MOTION_Z_INT_EN_MASK;
-
-            /* Adding Any_motion z axis */
-            data = temp |
-                   ((any_motion_int_cfg->anymotion_z << 2) & BMI160_ANY_MOTION_Z_INT_EN_MASK);
-
-            /* any-motion feature selected*/
-            dev->any_sig_sel = BMI160_ANY_MOTION_ENABLED;
-        } else {
-            data = data & ~BMI160_ANY_MOTION_ALL_INT_EN_MASK;
-
-            /* neither any-motion feature nor sig-motion selected */
-            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
-        }
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API disable the sig-motion interrupt.
- */
-static int8_t disable_sig_motion_int(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Disabling Significant motion interrupt if enabled */
-    rslt = bmi160_get_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = (data & BMI160_SIG_MOTION_SEL_MASK);
-        if(temp) {
-            temp = data & ~BMI160_SIG_MOTION_SEL_MASK;
-            data = temp;
-
-            /* Write data to register */
-            rslt = bmi160_set_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g,
- *  Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins.
- */
-static int8_t
-    map_feature_interrupt(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data[3] = {0, 0, 0};
-    uint8_t temp[3] = {0, 0, 0};
-
-    rslt = bmi160_get_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev);
-    if(rslt == BMI160_OK) {
-        temp[0] = data[0] & ~int_mask_lookup_table[int_config->int_type];
-        temp[2] = data[2] & ~int_mask_lookup_table[int_config->int_type];
-        switch(int_config->int_channel) {
-        case BMI160_INT_CHANNEL_NONE:
-            data[0] = temp[0];
-            data[2] = temp[2];
-            break;
-        case BMI160_INT_CHANNEL_1:
-            data[0] = temp[0] | int_mask_lookup_table[int_config->int_type];
-            data[2] = temp[2];
-            break;
-        case BMI160_INT_CHANNEL_2:
-            data[2] = temp[2] | int_mask_lookup_table[int_config->int_type];
-            data[0] = temp[0];
-            break;
-        case BMI160_INT_CHANNEL_BOTH:
-            data[0] = temp[0] | int_mask_lookup_table[int_config->int_type];
-            data[2] = temp[2] | int_mask_lookup_table[int_config->int_type];
-            break;
-        default:
-            rslt = BMI160_E_OUT_OF_RANGE;
-        }
-        if(rslt == BMI160_OK) {
-            rslt = bmi160_set_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full
- *  and FIFO watermark interrupt.
- */
-static int8_t map_hardware_interrupt(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    rslt = bmi160_get_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~int_mask_lookup_table[int_config->int_type];
-        temp = temp & ~((uint8_t)(int_mask_lookup_table[int_config->int_type] << 4));
-        switch(int_config->int_channel) {
-        case BMI160_INT_CHANNEL_NONE:
-            data = temp;
-            break;
-        case BMI160_INT_CHANNEL_1:
-            data = temp | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4);
-            break;
-        case BMI160_INT_CHANNEL_2:
-            data = temp | int_mask_lookup_table[int_config->int_type];
-            break;
-        case BMI160_INT_CHANNEL_BOTH:
-            data = temp | int_mask_lookup_table[int_config->int_type];
-            data = data | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4);
-            break;
-        default:
-            rslt = BMI160_E_OUT_OF_RANGE;
-        }
-        if(rslt == BMI160_OK) {
-            rslt = bmi160_set_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for any-motion interrupt.
- */
-static int8_t config_any_motion_src(
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 1 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
-        data = temp | ((any_motion_int_cfg->anymotion_data_src << 7) & BMI160_MOTION_SRC_INT_MASK);
-
-        /* Write data to DATA 1 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the duration and threshold of
- * any-motion interrupt.
- */
-static int8_t config_any_dur_threshold(
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-    uint8_t data_array[2] = {0};
-    uint8_t dur;
-
-    /* Configure Int Motion 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_MOTION_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* slope duration */
-        dur = (uint8_t)any_motion_int_cfg->anymotion_dur;
-        temp = data & ~BMI160_SLOPE_INT_DUR_MASK;
-        data = temp | (dur & BMI160_MOTION_SRC_INT_MASK);
-        data_array[0] = data;
-
-        /* add slope threshold */
-        data_array[1] = any_motion_int_cfg->anymotion_thr;
-
-        /* INT MOTION 0 and INT MOTION 1 address lie consecutively,
-         * hence writing data to respective registers at one go */
-
-        /* Writing to Int_motion 0 and
-         * Int_motion 1 Address simultaneously */
-        rslt = bmi160_set_regs(BMI160_INT_MOTION_0_ADDR, data_array, 2, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure necessary setting of any-motion interrupt.
- */
-static int8_t config_any_motion_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Configure Interrupt pins */
-    rslt = set_intr_pin_config(int_config, dev);
-    if(rslt == BMI160_OK) {
-        rslt = disable_sig_motion_int(dev);
-        if(rslt == BMI160_OK) {
-            rslt = map_feature_interrupt(int_config, dev);
-            if(rslt == BMI160_OK) {
-                rslt = config_any_motion_src(any_motion_int_cfg, dev);
-                if(rslt == BMI160_OK) {
-                    rslt = config_any_dur_threshold(any_motion_int_cfg, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enable the data ready interrupt.
- */
-static int8_t enable_data_ready_int(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable data ready interrupt in Int Enable 1 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_DATA_RDY_INT_EN_MASK;
-        data = temp | ((1 << 4) & BMI160_DATA_RDY_INT_EN_MASK);
-
-        /* Writing data to INT ENABLE 1 Address */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the no motion/slow motion interrupt.
- */
-static int8_t enable_no_motion_int(
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable no motion x, no motion y, no motion z
-     * in Int Enable 2 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        if(no_mot_int_cfg->no_motion_x == 1) {
-            temp = data & ~BMI160_NO_MOTION_X_INT_EN_MASK;
-
-            /* Adding No_motion x axis */
-            data = temp | (1 & BMI160_NO_MOTION_X_INT_EN_MASK);
-        }
-
-        if(no_mot_int_cfg->no_motion_y == 1) {
-            temp = data & ~BMI160_NO_MOTION_Y_INT_EN_MASK;
-
-            /* Adding No_motion x axis */
-            data = temp | ((1 << 1) & BMI160_NO_MOTION_Y_INT_EN_MASK);
-        }
-
-        if(no_mot_int_cfg->no_motion_z == 1) {
-            temp = data & ~BMI160_NO_MOTION_Z_INT_EN_MASK;
-
-            /* Adding No_motion x axis */
-            data = temp | ((1 << 2) & BMI160_NO_MOTION_Z_INT_EN_MASK);
-        }
-
-        /* write data to Int Enable 2 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * no motion/slow motion interrupt.
- */
-static int8_t config_no_motion_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Configure Interrupt pins */
-    rslt = set_intr_pin_config(int_config, dev);
-    if(rslt == BMI160_OK) {
-        rslt = map_feature_interrupt(int_config, dev);
-        if(rslt == BMI160_OK) {
-            rslt = config_no_motion_data_src(no_mot_int_cfg, dev);
-            if(rslt == BMI160_OK) {
-                rslt = config_no_motion_dur_thr(no_mot_int_cfg, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of interrupt for no motion.
- */
-static int8_t config_no_motion_data_src(
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 1 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
-        data = temp | ((no_mot_int_cfg->no_motion_src << 7) & BMI160_MOTION_SRC_INT_MASK);
-
-        /* Write data to DATA 1 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the duration and threshold of
- * no motion/slow motion interrupt along with selection of no/slow motion.
- */
-static int8_t config_no_motion_dur_thr(
-    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-    uint8_t temp_1 = 0;
-    uint8_t reg_addr;
-    uint8_t data_array[2] = {0};
-
-    /* Configuring INT_MOTION register */
-    reg_addr = BMI160_INT_MOTION_0_ADDR;
-    rslt = bmi160_get_regs(reg_addr, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_NO_MOTION_INT_DUR_MASK;
-
-        /* Adding no_motion duration */
-        data = temp | ((no_mot_int_cfg->no_motion_dur << 2) & BMI160_NO_MOTION_INT_DUR_MASK);
-
-        /* Write data to NO_MOTION 0 address */
-        rslt = bmi160_set_regs(reg_addr, &data, 1, dev);
-        if(rslt == BMI160_OK) {
-            reg_addr = BMI160_INT_MOTION_3_ADDR;
-            rslt = bmi160_get_regs(reg_addr, &data, 1, dev);
-            if(rslt == BMI160_OK) {
-                temp = data & ~BMI160_NO_MOTION_SEL_BIT_MASK;
-
-                /* Adding no_motion_sel bit */
-                temp_1 = (no_mot_int_cfg->no_motion_sel & BMI160_NO_MOTION_SEL_BIT_MASK);
-                data = (temp | temp_1);
-                data_array[1] = data;
-
-                /* Adding no motion threshold */
-                data_array[0] = no_mot_int_cfg->no_motion_thres;
-                reg_addr = BMI160_INT_MOTION_2_ADDR;
-
-                /* writing data to INT_MOTION 2 and INT_MOTION 3
-                 * address simultaneously */
-                rslt = bmi160_set_regs(reg_addr, data_array, 2, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the sig-motion motion interrupt.
- */
-static int8_t enable_sig_motion_int(
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* For significant motion,enable any motion x,any motion y,
-     * any motion z in Int Enable 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        if(sig_mot_int_cfg->sig_en == BMI160_ENABLE) {
-            temp = data & ~BMI160_SIG_MOTION_INT_EN_MASK;
-            data = temp | (7 & BMI160_SIG_MOTION_INT_EN_MASK);
-
-            /* sig-motion feature selected*/
-            dev->any_sig_sel = BMI160_SIG_MOTION_ENABLED;
-        } else {
-            data = data & ~BMI160_SIG_MOTION_INT_EN_MASK;
-
-            /* neither any-motion feature nor sig-motion selected */
-            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
-        }
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * significant motion interrupt.
- */
-static int8_t config_sig_motion_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Configure Interrupt pins */
-    rslt = set_intr_pin_config(int_config, dev);
-    if(rslt == BMI160_OK) {
-        rslt = map_feature_interrupt(int_config, dev);
-        if(rslt == BMI160_OK) {
-            rslt = config_sig_motion_data_src(sig_mot_int_cfg, dev);
-            if(rslt == BMI160_OK) {
-                rslt = config_sig_dur_threshold(sig_mot_int_cfg, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for sig motion interrupt.
- */
-static int8_t config_sig_motion_data_src(
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 1 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
-        data = temp | ((sig_mot_int_cfg->sig_data_src << 7) & BMI160_MOTION_SRC_INT_MASK);
-
-        /* Write data to DATA 1 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the threshold, skip and proof time of
- * sig motion interrupt.
- */
-static int8_t config_sig_dur_threshold(
-    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data;
-    uint8_t temp = 0;
-
-    /* Configuring INT_MOTION registers */
-
-    /* Write significant motion threshold.
-     * This threshold is same as any motion threshold */
-    data = sig_mot_int_cfg->sig_mot_thres;
-
-    /* Write data to INT_MOTION 1 address */
-    rslt = bmi160_set_regs(BMI160_INT_MOTION_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        rslt = bmi160_get_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
-        if(rslt == BMI160_OK) {
-            temp = data & ~BMI160_SIG_MOTION_SKIP_MASK;
-
-            /* adding skip time of sig_motion interrupt*/
-            data = temp | ((sig_mot_int_cfg->sig_mot_skip << 2) & BMI160_SIG_MOTION_SKIP_MASK);
-            temp = data & ~BMI160_SIG_MOTION_PROOF_MASK;
-
-            /* adding proof time of sig_motion interrupt */
-            data = temp | ((sig_mot_int_cfg->sig_mot_proof << 4) & BMI160_SIG_MOTION_PROOF_MASK);
-
-            /* configure the int_sig_mot_sel bit to select
-             * significant motion interrupt */
-            temp = data & ~BMI160_SIG_MOTION_SEL_MASK;
-            data = temp | ((sig_mot_int_cfg->sig_en << 1) & BMI160_SIG_MOTION_SEL_MASK);
-            rslt = bmi160_set_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the step detector interrupt.
- */
-static int8_t enable_step_detect_int(
-    const struct bmi160_acc_step_detect_int_cfg* step_detect_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable data ready interrupt in Int Enable 2 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_STEP_DETECT_INT_EN_MASK;
-        data = temp |
-               ((step_detect_int_cfg->step_detector_en << 3) & BMI160_STEP_DETECT_INT_EN_MASK);
-
-        /* Writing data to INT ENABLE 2 Address */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the step detector parameter.
- */
-static int8_t config_step_detect(
-    const struct bmi160_acc_step_detect_int_cfg* step_detect_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data_array[2] = {0};
-
-    if(step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_NORMAL) {
-        /* Normal mode setting */
-        data_array[0] = 0x15;
-        data_array[1] = 0x03;
-    } else if(step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_SENSITIVE) {
-        /* Sensitive mode setting */
-        data_array[0] = 0x2D;
-        data_array[1] = 0x00;
-    } else if(step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_ROBUST) {
-        /* Robust mode setting */
-        data_array[0] = 0x1D;
-        data_array[1] = 0x07;
-    } else if(step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_USER_DEFINE) {
-        /* Non recommended User defined setting */
-        /* Configuring STEP_CONFIG register */
-        rslt = bmi160_get_regs(BMI160_INT_STEP_CONFIG_0_ADDR, &data_array[0], 2, dev);
-        if(rslt == BMI160_OK) {
-            temp = data_array[0] & ~BMI160_STEP_DETECT_MIN_THRES_MASK;
-
-            /* Adding min_threshold */
-            data_array[0] = temp | ((step_detect_int_cfg->min_threshold << 3) &
-                                    BMI160_STEP_DETECT_MIN_THRES_MASK);
-            temp = data_array[0] & ~BMI160_STEP_DETECT_STEPTIME_MIN_MASK;
-
-            /* Adding steptime_min */
-            data_array[0] = temp | ((step_detect_int_cfg->steptime_min) &
-                                    BMI160_STEP_DETECT_STEPTIME_MIN_MASK);
-            temp = data_array[1] & ~BMI160_STEP_MIN_BUF_MASK;
-
-            /* Adding steptime_min */
-            data_array[1] = temp |
-                            ((step_detect_int_cfg->step_min_buf) & BMI160_STEP_MIN_BUF_MASK);
-        }
-    }
-
-    /* Write data to STEP_CONFIG register */
-    rslt = bmi160_set_regs(BMI160_INT_STEP_CONFIG_0_ADDR, data_array, 2, dev);
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the single/double tap interrupt.
- */
-static int8_t enable_tap_int(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable single tap or double tap interrupt in Int Enable 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        if(int_config->int_type == BMI160_ACC_SINGLE_TAP_INT) {
-            temp = data & ~BMI160_SINGLE_TAP_INT_EN_MASK;
-            data = temp | ((tap_int_cfg->tap_en << 5) & BMI160_SINGLE_TAP_INT_EN_MASK);
-        } else {
-            temp = data & ~BMI160_DOUBLE_TAP_INT_EN_MASK;
-            data = temp | ((tap_int_cfg->tap_en << 4) & BMI160_DOUBLE_TAP_INT_EN_MASK);
-        }
-
-        /* Write to Enable 0 Address */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the interrupt PIN setting for
- * tap interrupt.
- */
-static int8_t config_tap_int_settg(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Configure Interrupt pins */
-    rslt = set_intr_pin_config(int_config, dev);
-    if(rslt == BMI160_OK) {
-        rslt = map_feature_interrupt(int_config, dev);
-        if(rslt == BMI160_OK) {
-            rslt = config_tap_data_src(tap_int_cfg, dev);
-            if(rslt == BMI160_OK) {
-                rslt = config_tap_param(int_config, tap_int_cfg, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for tap interrupt.
- */
-static int8_t config_tap_data_src(
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 0 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_TAP_SRC_INT_MASK;
-        data = temp | ((tap_int_cfg->tap_data_src << 3) & BMI160_TAP_SRC_INT_MASK);
-
-        /* Write data to Data 0 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the  parameters of tap interrupt.
- * Threshold, quite, shock, and duration.
- */
-static int8_t config_tap_param(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data = 0;
-    uint8_t data_array[2] = {0};
-    uint8_t count = 0;
-    uint8_t dur, shock, quiet, thres;
-
-    /* Configure tap 0 register for tap shock,tap quiet duration
-     * in case of single tap interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_TAP_0_ADDR, data_array, 2, dev);
-    if(rslt == BMI160_OK) {
-        data = data_array[count];
-        if(int_config->int_type == BMI160_ACC_DOUBLE_TAP_INT) {
-            dur = (uint8_t)tap_int_cfg->tap_dur;
-            temp = (data & ~BMI160_TAP_DUR_MASK);
-
-            /* Add tap duration data in case of
-             * double tap interrupt */
-            data = temp | (dur & BMI160_TAP_DUR_MASK);
-        }
-
-        shock = (uint8_t)tap_int_cfg->tap_shock;
-        temp = data & ~BMI160_TAP_SHOCK_DUR_MASK;
-        data = temp | ((shock << 6) & BMI160_TAP_SHOCK_DUR_MASK);
-        quiet = (uint8_t)tap_int_cfg->tap_quiet;
-        temp = data & ~BMI160_TAP_QUIET_DUR_MASK;
-        data = temp | ((quiet << 7) & BMI160_TAP_QUIET_DUR_MASK);
-        data_array[count++] = data;
-        data = data_array[count];
-        thres = (uint8_t)tap_int_cfg->tap_thr;
-        temp = data & ~BMI160_TAP_THRES_MASK;
-        data = temp | (thres & BMI160_TAP_THRES_MASK);
-        data_array[count++] = data;
-
-        /* TAP 0 and TAP 1 address lie consecutively,
-         * hence writing data to respective registers at one go */
-
-        /* Writing to Tap 0 and Tap 1 Address simultaneously */
-        rslt = bmi160_set_regs(BMI160_INT_TAP_0_ADDR, data_array, count, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the secondary interface.
- */
-static int8_t config_sec_if(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t if_conf = 0;
-    uint8_t cmd = BMI160_AUX_NORMAL_MODE;
-
-    /* set the aux power mode to normal*/
-    rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* 0.5ms delay - refer datasheet table 24*/
-        dev->delay_ms(1);
-        rslt = bmi160_get_regs(BMI160_IF_CONF_ADDR, &if_conf, 1, dev);
-        if_conf |= (uint8_t)(1 << 5);
-        if(rslt == BMI160_OK) {
-            /*enable the secondary interface also*/
-            rslt = bmi160_set_regs(BMI160_IF_CONF_ADDR, &if_conf, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the ODR of the auxiliary sensor.
- */
-static int8_t config_aux_odr(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t aux_odr;
-
-    rslt = bmi160_get_regs(BMI160_AUX_ODR_ADDR, &aux_odr, 1, dev);
-    if(rslt == BMI160_OK) {
-        aux_odr = (uint8_t)(dev->aux_cfg.aux_odr);
-
-        /* Set the secondary interface ODR
-         * i.e polling rate of secondary sensor */
-        rslt = bmi160_set_regs(BMI160_AUX_ODR_ADDR, &aux_odr, 1, dev);
-        dev->delay_ms(BMI160_AUX_COM_DELAY);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API maps the actual burst read length set by user.
- */
-static int8_t map_read_len(uint16_t* len, const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-
-    switch(dev->aux_cfg.aux_rd_burst_len) {
-    case BMI160_AUX_READ_LEN_0:
-        *len = 1;
-        break;
-    case BMI160_AUX_READ_LEN_1:
-        *len = 2;
-        break;
-    case BMI160_AUX_READ_LEN_2:
-        *len = 6;
-        break;
-    case BMI160_AUX_READ_LEN_3:
-        *len = 8;
-        break;
-    default:
-        rslt = BMI160_E_INVALID_INPUT;
-        break;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the settings of auxiliary sensor.
- */
-static int8_t config_aux_settg(const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    rslt = config_sec_if(dev);
-    if(rslt == BMI160_OK) {
-        /* Configures the auxiliary interface settings */
-        rslt = bmi160_config_aux_mode(dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API extract the read data from auxiliary sensor.
- */
-static int8_t extract_aux_read(
-    uint16_t map_len,
-    uint8_t reg_addr,
-    uint8_t* aux_data,
-    uint16_t len,
-    const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-    uint8_t data[8] = {
-        0,
-    };
-    uint8_t read_addr = BMI160_AUX_DATA_ADDR;
-    uint8_t count = 0;
-    uint8_t read_count;
-    uint8_t read_len = (uint8_t)map_len;
-
-    for(; count < len;) {
-        /* set address to read */
-        rslt = bmi160_set_regs(BMI160_AUX_IF_2_ADDR, &reg_addr, 1, dev);
-        dev->delay_ms(BMI160_AUX_COM_DELAY);
-        if(rslt == BMI160_OK) {
-            rslt = bmi160_get_regs(read_addr, data, map_len, dev);
-            if(rslt == BMI160_OK) {
-                read_count = 0;
-
-                /* if read len is less the burst read len
-                 * mention by user*/
-                if(len < map_len) {
-                    read_len = (uint8_t)len;
-                } else if((len - count) < map_len) {
-                    read_len = (uint8_t)(len - count);
-                }
-
-                for(; read_count < read_len; read_count++) {
-                    aux_data[count + read_count] = data[read_count];
-                }
-
-                reg_addr += (uint8_t)map_len;
-                count += (uint8_t)map_len;
-            } else {
-                rslt = BMI160_E_COM_FAIL;
-                break;
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the orient interrupt.
- */
-static int8_t enable_orient_int(
-    const struct bmi160_acc_orient_int_cfg* orient_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable data ready interrupt in Int Enable 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_ORIENT_INT_EN_MASK;
-        data = temp | ((orient_int_cfg->orient_en << 6) & BMI160_ORIENT_INT_EN_MASK);
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the necessary setting of orientation interrupt.
- */
-static int8_t config_orient_int_settg(
-    const struct bmi160_acc_orient_int_cfg* orient_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-    uint8_t data_array[2] = {0, 0};
-
-    /* Configuring INT_ORIENT registers */
-    rslt = bmi160_get_regs(BMI160_INT_ORIENT_0_ADDR, data_array, 2, dev);
-    if(rslt == BMI160_OK) {
-        data = data_array[0];
-        temp = data & ~BMI160_ORIENT_MODE_MASK;
-
-        /* Adding Orientation mode */
-        data = temp | ((orient_int_cfg->orient_mode) & BMI160_ORIENT_MODE_MASK);
-        temp = data & ~BMI160_ORIENT_BLOCK_MASK;
-
-        /* Adding Orientation blocking */
-        data = temp | ((orient_int_cfg->orient_blocking << 2) & BMI160_ORIENT_BLOCK_MASK);
-        temp = data & ~BMI160_ORIENT_HYST_MASK;
-
-        /* Adding Orientation hysteresis */
-        data = temp | ((orient_int_cfg->orient_hyst << 4) & BMI160_ORIENT_HYST_MASK);
-        data_array[0] = data;
-        data = data_array[1];
-        temp = data & ~BMI160_ORIENT_THETA_MASK;
-
-        /* Adding Orientation threshold */
-        data = temp | ((orient_int_cfg->orient_theta) & BMI160_ORIENT_THETA_MASK);
-        temp = data & ~BMI160_ORIENT_UD_ENABLE;
-
-        /* Adding Orient_ud_en */
-        data = temp | ((orient_int_cfg->orient_ud_en << 6) & BMI160_ORIENT_UD_ENABLE);
-        temp = data & ~BMI160_AXES_EN_MASK;
-
-        /* Adding axes_en */
-        data = temp | ((orient_int_cfg->axes_ex << 7) & BMI160_AXES_EN_MASK);
-        data_array[1] = data;
-
-        /* Writing data to INT_ORIENT 0 and INT_ORIENT 1
-         * registers simultaneously */
-        rslt = bmi160_set_regs(BMI160_INT_ORIENT_0_ADDR, data_array, 2, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the flat interrupt.
- */
-static int8_t enable_flat_int(
-    const struct bmi160_acc_flat_detect_int_cfg* flat_int,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable flat interrupt in Int Enable 0 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_FLAT_INT_EN_MASK;
-        data = temp | ((flat_int->flat_en << 7) & BMI160_FLAT_INT_EN_MASK);
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the necessary setting of flat interrupt.
- */
-static int8_t config_flat_int_settg(
-    const struct bmi160_acc_flat_detect_int_cfg* flat_int,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-    uint8_t data_array[2] = {0, 0};
-
-    /* Configuring INT_FLAT register */
-    rslt = bmi160_get_regs(BMI160_INT_FLAT_0_ADDR, data_array, 2, dev);
-    if(rslt == BMI160_OK) {
-        data = data_array[0];
-        temp = data & ~BMI160_FLAT_THRES_MASK;
-
-        /* Adding flat theta */
-        data = temp | ((flat_int->flat_theta) & BMI160_FLAT_THRES_MASK);
-        data_array[0] = data;
-        data = data_array[1];
-        temp = data & ~BMI160_FLAT_HOLD_TIME_MASK;
-
-        /* Adding flat hold time */
-        data = temp | ((flat_int->flat_hold_time << 4) & BMI160_FLAT_HOLD_TIME_MASK);
-        temp = data & ~BMI160_FLAT_HYST_MASK;
-
-        /* Adding flat hysteresis */
-        data = temp | ((flat_int->flat_hy) & BMI160_FLAT_HYST_MASK);
-        data_array[1] = data;
-
-        /* Writing data to INT_FLAT 0 and INT_FLAT 1
-         * registers simultaneously */
-        rslt = bmi160_set_regs(BMI160_INT_FLAT_0_ADDR, data_array, 2, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the Low-g interrupt.
- */
-static int8_t enable_low_g_int(
-    const struct bmi160_acc_low_g_int_cfg* low_g_int,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable low-g interrupt in Int Enable 1 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_LOW_G_INT_EN_MASK;
-        data = temp | ((low_g_int->low_en << 3) & BMI160_LOW_G_INT_EN_MASK);
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for low-g interrupt.
- */
-static int8_t config_low_g_data_src(
-    const struct bmi160_acc_low_g_int_cfg* low_g_int,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 0 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_LOW_HIGH_SRC_INT_MASK;
-        data = temp | ((low_g_int->low_data_src << 7) & BMI160_LOW_HIGH_SRC_INT_MASK);
-
-        /* Write data to Data 0 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the necessary setting of low-g interrupt.
- */
-static int8_t config_low_g_int_settg(
-    const struct bmi160_acc_low_g_int_cfg* low_g_int,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data_array[3] = {0, 0, 0};
-
-    /* Configuring INT_LOWHIGH register for low-g interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_LOWHIGH_2_ADDR, &data_array[2], 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data_array[2] & ~BMI160_LOW_G_HYST_MASK;
-
-        /* Adding low-g hysteresis */
-        data_array[2] = temp | (low_g_int->low_hyst & BMI160_LOW_G_HYST_MASK);
-        temp = data_array[2] & ~BMI160_LOW_G_LOW_MODE_MASK;
-
-        /* Adding low-mode */
-        data_array[2] = temp | ((low_g_int->low_mode << 2) & BMI160_LOW_G_LOW_MODE_MASK);
-
-        /* Adding low-g threshold */
-        data_array[1] = low_g_int->low_thres;
-
-        /* Adding low-g interrupt delay */
-        data_array[0] = low_g_int->low_dur;
-
-        /* Writing data to INT_LOWHIGH 0,1,2 registers simultaneously*/
-        rslt = bmi160_set_regs(BMI160_INT_LOWHIGH_0_ADDR, data_array, 3, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the high-g interrupt.
- */
-static int8_t enable_high_g_int(
-    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Enable low-g interrupt in Int Enable 1 register */
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* Adding high-g X-axis */
-        temp = data & ~BMI160_HIGH_G_X_INT_EN_MASK;
-        data = temp | (high_g_int_cfg->high_g_x & BMI160_HIGH_G_X_INT_EN_MASK);
-
-        /* Adding high-g Y-axis */
-        temp = data & ~BMI160_HIGH_G_Y_INT_EN_MASK;
-        data = temp | ((high_g_int_cfg->high_g_y << 1) & BMI160_HIGH_G_Y_INT_EN_MASK);
-
-        /* Adding high-g Z-axis */
-        temp = data & ~BMI160_HIGH_G_Z_INT_EN_MASK;
-        data = temp | ((high_g_int_cfg->high_g_z << 2) & BMI160_HIGH_G_Z_INT_EN_MASK);
-
-        /* write data to Int Enable 0 register */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the source of data(filter & pre-filter)
- * for high-g interrupt.
- */
-static int8_t config_high_g_data_src(
-    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-    uint8_t temp = 0;
-
-    /* Configure Int data 0 register to add source of interrupt */
-    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data & ~BMI160_LOW_HIGH_SRC_INT_MASK;
-        data = temp | ((high_g_int_cfg->high_data_src << 7) & BMI160_LOW_HIGH_SRC_INT_MASK);
-
-        /* Write data to Data 0 address */
-        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the necessary setting of high-g interrupt.
- */
-static int8_t config_high_g_int_settg(
-    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data_array[3] = {0, 0, 0};
-
-    rslt = bmi160_get_regs(BMI160_INT_LOWHIGH_2_ADDR, &data_array[0], 1, dev);
-    if(rslt == BMI160_OK) {
-        temp = data_array[0] & ~BMI160_HIGH_G_HYST_MASK;
-
-        /* Adding high-g hysteresis */
-        data_array[0] = temp | ((high_g_int_cfg->high_hy << 6) & BMI160_HIGH_G_HYST_MASK);
-
-        /* Adding high-g duration */
-        data_array[1] = high_g_int_cfg->high_dur;
-
-        /* Adding high-g threshold */
-        data_array[2] = high_g_int_cfg->high_thres;
-        rslt = bmi160_set_regs(BMI160_INT_LOWHIGH_2_ADDR, data_array, 3, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the behavioural setting of interrupt pin.
- */
-static int8_t
-    config_int_out_ctrl(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data = 0;
-
-    /* Configuration of output interrupt signals on pins INT1 and INT2 are
-     * done in BMI160_INT_OUT_CTRL_ADDR register*/
-    rslt = bmi160_get_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* updating the interrupt pin structure to local structure */
-        const struct bmi160_int_pin_settg* intr_pin_sett = &(int_config->int_pin_settg);
-
-        /* Configuring channel 1 */
-        if(int_config->int_channel == BMI160_INT_CHANNEL_1) {
-            /* Output enable */
-            temp = data & ~BMI160_INT1_OUTPUT_EN_MASK;
-            data = temp | ((intr_pin_sett->output_en << 3) & BMI160_INT1_OUTPUT_EN_MASK);
-
-            /* Output mode */
-            temp = data & ~BMI160_INT1_OUTPUT_MODE_MASK;
-            data = temp | ((intr_pin_sett->output_mode << 2) & BMI160_INT1_OUTPUT_MODE_MASK);
-
-            /* Output type */
-            temp = data & ~BMI160_INT1_OUTPUT_TYPE_MASK;
-            data = temp | ((intr_pin_sett->output_type << 1) & BMI160_INT1_OUTPUT_TYPE_MASK);
-
-            /* edge control */
-            temp = data & ~BMI160_INT1_EDGE_CTRL_MASK;
-            data = temp | ((intr_pin_sett->edge_ctrl) & BMI160_INT1_EDGE_CTRL_MASK);
-        } else {
-            /* Configuring channel 2 */
-            /* Output enable */
-            temp = data & ~BMI160_INT2_OUTPUT_EN_MASK;
-            data = temp | ((intr_pin_sett->output_en << 7) & BMI160_INT2_OUTPUT_EN_MASK);
-
-            /* Output mode */
-            temp = data & ~BMI160_INT2_OUTPUT_MODE_MASK;
-            data = temp | ((intr_pin_sett->output_mode << 6) & BMI160_INT2_OUTPUT_MODE_MASK);
-
-            /* Output type */
-            temp = data & ~BMI160_INT2_OUTPUT_TYPE_MASK;
-            data = temp | ((intr_pin_sett->output_type << 5) & BMI160_INT2_OUTPUT_TYPE_MASK);
-
-            /* edge control */
-            temp = data & ~BMI160_INT2_EDGE_CTRL_MASK;
-            data = temp | ((intr_pin_sett->edge_ctrl << 4) & BMI160_INT2_EDGE_CTRL_MASK);
-        }
-
-        rslt = bmi160_set_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API configure the mode(input enable, latch or non-latch) of interrupt pin.
- */
-static int8_t
-    config_int_latch(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t temp = 0;
-    uint8_t data = 0;
-
-    /* Configuration of latch on pins INT1 and INT2 are done in
-     * BMI160_INT_LATCH_ADDR register*/
-    rslt = bmi160_get_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* updating the interrupt pin structure to local structure */
-        const struct bmi160_int_pin_settg* intr_pin_sett = &(int_config->int_pin_settg);
-        if(int_config->int_channel == BMI160_INT_CHANNEL_1) {
-            /* Configuring channel 1 */
-            /* Input enable */
-            temp = data & ~BMI160_INT1_INPUT_EN_MASK;
-            data = temp | ((intr_pin_sett->input_en << 4) & BMI160_INT1_INPUT_EN_MASK);
-        } else {
-            /* Configuring channel 2 */
-            /* Input enable */
-            temp = data & ~BMI160_INT2_INPUT_EN_MASK;
-            data = temp | ((intr_pin_sett->input_en << 5) & BMI160_INT2_INPUT_EN_MASK);
-        }
-
-        /* In case of latch interrupt,update the latch duration */
-
-        /* Latching holds the interrupt for the amount of latch
-         * duration time */
-        temp = data & ~BMI160_INT_LATCH_MASK;
-        data = temp | (intr_pin_sett->latch_dur & BMI160_INT_LATCH_MASK);
-
-        /* OUT_CTRL_INT and LATCH_INT address lie consecutively,
-         * hence writing data to respective registers at one go */
-        rslt = bmi160_set_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API performs the self test for accelerometer of BMI160
- */
-static int8_t perform_accel_self_test(struct bmi160_dev* dev) {
-    int8_t rslt;
-    struct bmi160_sensor_data accel_pos, accel_neg;
-
-    /* Enable Gyro self test bit */
-    rslt = enable_accel_self_test(dev);
-    if(rslt == BMI160_OK) {
-        /* Perform accel self test with positive excitation */
-        rslt = accel_self_test_positive_excitation(&accel_pos, dev);
-        if(rslt == BMI160_OK) {
-            /* Perform accel self test with negative excitation */
-            rslt = accel_self_test_negative_excitation(&accel_neg, dev);
-            if(rslt == BMI160_OK) {
-                /* Validate the self test result */
-                rslt = validate_accel_self_test(&accel_pos, &accel_neg);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables to perform the accel self test by setting proper
- * configurations to facilitate accel self test
- */
-static int8_t enable_accel_self_test(struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t reg_data;
-
-    /* Set the Accel power mode as normal mode */
-    dev->accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
-
-    /* Set the sensor range configuration as 8G */
-    dev->accel_cfg.range = BMI160_ACCEL_RANGE_8G;
-    rslt = bmi160_set_sens_conf(dev);
-    if(rslt == BMI160_OK) {
-        /* Accel configurations are set to facilitate self test
-         * acc_odr - 1600Hz ; acc_bwp = 2 ; acc_us = 0 */
-        reg_data = BMI160_ACCEL_SELF_TEST_CONFIG;
-        rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, &reg_data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API performs accel self test with positive excitation
- */
-static int8_t accel_self_test_positive_excitation(
-    struct bmi160_sensor_data* accel_pos,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t reg_data;
-
-    /* Enable accel self test with positive self-test excitation
-     * and with amplitude of deflection set as high */
-    reg_data = BMI160_ACCEL_SELF_TEST_POSITIVE_EN;
-    rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* Read the data after a delay of 50ms - refer datasheet  2.8.1 accel self test*/
-        dev->delay_ms(BMI160_ACCEL_SELF_TEST_DELAY);
-        rslt = bmi160_get_sensor_data(BMI160_ACCEL_ONLY, accel_pos, NULL, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API performs accel self test with negative excitation
- */
-static int8_t accel_self_test_negative_excitation(
-    struct bmi160_sensor_data* accel_neg,
-    const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t reg_data;
-
-    /* Enable accel self test with negative self-test excitation
-     * and with amplitude of deflection set as high */
-    reg_data = BMI160_ACCEL_SELF_TEST_NEGATIVE_EN;
-    rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* Read the data after a delay of 50ms */
-        dev->delay_ms(BMI160_ACCEL_SELF_TEST_DELAY);
-        rslt = bmi160_get_sensor_data(BMI160_ACCEL_ONLY, accel_neg, NULL, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API validates the accel self test results
- */
-static int8_t validate_accel_self_test(
-    const struct bmi160_sensor_data* accel_pos,
-    const struct bmi160_sensor_data* accel_neg) {
-    int8_t rslt;
-
-    /* Validate the results of self test */
-    if(((accel_neg->x - accel_pos->x) > BMI160_ACCEL_SELF_TEST_LIMIT) &&
-       ((accel_neg->y - accel_pos->y) > BMI160_ACCEL_SELF_TEST_LIMIT) &&
-       ((accel_neg->z - accel_pos->z) > BMI160_ACCEL_SELF_TEST_LIMIT)) {
-        /* Self test pass condition */
-        rslt = BMI160_OK;
-    } else {
-        rslt = BMI160_W_ACCEl_SELF_TEST_FAIL;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API performs the self test for gyroscope of BMI160
- */
-static int8_t perform_gyro_self_test(const struct bmi160_dev* dev) {
-    int8_t rslt;
-
-    /* Enable Gyro self test bit */
-    rslt = enable_gyro_self_test(dev);
-    if(rslt == BMI160_OK) {
-        /* Validate the gyro self test a delay of 50ms */
-        dev->delay_ms(50);
-
-        /* Validate the gyro self test results */
-        rslt = validate_gyro_self_test(dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables the self test bit to trigger self test for Gyro
- */
-static int8_t enable_gyro_self_test(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t reg_data;
-
-    /* Enable the Gyro self test bit to trigger the self test */
-    rslt = bmi160_get_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
-    if(rslt == BMI160_OK) {
-        reg_data = BMI160_SET_BITS(reg_data, BMI160_GYRO_SELF_TEST, 1);
-        rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
-        if(rslt == BMI160_OK) {
-            /* Delay to enable gyro self test */
-            dev->delay_ms(15);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API validates the self test results of Gyro
- */
-static int8_t validate_gyro_self_test(const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t reg_data;
-
-    /* Validate the Gyro self test result */
-    rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &reg_data, 1, dev);
-    if(rslt == BMI160_OK) {
-        reg_data = BMI160_GET_BITS(reg_data, BMI160_GYRO_SELF_TEST_STATUS);
-        if(reg_data == BMI160_ENABLE) {
-            /* Gyro self test success case */
-            rslt = BMI160_OK;
-        } else {
-            rslt = BMI160_W_GYRO_SELF_TEST_FAIL;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API sets FIFO full interrupt of the sensor.This interrupt
- *  occurs when the FIFO is full and the next full data sample would cause
- *  a FIFO overflow, which may delete the old samples.
- */
-static int8_t
-    set_fifo_full_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-
-    /* Null-pointer check */
-    if((dev == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /*enable the fifo full interrupt */
-        rslt = enable_fifo_full_int(int_config, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                rslt = map_hardware_interrupt(int_config, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This enable the FIFO full interrupt engine.
- */
-static int8_t
-    enable_fifo_full_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        data = BMI160_SET_BITS(data, BMI160_FIFO_FULL_INT, int_config->fifo_full_int_en);
-
-        /* Writing data to INT ENABLE 1 Address */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API sets FIFO watermark interrupt of the sensor.The FIFO
- *  watermark interrupt is fired, when the FIFO fill level is above a fifo
- *  watermark.
- */
-static int8_t set_fifo_watermark_int(
-    const struct bmi160_int_settg* int_config,
-    const struct bmi160_dev* dev) {
-    int8_t rslt = BMI160_OK;
-
-    if((dev == NULL) || (dev->delay_ms == NULL)) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Enable fifo-watermark interrupt in Int Enable 1 register */
-        rslt = enable_fifo_wtm_int(int_config, dev);
-        if(rslt == BMI160_OK) {
-            /* Configure Interrupt pins */
-            rslt = set_intr_pin_config(int_config, dev);
-            if(rslt == BMI160_OK) {
-                rslt = map_hardware_interrupt(int_config, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This enable the FIFO watermark interrupt engine.
- */
-static int8_t
-    enable_fifo_wtm_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
-    int8_t rslt;
-    uint8_t data = 0;
-
-    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        data = BMI160_SET_BITS(data, BMI160_FIFO_WTM_INT, int_config->fifo_wtm_int_en);
-
-        /* Writing data to INT ENABLE 1 Address */
-        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to reset the FIFO related configurations
- *  in the fifo_frame structure.
- */
-static void reset_fifo_data_structure(const struct bmi160_dev* dev) {
-    /*Prepare for next FIFO read by resetting FIFO's
-     * internal data structures*/
-    dev->fifo->accel_byte_start_idx = 0;
-    dev->fifo->gyro_byte_start_idx = 0;
-    dev->fifo->aux_byte_start_idx = 0;
-    dev->fifo->sensor_time = 0;
-    dev->fifo->skipped_frame_count = 0;
-}
-
-/*!
- *  @brief This API is used to read fifo_byte_counter value (i.e)
- *  current fill-level in Fifo buffer.
- */
-static int8_t get_fifo_byte_counter(uint16_t* bytes_to_read, struct bmi160_dev const* dev) {
-    int8_t rslt = 0;
-    uint8_t data[2];
-    uint8_t addr = BMI160_FIFO_LENGTH_ADDR;
-
-    rslt |= bmi160_get_regs(addr, data, 2, dev);
-    data[1] = data[1] & BMI160_FIFO_BYTE_COUNTER_MASK;
-
-    /* Available data in FIFO is stored in bytes_to_read*/
-    *bytes_to_read = (((uint16_t)data[1] << 8) | ((uint16_t)data[0]));
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to compute the number of bytes of accel FIFO data
- *  which is to be parsed in header-less mode
- */
-static void get_accel_len_to_parse(
-    uint16_t* data_index,
-    uint16_t* data_read_length,
-    const uint8_t* acc_frame_count,
-    const struct bmi160_dev* dev) {
-    /* Data start index */
-    *data_index = dev->fifo->accel_byte_start_idx;
-    if(dev->fifo->fifo_data_enable == BMI160_FIFO_A_ENABLE) {
-        *data_read_length = (*acc_frame_count) * BMI160_FIFO_A_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_G_A_ENABLE) {
-        *data_read_length = (*acc_frame_count) * BMI160_FIFO_GA_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_A_ENABLE) {
-        *data_read_length = (*acc_frame_count) * BMI160_FIFO_MA_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE) {
-        *data_read_length = (*acc_frame_count) * BMI160_FIFO_MGA_LENGTH;
-    } else {
-        /* When accel is not enabled ,there will be no accel data.
-         * so we update the data index as complete */
-        *data_index = dev->fifo->length;
-    }
-
-    if(*data_read_length > dev->fifo->length) {
-        /* Handling the case where more data is requested
-         * than that is available*/
-        *data_read_length = dev->fifo->length;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed.
- */
-static void unpack_accel_frame(
-    struct bmi160_sensor_data* acc,
-    uint16_t* idx,
-    uint8_t* acc_idx,
-    uint8_t frame_info,
-    const struct bmi160_dev* dev) {
-    switch(frame_info) {
-    case BMI160_FIFO_HEAD_A:
-    case BMI160_FIFO_A_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_A_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /*Unpack the data array into the structure instance "acc" */
-        unpack_accel_data(&acc[*acc_idx], *idx, dev);
-
-        /*Move the data index*/
-        *idx = *idx + BMI160_FIFO_A_LENGTH;
-        (*acc_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_G_A:
-    case BMI160_FIFO_G_A_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_GA_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /*Unpack the data array into structure instance "acc"*/
-        unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_G_LENGTH, dev);
-
-        /*Move the data index*/
-        *idx = *idx + BMI160_FIFO_GA_LENGTH;
-        (*acc_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_M_A:
-    case BMI160_FIFO_M_A_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_MA_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /*Unpack the data array into structure instance "acc"*/
-        unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
-
-        /*Move the data index*/
-        *idx = *idx + BMI160_FIFO_MA_LENGTH;
-        (*acc_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_M_G_A:
-    case BMI160_FIFO_M_G_A_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /*Unpack the data array into structure instance "acc"*/
-        unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_MG_LENGTH, dev);
-
-        /*Move the data index*/
-        *idx = *idx + BMI160_FIFO_MGA_LENGTH;
-        (*acc_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_M:
-    case BMI160_FIFO_M_ENABLE:
-        (*idx) = (*idx) + BMI160_FIFO_M_LENGTH;
-        break;
-    case BMI160_FIFO_HEAD_G:
-    case BMI160_FIFO_G_ENABLE:
-        (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
-        break;
-    case BMI160_FIFO_HEAD_M_G:
-    case BMI160_FIFO_M_G_ENABLE:
-        (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
-        break;
-    default:
-        break;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
- */
-static void unpack_accel_data(
-    struct bmi160_sensor_data* accel_data,
-    uint16_t data_start_index,
-    const struct bmi160_dev* dev) {
-    uint16_t data_lsb;
-    uint16_t data_msb;
-
-    /* Accel raw x data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    accel_data->x = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Accel raw y data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    accel_data->y = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Accel raw z data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    accel_data->z = (int16_t)((data_msb << 8) | data_lsb);
-}
-
-/*!
- *  @brief This API is used to parse the accelerometer data from the
- *  FIFO data in header mode.
- */
-static void extract_accel_header_mode(
-    struct bmi160_sensor_data* accel_data,
-    uint8_t* accel_length,
-    const struct bmi160_dev* dev) {
-    uint8_t frame_header = 0;
-    uint16_t data_index;
-    uint8_t accel_index = 0;
-
-    for(data_index = dev->fifo->accel_byte_start_idx; data_index < dev->fifo->length;) {
-        /* extracting Frame header */
-        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
-
-        /*Index is moved to next byte where the data is starting*/
-        data_index++;
-        switch(frame_header) {
-        /* Accel frame */
-        case BMI160_FIFO_HEAD_A:
-        case BMI160_FIFO_HEAD_M_A:
-        case BMI160_FIFO_HEAD_G_A:
-        case BMI160_FIFO_HEAD_M_G_A:
-            unpack_accel_frame(accel_data, &data_index, &accel_index, frame_header, dev);
-            break;
-        case BMI160_FIFO_HEAD_M:
-            move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
-            break;
-        case BMI160_FIFO_HEAD_G:
-            move_next_frame(&data_index, BMI160_FIFO_G_LENGTH, dev);
-            break;
-        case BMI160_FIFO_HEAD_M_G:
-            move_next_frame(&data_index, BMI160_FIFO_MG_LENGTH, dev);
-            break;
-
-        /* Sensor time frame */
-        case BMI160_FIFO_HEAD_SENSOR_TIME:
-            unpack_sensortime_frame(&data_index, dev);
-            break;
-
-        /* Skip frame */
-        case BMI160_FIFO_HEAD_SKIP_FRAME:
-            unpack_skipped_frame(&data_index, dev);
-            break;
-
-        /* Input config frame */
-        case BMI160_FIFO_HEAD_INPUT_CONFIG:
-            move_next_frame(&data_index, 1, dev);
-            break;
-        case BMI160_FIFO_HEAD_OVER_READ:
-
-            /* Update the data index as complete in case of Over read */
-            data_index = dev->fifo->length;
-            break;
-        default:
-            break;
-        }
-        if(*accel_length == accel_index) {
-            /* Number of frames to read completed */
-            break;
-        }
-    }
-
-    /*Update number of accel data read*/
-    *accel_length = accel_index;
-
-    /*Update the accel frame index*/
-    dev->fifo->accel_byte_start_idx = data_index;
-}
-
-/*!
- *  @brief This API computes the number of bytes of gyro FIFO data
- *  which is to be parsed in header-less mode
- */
-static void get_gyro_len_to_parse(
-    uint16_t* data_index,
-    uint16_t* data_read_length,
-    const uint8_t* gyro_frame_count,
-    const struct bmi160_dev* dev) {
-    /* Data start index */
-    *data_index = dev->fifo->gyro_byte_start_idx;
-    if(dev->fifo->fifo_data_enable == BMI160_FIFO_G_ENABLE) {
-        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_G_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_G_A_ENABLE) {
-        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_GA_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_ENABLE) {
-        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_MG_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE) {
-        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_MGA_LENGTH;
-    } else {
-        /* When gyro is not enabled ,there will be no gyro data.
-         * so we update the data index as complete */
-        *data_index = dev->fifo->length;
-    }
-
-    if(*data_read_length > dev->fifo->length) {
-        /* Handling the case where more data is requested
-         * than that is available*/
-        *data_read_length = dev->fifo->length;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the gyroscope's data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed.
- */
-static void unpack_gyro_frame(
-    struct bmi160_sensor_data* gyro,
-    uint16_t* idx,
-    uint8_t* gyro_idx,
-    uint8_t frame_info,
-    const struct bmi160_dev* dev) {
-    switch(frame_info) {
-    case BMI160_FIFO_HEAD_G:
-    case BMI160_FIFO_G_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_G_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /*Unpack the data array into structure instance "gyro"*/
-        unpack_gyro_data(&gyro[*gyro_idx], *idx, dev);
-
-        /*Move the data index*/
-        (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
-        (*gyro_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_G_A:
-    case BMI160_FIFO_G_A_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_GA_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /* Unpack the data array into structure instance "gyro" */
-        unpack_gyro_data(&gyro[*gyro_idx], *idx, dev);
-
-        /* Move the data index */
-        *idx = *idx + BMI160_FIFO_GA_LENGTH;
-        (*gyro_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_M_G_A:
-    case BMI160_FIFO_M_G_A_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /*Unpack the data array into structure instance "gyro"*/
-        unpack_gyro_data(&gyro[*gyro_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
-
-        /*Move the data index*/
-        *idx = *idx + BMI160_FIFO_MGA_LENGTH;
-        (*gyro_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_M_A:
-    case BMI160_FIFO_M_A_ENABLE:
-
-        /* Move the data index */
-        *idx = *idx + BMI160_FIFO_MA_LENGTH;
-        break;
-    case BMI160_FIFO_HEAD_M:
-    case BMI160_FIFO_M_ENABLE:
-        (*idx) = (*idx) + BMI160_FIFO_M_LENGTH;
-        break;
-    case BMI160_FIFO_HEAD_M_G:
-    case BMI160_FIFO_M_G_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_MG_LENGTH) > dev->fifo->length) {
-            /*Update the data index as complete*/
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /*Unpack the data array into structure instance "gyro"*/
-        unpack_gyro_data(&gyro[*gyro_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
-
-        /*Move the data index*/
-        (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
-        (*gyro_idx)++;
-        break;
-    case BMI160_FIFO_HEAD_A:
-    case BMI160_FIFO_A_ENABLE:
-
-        /*Move the data index*/
-        *idx = *idx + BMI160_FIFO_A_LENGTH;
-        break;
-    default:
-        break;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the gyro data from the
- *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
- */
-static void unpack_gyro_data(
-    struct bmi160_sensor_data* gyro_data,
-    uint16_t data_start_index,
-    const struct bmi160_dev* dev) {
-    uint16_t data_lsb;
-    uint16_t data_msb;
-
-    /* Gyro raw x data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    gyro_data->x = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Gyro raw y data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    gyro_data->y = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Gyro raw z data */
-    data_lsb = dev->fifo->data[data_start_index++];
-    data_msb = dev->fifo->data[data_start_index++];
-    gyro_data->z = (int16_t)((data_msb << 8) | data_lsb);
-}
-
-/*!
- *  @brief This API is used to parse the gyro data from the
- *  FIFO data in header mode.
- */
-static void extract_gyro_header_mode(
-    struct bmi160_sensor_data* gyro_data,
-    uint8_t* gyro_length,
-    const struct bmi160_dev* dev) {
-    uint8_t frame_header = 0;
-    uint16_t data_index;
-    uint8_t gyro_index = 0;
-
-    for(data_index = dev->fifo->gyro_byte_start_idx; data_index < dev->fifo->length;) {
-        /* extracting Frame header */
-        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
-
-        /*Index is moved to next byte where the data is starting*/
-        data_index++;
-        switch(frame_header) {
-        /* GYRO frame */
-        case BMI160_FIFO_HEAD_G:
-        case BMI160_FIFO_HEAD_G_A:
-        case BMI160_FIFO_HEAD_M_G:
-        case BMI160_FIFO_HEAD_M_G_A:
-            unpack_gyro_frame(gyro_data, &data_index, &gyro_index, frame_header, dev);
-            break;
-        case BMI160_FIFO_HEAD_A:
-            move_next_frame(&data_index, BMI160_FIFO_A_LENGTH, dev);
-            break;
-        case BMI160_FIFO_HEAD_M:
-            move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
-            break;
-        case BMI160_FIFO_HEAD_M_A:
-            move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
-            break;
-
-        /* Sensor time frame */
-        case BMI160_FIFO_HEAD_SENSOR_TIME:
-            unpack_sensortime_frame(&data_index, dev);
-            break;
-
-        /* Skip frame */
-        case BMI160_FIFO_HEAD_SKIP_FRAME:
-            unpack_skipped_frame(&data_index, dev);
-            break;
-
-        /* Input config frame */
-        case BMI160_FIFO_HEAD_INPUT_CONFIG:
-            move_next_frame(&data_index, 1, dev);
-            break;
-        case BMI160_FIFO_HEAD_OVER_READ:
-
-            /* Update the data index as complete in case of over read */
-            data_index = dev->fifo->length;
-            break;
-        default:
-            break;
-        }
-        if(*gyro_length == gyro_index) {
-            /*Number of frames to read completed*/
-            break;
-        }
-    }
-
-    /*Update number of gyro data read*/
-    *gyro_length = gyro_index;
-
-    /*Update the gyro frame index*/
-    dev->fifo->gyro_byte_start_idx = data_index;
-}
-
-/*!
- *  @brief This API computes the number of bytes of aux FIFO data
- *  which is to be parsed in header-less mode
- */
-static void get_aux_len_to_parse(
-    uint16_t* data_index,
-    uint16_t* data_read_length,
-    const uint8_t* aux_frame_count,
-    const struct bmi160_dev* dev) {
-    /* Data start index */
-    *data_index = dev->fifo->gyro_byte_start_idx;
-    if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_ENABLE) {
-        *data_read_length = (*aux_frame_count) * BMI160_FIFO_M_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_A_ENABLE) {
-        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MA_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_ENABLE) {
-        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MG_LENGTH;
-    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE) {
-        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MGA_LENGTH;
-    } else {
-        /* When aux is not enabled ,there will be no aux data.
-         * so we update the data index as complete */
-        *data_index = dev->fifo->length;
-    }
-
-    if(*data_read_length > dev->fifo->length) {
-        /* Handling the case where more data is requested
-         * than that is available */
-        *data_read_length = dev->fifo->length;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the aux's data from the
- *  FIFO data in both header mode and header-less mode.
- *  It updates the idx value which is used to store the index of
- *  the current data byte which is parsed
- */
-static void unpack_aux_frame(
-    struct bmi160_aux_data* aux_data,
-    uint16_t* idx,
-    uint8_t* aux_index,
-    uint8_t frame_info,
-    const struct bmi160_dev* dev) {
-    switch(frame_info) {
-    case BMI160_FIFO_HEAD_M:
-    case BMI160_FIFO_M_ENABLE:
-
-        /* Partial read, then skip the data */
-        if((*idx + BMI160_FIFO_M_LENGTH) > dev->fifo->length) {
-            /* Update the data index as complete */
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /* Unpack the data array into structure instance */
-        unpack_aux_data(&aux_data[*aux_index], *idx, dev);
-
-        /* Move the data index */
-        *idx = *idx + BMI160_FIFO_M_LENGTH;
-        (*aux_index)++;
-        break;
-    case BMI160_FIFO_HEAD_M_A:
-    case BMI160_FIFO_M_A_ENABLE:
-
-        /* Partial read, then skip the data */
-        if((*idx + BMI160_FIFO_MA_LENGTH) > dev->fifo->length) {
-            /* Update the data index as complete */
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /* Unpack the data array into structure instance */
-        unpack_aux_data(&aux_data[*aux_index], *idx, dev);
-
-        /* Move the data index */
-        *idx = *idx + BMI160_FIFO_MA_LENGTH;
-        (*aux_index)++;
-        break;
-    case BMI160_FIFO_HEAD_M_G:
-    case BMI160_FIFO_M_G_ENABLE:
-
-        /* Partial read, then skip the data */
-        if((*idx + BMI160_FIFO_MG_LENGTH) > dev->fifo->length) {
-            /* Update the data index as complete */
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /* Unpack the data array into structure instance */
-        unpack_aux_data(&aux_data[*aux_index], *idx, dev);
-
-        /* Move the data index */
-        (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
-        (*aux_index)++;
-        break;
-    case BMI160_FIFO_HEAD_M_G_A:
-    case BMI160_FIFO_M_G_A_ENABLE:
-
-        /*Partial read, then skip the data*/
-        if((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length) {
-            /* Update the data index as complete */
-            *idx = dev->fifo->length;
-            break;
-        }
-
-        /* Unpack the data array into structure instance */
-        unpack_aux_data(&aux_data[*aux_index], *idx, dev);
-
-        /*Move the data index*/
-        *idx = *idx + BMI160_FIFO_MGA_LENGTH;
-        (*aux_index)++;
-        break;
-    case BMI160_FIFO_HEAD_G:
-    case BMI160_FIFO_G_ENABLE:
-
-        /* Move the data index */
-        (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
-        break;
-    case BMI160_FIFO_HEAD_G_A:
-    case BMI160_FIFO_G_A_ENABLE:
-
-        /* Move the data index */
-        *idx = *idx + BMI160_FIFO_GA_LENGTH;
-        break;
-    case BMI160_FIFO_HEAD_A:
-    case BMI160_FIFO_A_ENABLE:
-
-        /* Move the data index */
-        *idx = *idx + BMI160_FIFO_A_LENGTH;
-        break;
-    default:
-        break;
-    }
-}
-
-/*!
- *  @brief This API is used to parse the aux data from the
- *  FIFO data and store it in the instance of the structure bmi160_aux_data.
- */
-static void unpack_aux_data(
-    struct bmi160_aux_data* aux_data,
-    uint16_t data_start_index,
-    const struct bmi160_dev* dev) {
-    /* Aux data bytes */
-    aux_data->data[0] = dev->fifo->data[data_start_index++];
-    aux_data->data[1] = dev->fifo->data[data_start_index++];
-    aux_data->data[2] = dev->fifo->data[data_start_index++];
-    aux_data->data[3] = dev->fifo->data[data_start_index++];
-    aux_data->data[4] = dev->fifo->data[data_start_index++];
-    aux_data->data[5] = dev->fifo->data[data_start_index++];
-    aux_data->data[6] = dev->fifo->data[data_start_index++];
-    aux_data->data[7] = dev->fifo->data[data_start_index++];
-}
-
-/*!
- *  @brief This API is used to parse the aux data from the
- *  FIFO data in header mode.
- */
-static void extract_aux_header_mode(
-    struct bmi160_aux_data* aux_data,
-    uint8_t* aux_length,
-    const struct bmi160_dev* dev) {
-    uint8_t frame_header = 0;
-    uint16_t data_index;
-    uint8_t aux_index = 0;
-
-    for(data_index = dev->fifo->aux_byte_start_idx; data_index < dev->fifo->length;) {
-        /* extracting Frame header */
-        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
-
-        /*Index is moved to next byte where the data is starting*/
-        data_index++;
-        switch(frame_header) {
-        /* Aux frame */
-        case BMI160_FIFO_HEAD_M:
-        case BMI160_FIFO_HEAD_M_A:
-        case BMI160_FIFO_HEAD_M_G:
-        case BMI160_FIFO_HEAD_M_G_A:
-            unpack_aux_frame(aux_data, &data_index, &aux_index, frame_header, dev);
-            break;
-        case BMI160_FIFO_HEAD_G:
-            move_next_frame(&data_index, BMI160_FIFO_G_LENGTH, dev);
-            break;
-        case BMI160_FIFO_HEAD_G_A:
-            move_next_frame(&data_index, BMI160_FIFO_GA_LENGTH, dev);
-            break;
-        case BMI160_FIFO_HEAD_A:
-            move_next_frame(&data_index, BMI160_FIFO_A_LENGTH, dev);
-            break;
-
-        /* Sensor time frame */
-        case BMI160_FIFO_HEAD_SENSOR_TIME:
-            unpack_sensortime_frame(&data_index, dev);
-            break;
-
-        /* Skip frame */
-        case BMI160_FIFO_HEAD_SKIP_FRAME:
-            unpack_skipped_frame(&data_index, dev);
-            break;
-
-        /* Input config frame */
-        case BMI160_FIFO_HEAD_INPUT_CONFIG:
-            move_next_frame(&data_index, 1, dev);
-            break;
-        case BMI160_FIFO_HEAD_OVER_READ:
-
-            /* Update the data index as complete in case
-                 * of over read */
-            data_index = dev->fifo->length;
-            break;
-        default:
-
-            /* Update the data index as complete in case of
-                 * getting other headers like 0x00 */
-            data_index = dev->fifo->length;
-            break;
-        }
-        if(*aux_length == aux_index) {
-            /*Number of frames to read completed*/
-            break;
-        }
-    }
-
-    /* Update number of aux data read */
-    *aux_length = aux_index;
-
-    /* Update the aux frame index */
-    dev->fifo->aux_byte_start_idx = data_index;
-}
-
-/*!
- *  @brief This API checks the presence of non-valid frames in the read fifo data.
- */
-static void check_frame_validity(uint16_t* data_index, const struct bmi160_dev* dev) {
-    if((*data_index + 2) < dev->fifo->length) {
-        /* Check if FIFO is empty */
-        if((dev->fifo->data[*data_index] == FIFO_CONFIG_MSB_CHECK) &&
-           (dev->fifo->data[*data_index + 1] == FIFO_CONFIG_LSB_CHECK)) {
-            /*Update the data index as complete*/
-            *data_index = dev->fifo->length;
-        }
-    }
-}
-
-/*!
- *  @brief This API is used to move the data index ahead of the
- *  current_frame_length parameter when unnecessary FIFO data appears while
- *  extracting the user specified data.
- */
-static void move_next_frame(
-    uint16_t* data_index,
-    uint8_t current_frame_length,
-    const struct bmi160_dev* dev) {
-    /*Partial read, then move the data index to last data*/
-    if((*data_index + current_frame_length) > dev->fifo->length) {
-        /*Update the data index as complete*/
-        *data_index = dev->fifo->length;
-    } else {
-        /*Move the data index to next frame*/
-        *data_index = *data_index + current_frame_length;
-    }
-}
-
-/*!
- *  @brief This API is used to parse and store the sensor time from the
- *  FIFO data in the structure instance dev.
- */
-static void unpack_sensortime_frame(uint16_t* data_index, const struct bmi160_dev* dev) {
-    uint32_t sensor_time_byte3 = 0;
-    uint16_t sensor_time_byte2 = 0;
-    uint8_t sensor_time_byte1 = 0;
-
-    /*Partial read, then move the data index to last data*/
-    if((*data_index + BMI160_SENSOR_TIME_LENGTH) > dev->fifo->length) {
-        /*Update the data index as complete*/
-        *data_index = dev->fifo->length;
-    } else {
-        sensor_time_byte3 = dev->fifo->data[(*data_index) + BMI160_SENSOR_TIME_MSB_BYTE] << 16;
-        sensor_time_byte2 = dev->fifo->data[(*data_index) + BMI160_SENSOR_TIME_XLSB_BYTE] << 8;
-        sensor_time_byte1 = dev->fifo->data[(*data_index)];
-
-        /* Sensor time */
-        dev->fifo->sensor_time =
-            (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
-        *data_index = (*data_index) + BMI160_SENSOR_TIME_LENGTH;
-    }
-}
-
-/*!
- *  @brief This API is used to parse and store the skipped_frame_count from
- *  the FIFO data in the structure instance dev.
- */
-static void unpack_skipped_frame(uint16_t* data_index, const struct bmi160_dev* dev) {
-    /*Partial read, then move the data index to last data*/
-    if(*data_index >= dev->fifo->length) {
-        /*Update the data index as complete*/
-        *data_index = dev->fifo->length;
-    } else {
-        dev->fifo->skipped_frame_count = dev->fifo->data[*data_index];
-
-        /*Move the data index*/
-        *data_index = (*data_index) + 1;
-    }
-}
-
-/*!
- *  @brief This API is used to get the FOC status from the sensor
- */
-static int8_t get_foc_status(uint8_t* foc_status, struct bmi160_dev const* dev) {
-    int8_t rslt;
-    uint8_t data;
-
-    /* Read the FOC status from sensor */
-    rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &data, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* Get the foc_status bit */
-        *foc_status = BMI160_GET_BITS(data, BMI160_FOC_STATUS);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to configure the offset enable bits in the sensor
- */
-static int8_t
-    configure_offset_enable(const struct bmi160_foc_conf* foc_conf, struct bmi160_dev const* dev) {
-    int8_t rslt;
-    uint8_t data;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if(rslt != BMI160_OK) {
-        rslt = BMI160_E_NULL_PTR;
-    } else {
-        /* Read the FOC config from the sensor */
-        rslt = bmi160_get_regs(BMI160_OFFSET_CONF_ADDR, &data, 1, dev);
-        if(rslt == BMI160_OK) {
-            /* Set the offset enable/disable for gyro */
-            data = BMI160_SET_BITS(data, BMI160_GYRO_OFFSET_EN, foc_conf->gyro_off_en);
-
-            /* Set the offset enable/disable for accel */
-            data = BMI160_SET_BITS(data, BMI160_ACCEL_OFFSET_EN, foc_conf->acc_off_en);
-
-            /* Set the offset config in the sensor */
-            rslt = bmi160_set_regs(BMI160_OFFSET_CONF_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-static int8_t trigger_foc(struct bmi160_offsets* offset, struct bmi160_dev const* dev) {
-    int8_t rslt;
-    uint8_t foc_status = BMI160_ENABLE;
-    uint8_t cmd = BMI160_START_FOC_CMD;
-    uint8_t timeout = 0;
-    uint8_t data_array[20];
-
-    /* Start the FOC process */
-    rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
-    if(rslt == BMI160_OK) {
-        /* Check the FOC status*/
-        rslt = get_foc_status(&foc_status, dev);
-
-        if((rslt != BMI160_OK) || (foc_status != BMI160_ENABLE)) {
-            while((foc_status != BMI160_ENABLE) && (timeout < 11)) {
-                /* Maximum time of 250ms is given in 10
-                 * steps of 25ms each - 250ms refer datasheet 2.9.1 */
-                dev->delay_ms(25);
-
-                /* Check the FOC status*/
-                rslt = get_foc_status(&foc_status, dev);
-                timeout++;
-            }
-
-            if((rslt == BMI160_OK) && (foc_status == BMI160_ENABLE)) {
-                /* Get offset values from sensor */
-                rslt = bmi160_get_offsets(offset, dev);
-            } else {
-                /* FOC failure case */
-                rslt = BMI160_E_FOC_FAILURE;
-            }
-        }
-
-        if(rslt == BMI160_OK) {
-            /* Read registers 0x04-0x17 */
-            rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 20, dev);
-        }
-    }
-
-    return rslt;
-}
+/**
+* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
+*
+* BSD-3-Clause
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+*
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in the
+*    documentation and/or other materials provided with the distribution.
+*
+* 3. Neither the name of the copyright holder nor the names of its
+*    contributors may be used to endorse or promote products derived from
+*    this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+* @file       bmi160.c
+* @date       2021-10-05
+* @version    v3.9.2
+*
+*/
+
+#include "bmi160.h"
+
+/* Below look up table follows the enum bmi160_int_types.
+ * Hence any change should match to the enum bmi160_int_types
+ */
+const uint8_t int_mask_lookup_table[13] = {
+    BMI160_INT1_SLOPE_MASK,
+    BMI160_INT1_SLOPE_MASK,
+    BMI160_INT2_LOW_STEP_DETECT_MASK,
+    BMI160_INT1_DOUBLE_TAP_MASK,
+    BMI160_INT1_SINGLE_TAP_MASK,
+    BMI160_INT1_ORIENT_MASK,
+    BMI160_INT1_FLAT_MASK,
+    BMI160_INT1_HIGH_G_MASK,
+    BMI160_INT1_LOW_G_MASK,
+    BMI160_INT1_NO_MOTION_MASK,
+    BMI160_INT2_DATA_READY_MASK,
+    BMI160_INT2_FIFO_FULL_MASK,
+    BMI160_INT2_FIFO_WM_MASK};
+
+/*********************************************************************/
+/* Static function declarations */
+
+/*!
+ * @brief This API configures the pins to fire the
+ * interrupt signal when it occurs
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t
+    set_intr_pin_config(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API sets the any-motion interrupt of the sensor.
+ * This interrupt occurs when accel values exceeds preset threshold
+ * for a certain period of time.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t
+    set_accel_any_motion_int(struct bmi160_int_settg* int_config, struct bmi160_dev* dev);
+
+/*!
+ * @brief This API sets tap interrupts.Interrupt is fired when
+ * tap movements happen.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_tap_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API sets the data ready interrupt for both accel and gyro.
+ * This interrupt occurs when new accel and gyro data come.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_gyro_data_ready_int(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API sets the significant motion interrupt of the sensor.This
+ * interrupt occurs when there is change in user location.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t
+    set_accel_sig_motion_int(struct bmi160_int_settg* int_config, struct bmi160_dev* dev);
+
+/*!
+ * @brief This API sets the no motion/slow motion interrupt of the sensor.
+ * Slow motion is similar to any motion interrupt.No motion interrupt
+ * occurs when slope bet. two accel values falls below preset threshold
+ * for preset duration.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t
+    set_accel_no_motion_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API sets the step detection interrupt.This interrupt
+ * occurs when the single step causes accel values to go above
+ * preset threshold.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t
+    set_accel_step_detect_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API sets the orientation interrupt of the sensor.This
+ * interrupt occurs when there is orientation change in the sensor
+ * with respect to gravitational field vector g.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t
+    set_accel_orientation_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API sets the flat interrupt of the sensor.This interrupt
+ * occurs in case of flat orientation
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t
+    set_accel_flat_detect_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API sets the low-g interrupt of the sensor.This interrupt
+ * occurs during free-fall.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t
+    set_accel_low_g_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API sets the high-g interrupt of the sensor.The interrupt
+ * occurs if the absolute value of acceleration data of any enabled axis
+ * exceeds the programmed threshold and the sign of the value does not
+ * change for a preset duration.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t
+    set_accel_high_g_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API sets the default configuration parameters of accel & gyro.
+ * Also maintain the previous state of configurations.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static void default_param_settg(struct bmi160_dev* dev);
+
+/*!
+ * @brief This API is used to validate the device structure pointer for
+ * null conditions.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t null_ptr_check(const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API set the accel configuration.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_conf(struct bmi160_dev* dev);
+
+/*!
+ * @brief This API gets the accel configuration.
+ *
+ * @param[out] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t get_accel_conf(struct bmi160_dev* dev);
+
+/*!
+ * @brief This API check the accel configuration.
+ *
+ * @param[in] data        : Pointer to store the updated accel config.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t check_accel_config(uint8_t* data, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API process the accel odr.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_accel_odr(uint8_t* data, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API process the accel bandwidth.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_accel_bw(uint8_t* data, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API process the accel range.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_accel_range(uint8_t* data, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API checks the invalid settings for ODR & Bw for Accel and Gyro.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t check_invalid_settg(const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API set the gyro configuration.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_gyro_conf(struct bmi160_dev* dev);
+
+/*!
+ * @brief This API get the gyro configuration.
+ *
+ * @param[out] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t get_gyro_conf(struct bmi160_dev* dev);
+
+/*!
+ * @brief This API check the gyro configuration.
+ *
+ * @param[in] data        : Pointer to store the updated gyro config.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t check_gyro_config(uint8_t* data, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API process the gyro odr.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_gyro_odr(uint8_t* data, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API process the gyro bandwidth.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_gyro_bw(uint8_t* data, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API process the gyro range.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_gyro_range(uint8_t* data, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API sets the accel power mode.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_pwr(struct bmi160_dev* dev);
+
+/*!
+ * @brief This API process the undersampling setting of Accel.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_under_sampling(uint8_t* data, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API sets the gyro power mode.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_gyro_pwr(struct bmi160_dev* dev);
+
+/*!
+ * @brief This API reads accel data along with sensor time if time is requested
+ * by user. Kindly refer the user guide(README.md) for more info.
+ *
+ * @param[in] len    : len to read no of bytes
+ * @param[out] accel    : Structure pointer to store accel data
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t
+    get_accel_data(uint8_t len, struct bmi160_sensor_data* accel, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API reads accel data along with sensor time if time is requested
+ * by user. Kindly refer the user guide(README.md) for more info.
+ *
+ * @param[in] len    : len to read no of bytes
+ * @param[out] gyro    : Structure pointer to store accel data
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t
+    get_gyro_data(uint8_t len, struct bmi160_sensor_data* gyro, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API reads accel and gyro data along with sensor time
+ * if time is requested by user.
+ * Kindly refer the user guide(README.md) for more info.
+ *
+ * @param[in] len    : len to read no of bytes
+ * @param[out] accel    : Structure pointer to store accel data
+ * @param[out] gyro    : Structure pointer to store accel data
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t get_accel_gyro_data(
+    uint8_t len,
+    struct bmi160_sensor_data* accel,
+    struct bmi160_sensor_data* gyro,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API enables the any-motion interrupt for accel.
+ *
+ * @param[in] any_motion_int_cfg   : Structure instance of
+ *                   bmi160_acc_any_mot_int_cfg.
+ * @param[in] dev          : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_accel_any_motion_int(
+    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
+    struct bmi160_dev* dev);
+
+/*!
+ * @brief This API disable the sig-motion interrupt.
+ *
+ * @param[in] dev   : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t disable_sig_motion_int(const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for any-motion interrupt.
+ *
+ * @param[in] any_motion_int_cfg  : Structure instance of
+ *                  bmi160_acc_any_mot_int_cfg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_any_motion_src(
+    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the duration and threshold of
+ * any-motion interrupt.
+ *
+ * @param[in] any_motion_int_cfg  : Structure instance of
+ *                  bmi160_acc_any_mot_int_cfg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_any_dur_threshold(
+    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure necessary setting of any-motion interrupt.
+ *
+ * @param[in] int_config       : Structure instance of bmi160_int_settg.
+ * @param[in] any_motion_int_cfg   : Structure instance of
+ *                   bmi160_acc_any_mot_int_cfg.
+ * @param[in] dev          : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_any_motion_int_settg(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API enable the data ready interrupt.
+ *
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_data_ready_int(const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API enables the no motion/slow motion interrupt.
+ *
+ * @param[in] no_mot_int_cfg    : Structure instance of
+ *                bmi160_acc_no_motion_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_no_motion_int(
+    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * no motion/slow motion interrupt.
+ *
+ * @param[in] int_config    : structure instance of bmi160_int_settg.
+ * @param[in] no_mot_int_cfg    : Structure instance of
+ *                bmi160_acc_no_motion_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_no_motion_int_settg(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the source of interrupt for no motion.
+ *
+ * @param[in] no_mot_int_cfg    : Structure instance of
+ *                bmi160_acc_no_motion_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_no_motion_data_src(
+    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the duration and threshold of
+ * no motion/slow motion interrupt along with selection of no/slow motion.
+ *
+ * @param[in] no_mot_int_cfg    : Structure instance of
+ *                bmi160_acc_no_motion_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_no_motion_dur_thr(
+    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API enables the sig-motion motion interrupt.
+ *
+ * @param[in] sig_mot_int_cfg   : Structure instance of
+ *                bmi160_acc_sig_mot_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_sig_motion_int(
+    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
+    struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * significant motion interrupt.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] sig_mot_int_cfg   : Structure instance of
+ *                bmi160_acc_sig_mot_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_sig_motion_int_settg(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for sig motion interrupt.
+ *
+ * @param[in] sig_mot_int_cfg   : Structure instance of
+ *                bmi160_acc_sig_mot_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_sig_motion_data_src(
+    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the threshold, skip and proof time of
+ * sig motion interrupt.
+ *
+ * @param[in] sig_mot_int_cfg   : Structure instance of
+ *                bmi160_acc_sig_mot_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_sig_dur_threshold(
+    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API enables the step detector interrupt.
+ *
+ * @param[in] step_detect_int_cfg   : Structure instance of
+ *                    bmi160_acc_step_detect_int_cfg.
+ * @param[in] dev           : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_step_detect_int(
+    const struct bmi160_acc_step_detect_int_cfg* step_detect_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the step detector parameter.
+ *
+ * @param[in] step_detect_int_cfg   : Structure instance of
+ *                    bmi160_acc_step_detect_int_cfg.
+ * @param[in] dev           : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_step_detect(
+    const struct bmi160_acc_step_detect_int_cfg* step_detect_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API enables the single/double tap interrupt.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_tap_int(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * tap interrupt.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_tap_int_settg(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for tap interrupt.
+ *
+ * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_tap_data_src(
+    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the  parameters of tap interrupt.
+ * Threshold, quite, shock, and duration.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_tap_param(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API enable the external mode configuration.
+ *
+ * @param[in] dev   : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_sec_if(const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the ODR of the auxiliary sensor.
+ *
+ * @param[in] dev   : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_aux_odr(const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API maps the actual burst read length set by user.
+ *
+ * @param[in] len   : Pointer to store the read length.
+ * @param[in] dev   : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t map_read_len(uint16_t* len, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the settings of auxiliary sensor.
+ *
+ * @param[in] dev   : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_aux_settg(const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API extract the read data from auxiliary sensor.
+ *
+ * @param[in] map_len     : burst read value.
+ * @param[in] reg_addr    : Address of register to read.
+ * @param[in] aux_data    : Pointer to store the read data.
+ * @param[in] len     : length to read the data.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+static int8_t extract_aux_read(
+    uint16_t map_len,
+    uint8_t reg_addr,
+    uint8_t* aux_data,
+    uint16_t len,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API enables the orient interrupt.
+ *
+ * @param[in] orient_int_cfg : Structure instance of bmi160_acc_orient_int_cfg.
+ * @param[in] dev        : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_orient_int(
+    const struct bmi160_acc_orient_int_cfg* orient_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the necessary setting of orientation interrupt.
+ *
+ * @param[in] orient_int_cfg : Structure instance of bmi160_acc_orient_int_cfg.
+ * @param[in] dev        : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_orient_int_settg(
+    const struct bmi160_acc_orient_int_cfg* orient_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API enables the flat interrupt.
+ *
+ * @param[in] flat_int  : Structure instance of bmi160_acc_flat_detect_int_cfg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_flat_int(
+    const struct bmi160_acc_flat_detect_int_cfg* flat_int,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the necessary setting of flat interrupt.
+ *
+ * @param[in] flat_int  : Structure instance of bmi160_acc_flat_detect_int_cfg.
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_flat_int_settg(
+    const struct bmi160_acc_flat_detect_int_cfg* flat_int,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API enables the Low-g interrupt.
+ *
+ * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_low_g_int(
+    const struct bmi160_acc_low_g_int_cfg* low_g_int,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter) for low-g interrupt.
+ *
+ * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_low_g_data_src(
+    const struct bmi160_acc_low_g_int_cfg* low_g_int,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the necessary setting of low-g interrupt.
+ *
+ * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_low_g_int_settg(
+    const struct bmi160_acc_low_g_int_cfg* low_g_int,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API enables the high-g interrupt.
+ *
+ * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
+ * @param[in] dev        : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_high_g_int(
+    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for high-g interrupt.
+ *
+ * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
+ * @param[in] dev        : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_high_g_data_src(
+    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the necessary setting of high-g interrupt.
+ *
+ * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
+ * @param[in] dev        : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_high_g_int_settg(
+    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the behavioural setting of interrupt pin.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t
+    config_int_out_ctrl(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API configure the mode(input enable, latch or non-latch) of interrupt pin.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t
+    config_int_latch(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API performs the self test for accelerometer of BMI160
+ *
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t perform_accel_self_test(struct bmi160_dev* dev);
+
+/*!
+ * @brief This API enables to perform the accel self test by setting proper
+ * configurations to facilitate accel self test
+ *
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_accel_self_test(struct bmi160_dev* dev);
+
+/*!
+ * @brief This API performs accel self test with positive excitation
+ *
+ * @param[in] accel_pos : Structure pointer to store accel data
+ *                        for positive excitation
+ * @param[in] dev   : structure instance of bmi160_dev
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t accel_self_test_positive_excitation(
+    struct bmi160_sensor_data* accel_pos,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API performs accel self test with negative excitation
+ *
+ * @param[in] accel_neg : Structure pointer to store accel data
+ *                        for negative excitation
+ * @param[in] dev   : structure instance of bmi160_dev
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t accel_self_test_negative_excitation(
+    struct bmi160_sensor_data* accel_neg,
+    const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API validates the accel self test results
+ *
+ * @param[in] accel_pos : Structure pointer to store accel data
+ *                        for positive excitation
+ * @param[in] accel_neg : Structure pointer to store accel data
+ *                        for negative excitation
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error / +ve value -> Self test fail
+ */
+static int8_t validate_accel_self_test(
+    const struct bmi160_sensor_data* accel_pos,
+    const struct bmi160_sensor_data* accel_neg);
+
+/*!
+ * @brief This API performs the self test for gyroscope of BMI160
+ *
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t perform_gyro_self_test(const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API enables the self test bit to trigger self test for gyro
+ *
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_gyro_self_test(const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API validates the self test results of gyro
+ *
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t validate_gyro_self_test(const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API sets FIFO full interrupt of the sensor.This interrupt
+ *  occurs when the FIFO is full and the next full data sample would cause
+ *  a FIFO overflow, which may delete the old samples.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t
+    set_fifo_full_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This enable the FIFO full interrupt engine.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t
+    enable_fifo_full_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API sets FIFO watermark interrupt of the sensor.The FIFO
+ *  watermark interrupt is fired, when the FIFO fill level is above a fifo
+ *  watermark.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t
+    set_fifo_watermark_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This enable the FIFO watermark interrupt engine.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t
+    enable_fifo_wtm_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*!
+ * @brief This API is used to reset the FIFO related configurations
+ *  in the fifo_frame structure.
+ *
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static void reset_fifo_data_structure(const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API is used to read number of bytes filled
+ *  currently in FIFO buffer.
+ *
+ *  @param[in] bytes_to_read  : Number of bytes available in FIFO at the
+ *                              instant which is obtained from FIFO counter.
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success / -ve value -> Error.
+ *  @retval Any non zero value -> Fail
+ *
+ */
+static int8_t get_fifo_byte_counter(uint16_t* bytes_to_read, struct bmi160_dev const* dev);
+
+/*!
+ *  @brief This API is used to compute the number of bytes of accel FIFO data
+ *  which is to be parsed in header-less mode
+ *
+ *  @param[out] data_index        : The start index for parsing data
+ *  @param[out] data_read_length  : Number of bytes to be parsed
+ *  @param[in]  acc_frame_count   : Number of accelerometer frames to be read
+ *  @param[in]  dev               : Structure instance of bmi160_dev.
+ *
+ */
+static void get_accel_len_to_parse(
+    uint16_t* data_index,
+    uint16_t* data_read_length,
+    const uint8_t* acc_frame_count,
+    const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed.
+ *
+ *  @param[in,out] acc      : structure instance of sensor data
+ *  @param[in,out] idx      : Index value of number of bytes parsed
+ *  @param[in,out] acc_idx  : Index value of accelerometer data
+ *                                (x,y,z axes) frames parsed
+ *  @param[in] frame_info       : It consists of either fifo_data_enable
+ *                                parameter in header-less mode or
+ *                                frame header data in header mode
+ *  @param[in] dev      : structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_accel_frame(
+    struct bmi160_sensor_data* acc,
+    uint16_t* idx,
+    uint8_t* acc_idx,
+    uint8_t frame_info,
+    const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
+ *
+ * @param[in,out] accel_data        : structure instance of sensor data
+ * @param[in,out] data_start_index  : Index value of number of bytes parsed
+ * @param[in] dev           : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_accel_data(
+    struct bmi160_sensor_data* accel_data,
+    uint16_t data_start_index,
+    const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data in header mode.
+ *
+ *  @param[in,out] accel_data    : Structure instance of sensor data
+ *  @param[in,out] accel_length  : Number of accelerometer frames
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void extract_accel_header_mode(
+    struct bmi160_sensor_data* accel_data,
+    uint8_t* accel_length,
+    const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API computes the number of bytes of gyro FIFO data
+ *  which is to be parsed in header-less mode
+ *
+ *  @param[out] data_index       : The start index for parsing data
+ *  @param[out] data_read_length : No of bytes to be parsed from FIFO buffer
+ *  @param[in] gyro_frame_count  : Number of Gyro data frames to be read
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ */
+static void get_gyro_len_to_parse(
+    uint16_t* data_index,
+    uint16_t* data_read_length,
+    const uint8_t* gyro_frame_count,
+    const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API is used to parse the gyroscope's data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed.
+ *
+ *  @param[in,out] gyro     : structure instance of sensor data
+ *  @param[in,out] idx      : Index value of number of bytes parsed
+ *  @param[in,out] gyro_idx : Index value of gyro data
+ *                                (x,y,z axes) frames parsed
+ *  @param[in] frame_info       : It consists of either fifo_data_enable
+ *                                parameter in header-less mode or
+ *                                frame header data in header mode
+ *  @param[in] dev      : structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_gyro_frame(
+    struct bmi160_sensor_data* gyro,
+    uint16_t* idx,
+    uint8_t* gyro_idx,
+    uint8_t frame_info,
+    const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API is used to parse the gyro data from the
+ *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
+ *
+ *  @param[in,out] gyro_data         : structure instance of sensor data
+ *  @param[in,out] data_start_index  : Index value of number of bytes parsed
+ *  @param[in] dev           : structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_gyro_data(
+    struct bmi160_sensor_data* gyro_data,
+    uint16_t data_start_index,
+    const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API is used to parse the gyro data from the
+ *  FIFO data in header mode.
+ *
+ *  @param[in,out] gyro_data     : Structure instance of sensor data
+ *  @param[in,out] gyro_length   : Number of gyro frames
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void extract_gyro_header_mode(
+    struct bmi160_sensor_data* gyro_data,
+    uint8_t* gyro_length,
+    const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API computes the number of bytes of aux FIFO data
+ *  which is to be parsed in header-less mode
+ *
+ *  @param[out] data_index       : The start index for parsing data
+ *  @param[out] data_read_length : No of bytes to be parsed from FIFO buffer
+ *  @param[in] aux_frame_count   : Number of Aux data frames to be read
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ */
+static void get_aux_len_to_parse(
+    uint16_t* data_index,
+    uint16_t* data_read_length,
+    const uint8_t* aux_frame_count,
+    const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API is used to parse the aux's data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed
+ *
+ *  @param[in,out] aux_data : structure instance of sensor data
+ *  @param[in,out] idx      : Index value of number of bytes parsed
+ *  @param[in,out] aux_index    : Index value of gyro data
+ *                                (x,y,z axes) frames parsed
+ *  @param[in] frame_info       : It consists of either fifo_data_enable
+ *                                parameter in header-less mode or
+ *                                frame header data in header mode
+ *  @param[in] dev      : structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_aux_frame(
+    struct bmi160_aux_data* aux_data,
+    uint16_t* idx,
+    uint8_t* aux_index,
+    uint8_t frame_info,
+    const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data and store it in the instance of the structure bmi160_aux_data.
+ *
+ * @param[in,out] aux_data      : structure instance of sensor data
+ * @param[in,out] data_start_index  : Index value of number of bytes parsed
+ * @param[in] dev           : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_aux_data(
+    struct bmi160_aux_data* aux_data,
+    uint16_t data_start_index,
+    const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data in header mode.
+ *
+ *  @param[in,out] aux_data     : Structure instance of sensor data
+ *  @param[in,out] aux_length   : Number of aux frames
+ *  @param[in] dev              : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void extract_aux_header_mode(
+    struct bmi160_aux_data* aux_data,
+    uint8_t* aux_length,
+    const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API checks the presence of non-valid frames in the read fifo data.
+ *
+ *  @param[in,out] data_index    : The index of the current data to
+ *                                be parsed from fifo data
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void check_frame_validity(uint16_t* data_index, const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API is used to move the data index ahead of the
+ *  current_frame_length parameter when unnecessary FIFO data appears while
+ *  extracting the user specified data.
+ *
+ *  @param[in,out] data_index       : Index of the FIFO data which
+ *                                  is to be moved ahead of the
+ *                                  current_frame_length
+ *  @param[in] current_frame_length : Number of bytes in a particular frame
+ *  @param[in] dev                  : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void move_next_frame(
+    uint16_t* data_index,
+    uint8_t current_frame_length,
+    const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API is used to parse and store the sensor time from the
+ *  FIFO data in the structure instance dev.
+ *
+ *  @param[in,out] data_index : Index of the FIFO data which
+ *                              has the sensor time.
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_sensortime_frame(uint16_t* data_index, const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API is used to parse and store the skipped_frame_count from
+ *  the FIFO data in the structure instance dev.
+ *
+ *  @param[in,out] data_index   : Index of the FIFO data which
+ *                                    has the skipped frame count.
+ *  @param[in] dev              : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_skipped_frame(uint16_t* data_index, const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API is used to get the FOC status from the sensor
+ *
+ *  @param[in,out] foc_status   : Result of FOC status.
+ *  @param[in] dev              : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t get_foc_status(uint8_t* foc_status, struct bmi160_dev const* dev);
+
+/*!
+ *  @brief This API is used to configure the offset enable bits in the sensor
+ *
+ *  @param[in,out] foc_conf   : Structure instance of bmi160_foc_conf which
+ *                                   has the FOC and offset configurations
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t
+    configure_offset_enable(const struct bmi160_foc_conf* foc_conf, struct bmi160_dev const* dev);
+
+/*!
+ *  @brief This API is used to trigger the FOC in the sensor
+ *
+ *  @param[in,out] offset     : Structure instance of bmi160_offsets which
+ *                              reads and stores the offset values after FOC
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t trigger_foc(struct bmi160_offsets* offset, struct bmi160_dev const* dev);
+
+/*!
+ *  @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full
+ *  and FIFO watermark interrupt
+ *
+ *  @param[in] int_config     : Structure instance of bmi160_int_settg which
+ *                              stores the interrupt type and interrupt channel
+ *              configurations to map/unmap the interrupt pins
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t
+    map_hardware_interrupt(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*!
+ *  @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g,
+ *  Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins.
+ *
+ *  @param[in] int_config     : Structure instance of bmi160_int_settg which
+ *                              stores the interrupt type and interrupt channel
+ *              configurations to map/unmap the interrupt pins
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t
+    map_feature_interrupt(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev);
+
+/*********************** User function definitions ****************************/
+
+/*!
+ * @brief This API reads the data from the given register address
+ * of sensor.
+ */
+int8_t
+    bmi160_get_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev) {
+    int8_t rslt = BMI160_OK;
+
+    /* Null-pointer check */
+    if((dev == NULL) || (dev->read == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else if(len == 0) {
+        rslt = BMI160_E_READ_WRITE_LENGTH_INVALID;
+    } else {
+        /* Configuring reg_addr for SPI Interface */
+        if(dev->intf == BMI160_SPI_INTF) {
+            reg_addr = (reg_addr | BMI160_SPI_RD_MASK);
+        }
+
+        rslt = dev->read(dev->id, reg_addr, data, len);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes the given data to the register address
+ * of sensor.
+ */
+int8_t
+    bmi160_set_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev) {
+    int8_t rslt = BMI160_OK;
+    uint8_t count = 0;
+
+    /* Null-pointer check */
+    if((dev == NULL) || (dev->write == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else if(len == 0) {
+        rslt = BMI160_E_READ_WRITE_LENGTH_INVALID;
+    } else {
+        /* Configuring reg_addr for SPI Interface */
+        if(dev->intf == BMI160_SPI_INTF) {
+            reg_addr = (reg_addr & BMI160_SPI_WR_MASK);
+        }
+
+        if((dev->prev_accel_cfg.power == BMI160_ACCEL_NORMAL_MODE) ||
+           (dev->prev_gyro_cfg.power == BMI160_GYRO_NORMAL_MODE)) {
+            rslt = dev->write(dev->id, reg_addr, data, len);
+
+            /* Kindly refer bmi160 data sheet section 3.2.4 */
+            dev->delay_ms(1);
+
+        } else {
+            /*Burst write is not allowed in
+             * suspend & low power mode */
+            for(; count < len; count++) {
+                rslt = dev->write(dev->id, reg_addr, &data[count], 1);
+                reg_addr++;
+
+                /* Kindly refer bmi160 data sheet section 3.2.4 */
+                dev->delay_ms(1);
+            }
+        }
+
+        if(rslt != BMI160_OK) {
+            rslt = BMI160_E_COM_FAIL;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is the entry point for sensor.It performs
+ *  the selection of I2C/SPI read mechanism according to the
+ *  selected interface and reads the chip-id of bmi160 sensor.
+ */
+int8_t bmi160_init(struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data;
+    uint8_t try = 3;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+
+    /* Dummy read of 0x7F register to enable SPI Interface
+     * if SPI is used */
+    if((rslt == BMI160_OK) && (dev->intf == BMI160_SPI_INTF)) {
+        rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
+    }
+
+    if(rslt == BMI160_OK) {
+        /* Assign chip id as zero */
+        dev->chip_id = 0;
+
+        while((try--) && (dev->chip_id != BMI160_CHIP_ID)) {
+            /* Read chip_id */
+            rslt = bmi160_get_regs(BMI160_CHIP_ID_ADDR, &dev->chip_id, 1, dev);
+        }
+
+        if((rslt == BMI160_OK) && (dev->chip_id == BMI160_CHIP_ID)) {
+            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
+
+            /* Soft reset */
+            rslt = bmi160_soft_reset(dev);
+        } else {
+            rslt = BMI160_E_DEV_NOT_FOUND;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API resets and restarts the device.
+ * All register values are overwritten with default parameters.
+ */
+int8_t bmi160_soft_reset(struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = BMI160_SOFT_RESET_CMD;
+
+    /* Null-pointer check */
+    if((dev == NULL) || (dev->delay_ms == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* Reset the device */
+        rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &data, 1, dev);
+        dev->delay_ms(BMI160_SOFT_RESET_DELAY_MS);
+        if((rslt == BMI160_OK) && (dev->intf == BMI160_SPI_INTF)) {
+            /* Dummy read of 0x7F register to enable SPI Interface
+             * if SPI is used */
+            rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
+        }
+
+        if(rslt == BMI160_OK) {
+            /* Update the default parameters */
+            default_param_settg(dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configures the power mode, range and bandwidth
+ * of sensor.
+ */
+int8_t bmi160_set_sens_conf(struct bmi160_dev* dev) {
+    int8_t rslt = BMI160_OK;
+
+    /* Null-pointer check */
+    if((dev == NULL) || (dev->delay_ms == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        rslt = set_accel_conf(dev);
+        if(rslt == BMI160_OK) {
+            rslt = set_gyro_conf(dev);
+            if(rslt == BMI160_OK) {
+                /* write power mode for accel and gyro */
+                rslt = bmi160_set_power_mode(dev);
+                if(rslt == BMI160_OK) {
+                    rslt = check_invalid_settg(dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets accel and gyro configurations.
+ */
+int8_t bmi160_get_sens_conf(struct bmi160_dev* dev) {
+    int8_t rslt = BMI160_OK;
+
+    /* Null-pointer check */
+    if((dev == NULL) || (dev->delay_ms == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        rslt = get_accel_conf(dev);
+        if(rslt == BMI160_OK) {
+            rslt = get_gyro_conf(dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the power mode of the sensor.
+ */
+int8_t bmi160_set_power_mode(struct bmi160_dev* dev) {
+    int8_t rslt = 0;
+
+    /* Null-pointer check */
+    if((dev == NULL) || (dev->delay_ms == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        rslt = set_accel_pwr(dev);
+        if(rslt == BMI160_OK) {
+            rslt = set_gyro_pwr(dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the power mode of the sensor.
+ */
+int8_t bmi160_get_power_mode(struct bmi160_dev* dev) {
+    int8_t rslt = 0;
+    uint8_t power_mode = 0;
+
+    /* Null-pointer check */
+    if((dev == NULL) || (dev->delay_ms == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        rslt = bmi160_get_regs(BMI160_PMU_STATUS_ADDR, &power_mode, 1, dev);
+        if(rslt == BMI160_OK) {
+            /* Power mode of the accel, gyro sensor is obtained */
+            dev->gyro_cfg.power = BMI160_GET_BITS(power_mode, BMI160_GYRO_POWER_MODE);
+            dev->accel_cfg.power = BMI160_GET_BITS(power_mode, BMI160_ACCEL_POWER_MODE);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads sensor data, stores it in
+ * the bmi160_sensor_data structure pointer passed by the user.
+ */
+int8_t bmi160_get_sensor_data(
+    uint8_t select_sensor,
+    struct bmi160_sensor_data* accel,
+    struct bmi160_sensor_data* gyro,
+    const struct bmi160_dev* dev) {
+    int8_t rslt = BMI160_OK;
+    uint8_t time_sel;
+    uint8_t sen_sel;
+    uint8_t len = 0;
+
+    /*Extract the sensor  and time select information*/
+    sen_sel = select_sensor & BMI160_SEN_SEL_MASK;
+    time_sel = ((sen_sel & BMI160_TIME_SEL) >> 2);
+    sen_sel = sen_sel & (BMI160_ACCEL_SEL | BMI160_GYRO_SEL);
+    if(time_sel == 1) {
+        len = 3;
+    }
+
+    /* Null-pointer check */
+    if(dev != NULL) {
+        switch(sen_sel) {
+        case BMI160_ACCEL_ONLY:
+
+            /* Null-pointer check */
+            if(accel == NULL) {
+                rslt = BMI160_E_NULL_PTR;
+            } else {
+                rslt = get_accel_data(len, accel, dev);
+            }
+
+            break;
+        case BMI160_GYRO_ONLY:
+
+            /* Null-pointer check */
+            if(gyro == NULL) {
+                rslt = BMI160_E_NULL_PTR;
+            } else {
+                rslt = get_gyro_data(len, gyro, dev);
+            }
+
+            break;
+        case BMI160_BOTH_ACCEL_AND_GYRO:
+
+            /* Null-pointer check */
+            if((gyro == NULL) || (accel == NULL)) {
+                rslt = BMI160_E_NULL_PTR;
+            } else {
+                rslt = get_accel_gyro_data(len, accel, gyro, dev);
+            }
+
+            break;
+        default:
+            rslt = BMI160_E_INVALID_INPUT;
+            break;
+        }
+    } else {
+        rslt = BMI160_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configures the necessary interrupt based on
+ *  the user settings in the bmi160_int_settg structure instance.
+ */
+int8_t bmi160_set_int_config(struct bmi160_int_settg* int_config, struct bmi160_dev* dev) {
+    int8_t rslt = BMI160_OK;
+
+    switch(int_config->int_type) {
+    case BMI160_ACC_ANY_MOTION_INT:
+
+        /*Any-motion  interrupt*/
+        rslt = set_accel_any_motion_int(int_config, dev);
+        break;
+    case BMI160_ACC_SIG_MOTION_INT:
+
+        /* Significant motion interrupt */
+        rslt = set_accel_sig_motion_int(int_config, dev);
+        break;
+    case BMI160_ACC_SLOW_NO_MOTION_INT:
+
+        /* Slow or no motion interrupt */
+        rslt = set_accel_no_motion_int(int_config, dev);
+        break;
+    case BMI160_ACC_DOUBLE_TAP_INT:
+    case BMI160_ACC_SINGLE_TAP_INT:
+
+        /* Double tap and single tap Interrupt */
+        rslt = set_accel_tap_int(int_config, dev);
+        break;
+    case BMI160_STEP_DETECT_INT:
+
+        /* Step detector interrupt */
+        rslt = set_accel_step_detect_int(int_config, dev);
+        break;
+    case BMI160_ACC_ORIENT_INT:
+
+        /* Orientation interrupt */
+        rslt = set_accel_orientation_int(int_config, dev);
+        break;
+    case BMI160_ACC_FLAT_INT:
+
+        /* Flat detection interrupt */
+        rslt = set_accel_flat_detect_int(int_config, dev);
+        break;
+    case BMI160_ACC_LOW_G_INT:
+
+        /* Low-g interrupt */
+        rslt = set_accel_low_g_int(int_config, dev);
+        break;
+    case BMI160_ACC_HIGH_G_INT:
+
+        /* High-g interrupt */
+        rslt = set_accel_high_g_int(int_config, dev);
+        break;
+    case BMI160_ACC_GYRO_DATA_RDY_INT:
+
+        /* Data ready interrupt */
+        rslt = set_accel_gyro_data_ready_int(int_config, dev);
+        break;
+    case BMI160_ACC_GYRO_FIFO_FULL_INT:
+
+        /* Fifo full interrupt */
+        rslt = set_fifo_full_int(int_config, dev);
+        break;
+    case BMI160_ACC_GYRO_FIFO_WATERMARK_INT:
+
+        /* Fifo water-mark interrupt */
+        rslt = set_fifo_watermark_int(int_config, dev);
+        break;
+    case BMI160_FIFO_TAG_INT_PIN:
+
+        /* Fifo tagging feature support */
+        /* Configure Interrupt pins */
+        rslt = set_intr_pin_config(int_config, dev);
+        break;
+    default:
+        break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables or disable the step counter feature.
+ * 1 - enable step counter (0 - disable)
+ */
+int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if(rslt != BMI160_OK) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        rslt = bmi160_get_regs(BMI160_INT_STEP_CONFIG_1_ADDR, &data, 1, dev);
+        if(rslt == BMI160_OK) {
+            if(step_cnt_enable == BMI160_ENABLE) {
+                data |= (uint8_t)(step_cnt_enable << 3);
+            } else {
+                data &= ~BMI160_STEP_COUNT_EN_BIT_MASK;
+            }
+
+            rslt = bmi160_set_regs(BMI160_INT_STEP_CONFIG_1_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the step counter value.
+ */
+int8_t bmi160_read_step_counter(uint16_t* step_val, const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data[2] = {0, 0};
+    uint16_t msb = 0;
+    uint8_t lsb = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if(rslt != BMI160_OK) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        rslt = bmi160_get_regs(BMI160_INT_STEP_CNT_0_ADDR, data, 2, dev);
+        if(rslt == BMI160_OK) {
+            lsb = data[0];
+            msb = data[1] << 8;
+            *step_val = msb | lsb;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the mention no of byte of data from the given
+ * register address of auxiliary sensor.
+ */
+int8_t bmi160_aux_read(
+    uint8_t reg_addr,
+    uint8_t* aux_data,
+    uint16_t len,
+    const struct bmi160_dev* dev) {
+    int8_t rslt = BMI160_OK;
+    uint16_t map_len = 0;
+
+    /* Null-pointer check */
+    if((dev == NULL) || (dev->read == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        if(dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) {
+            rslt = map_read_len(&map_len, dev);
+            if(rslt == BMI160_OK) {
+                rslt = extract_aux_read(map_len, reg_addr, aux_data, len, dev);
+            }
+        } else {
+            rslt = BMI160_E_INVALID_INPUT;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes the mention no of byte of data to the given
+ * register address of auxiliary sensor.
+ */
+int8_t bmi160_aux_write(
+    uint8_t reg_addr,
+    uint8_t* aux_data,
+    uint16_t len,
+    const struct bmi160_dev* dev) {
+    int8_t rslt = BMI160_OK;
+    uint8_t count = 0;
+
+    /* Null-pointer check */
+    if((dev == NULL) || (dev->write == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        for(; count < len; count++) {
+            /* set data to write */
+            rslt = bmi160_set_regs(BMI160_AUX_IF_4_ADDR, aux_data, 1, dev);
+            dev->delay_ms(BMI160_AUX_COM_DELAY);
+            if(rslt == BMI160_OK) {
+                /* set address to write */
+                rslt = bmi160_set_regs(BMI160_AUX_IF_3_ADDR, &reg_addr, 1, dev);
+                dev->delay_ms(BMI160_AUX_COM_DELAY);
+                if(rslt == BMI160_OK && (count < len - 1)) {
+                    aux_data++;
+                    reg_addr++;
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API initialize the auxiliary sensor
+ * in order to access it.
+ */
+int8_t bmi160_aux_init(const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if(rslt != BMI160_OK) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        if(dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) {
+            /* Configures the auxiliary sensor interface settings */
+            rslt = config_aux_settg(dev);
+        } else {
+            rslt = BMI160_E_INVALID_INPUT;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to setup the auxiliary sensor of bmi160 in auto mode
+ * Thus enabling the auto update of 8 bytes of data from auxiliary sensor
+ * to BMI160 register address 0x04 to 0x0B
+ */
+int8_t bmi160_set_aux_auto_mode(uint8_t* data_addr, struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if(rslt != BMI160_OK) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        if(dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) {
+            /* Write the aux. address to read in 0x4D of BMI160*/
+            rslt = bmi160_set_regs(BMI160_AUX_IF_2_ADDR, data_addr, 1, dev);
+            dev->delay_ms(BMI160_AUX_COM_DELAY);
+            if(rslt == BMI160_OK) {
+                /* Configure the polling ODR for
+                 * auxiliary sensor */
+                rslt = config_aux_odr(dev);
+                if(rslt == BMI160_OK) {
+                    /* Disable the aux. manual mode, i.e aux.
+                     * sensor is in auto-mode (data-mode) */
+                    dev->aux_cfg.manual_enable = BMI160_DISABLE;
+                    rslt = bmi160_config_aux_mode(dev);
+
+                    /*  Auxiliary sensor data is obtained
+                     * in auto mode from this point */
+                }
+            }
+        } else {
+            rslt = BMI160_E_INVALID_INPUT;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configures the 0x4C register and settings like
+ * Auxiliary sensor manual enable/ disable and aux burst read length.
+ */
+int8_t bmi160_config_aux_mode(const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t aux_if[2] = {(uint8_t)(dev->aux_cfg.aux_i2c_addr * 2), 0};
+
+    rslt = bmi160_get_regs(BMI160_AUX_IF_1_ADDR, &aux_if[1], 1, dev);
+    if(rslt == BMI160_OK) {
+        /* update the Auxiliary interface to manual/auto mode */
+        aux_if[1] = BMI160_SET_BITS(aux_if[1], BMI160_MANUAL_MODE_EN, dev->aux_cfg.manual_enable);
+
+        /* update the burst read length defined by user */
+        aux_if[1] =
+            BMI160_SET_BITS_POS_0(aux_if[1], BMI160_AUX_READ_BURST, dev->aux_cfg.aux_rd_burst_len);
+
+        /* Set the secondary interface address and manual mode
+         * along with burst read length */
+        rslt = bmi160_set_regs(BMI160_AUX_IF_0_ADDR, &aux_if[0], 2, dev);
+        dev->delay_ms(BMI160_AUX_COM_DELAY);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to read the raw uncompensated auxiliary sensor
+ * data of 8 bytes from BMI160 register address 0x04 to 0x0B
+ */
+int8_t bmi160_read_aux_data_auto_mode(uint8_t* aux_data, const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if(rslt != BMI160_OK) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        if((dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) &&
+           (dev->aux_cfg.manual_enable == BMI160_DISABLE)) {
+            /* Read the aux. sensor's raw data */
+            rslt = bmi160_get_regs(BMI160_AUX_DATA_ADDR, aux_data, 8, dev);
+        } else {
+            rslt = BMI160_E_INVALID_INPUT;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This is used to perform self test of accel/gyro of the BMI160 sensor
+ */
+int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev* dev) {
+    int8_t rslt;
+    int8_t self_test_rslt = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if(rslt != BMI160_OK) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* Proceed if null check is fine */
+        switch(select_sensor) {
+        case BMI160_ACCEL_ONLY:
+            rslt = perform_accel_self_test(dev);
+            break;
+        case BMI160_GYRO_ONLY:
+
+            /* Set the power mode as normal mode */
+            dev->gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
+            rslt = bmi160_set_power_mode(dev);
+
+            /* Perform gyro self test */
+            if(rslt == BMI160_OK) {
+                /* Perform gyro self test */
+                rslt = perform_gyro_self_test(dev);
+            }
+
+            break;
+        default:
+            rslt = BMI160_E_INVALID_INPUT;
+            break;
+        }
+
+        /* Check to ensure bus error does not occur */
+        if(rslt >= BMI160_OK) {
+            /* Store the status of self test result */
+            self_test_rslt = rslt;
+
+            /* Perform soft reset */
+            rslt = bmi160_soft_reset(dev);
+        }
+
+        /* Check to ensure bus operations are success */
+        if(rslt == BMI160_OK) {
+            /* Restore self_test_rslt as return value */
+            rslt = self_test_rslt;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the data from fifo buffer.
+ */
+int8_t bmi160_get_fifo_data(struct bmi160_dev const* dev) {
+    int8_t rslt = 0;
+    uint16_t bytes_to_read = 0;
+    uint16_t user_fifo_len = 0;
+
+    /* check the bmi160 structure as NULL*/
+    if((dev == NULL) || (dev->fifo->data == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        reset_fifo_data_structure(dev);
+
+        /* get current FIFO fill-level*/
+        rslt = get_fifo_byte_counter(&bytes_to_read, dev);
+        if(rslt == BMI160_OK) {
+            user_fifo_len = dev->fifo->length;
+            if((dev->fifo->length > bytes_to_read)) {
+                /* Handling the case where user requests
+                 * more data than available in FIFO */
+                dev->fifo->length = bytes_to_read;
+            }
+
+            if((dev->fifo->fifo_time_enable == BMI160_FIFO_TIME_ENABLE) &&
+               (bytes_to_read + BMI160_FIFO_BYTES_OVERREAD <= user_fifo_len)) {
+                /* Handling case of sensor time availability*/
+                dev->fifo->length = dev->fifo->length + BMI160_FIFO_BYTES_OVERREAD;
+            }
+
+            /* read only the filled bytes in the FIFO Buffer */
+            rslt = bmi160_get_regs(BMI160_FIFO_DATA_ADDR, dev->fifo->data, dev->fifo->length, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API writes fifo_flush command to command register.This
+ *  action clears all data in the Fifo without changing fifo configuration
+ *  settings
+ */
+int8_t bmi160_set_fifo_flush(const struct bmi160_dev* dev) {
+    int8_t rslt = 0;
+    uint8_t data = BMI160_FIFO_FLUSH_VALUE;
+    uint8_t reg_addr = BMI160_COMMAND_REG_ADDR;
+
+    /* Check the bmi160_dev structure for NULL address*/
+    if(dev == NULL) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the FIFO configuration in the sensor.
+ */
+int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const* dev) {
+    int8_t rslt = 0;
+    uint8_t data = 0;
+    uint8_t reg_addr = BMI160_FIFO_CONFIG_1_ADDR;
+    uint8_t fifo_config = config & BMI160_FIFO_CONFIG_1_MASK;
+
+    /* Check the bmi160_dev structure for NULL address*/
+    if(dev == NULL) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
+        if(rslt == BMI160_OK) {
+            if(fifo_config > 0) {
+                if(enable == BMI160_ENABLE) {
+                    data = data | fifo_config;
+                } else {
+                    data = data & (~fifo_config);
+                }
+            }
+
+            /* write fifo frame content configuration*/
+            rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
+            if(rslt == BMI160_OK) {
+                /* read fifo frame content configuration*/
+                rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
+                if(rslt == BMI160_OK) {
+                    /* extract fifo header enabled status */
+                    dev->fifo->fifo_header_enable = data & BMI160_FIFO_HEAD_ENABLE;
+
+                    /* extract accel/gyr/aux. data enabled status */
+                    dev->fifo->fifo_data_enable = data & BMI160_FIFO_M_G_A_ENABLE;
+
+                    /* extract fifo sensor time enabled status */
+                    dev->fifo->fifo_time_enable = data & BMI160_FIFO_TIME_ENABLE;
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*! @brief This API is used to configure the down sampling ratios of
+ *  the accel and gyro data for FIFO.Also, it configures filtered or
+ *  pre-filtered data for accel and gyro.
+ *
+ */
+int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev* dev) {
+    int8_t rslt = 0;
+    uint8_t data = 0;
+    uint8_t reg_addr = BMI160_FIFO_DOWN_ADDR;
+
+    /* Check the bmi160_dev structure for NULL address*/
+    if(dev == NULL) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
+        if(rslt == BMI160_OK) {
+            data = data | fifo_down;
+            rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API sets the FIFO watermark level in the sensor.
+ *
+ */
+int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev* dev) {
+    int8_t rslt = 0;
+    uint8_t data = fifo_wm;
+    uint8_t reg_addr = BMI160_FIFO_CONFIG_0_ADDR;
+
+    /* Check the bmi160_dev structure for NULL address*/
+    if(dev == NULL) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API parses and extracts the accelerometer frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "accel_data" structure instance.
+ */
+int8_t bmi160_extract_accel(
+    struct bmi160_sensor_data* accel_data,
+    uint8_t* accel_length,
+    struct bmi160_dev const* dev) {
+    int8_t rslt = 0;
+    uint16_t data_index = 0;
+    uint16_t data_read_length = 0;
+    uint8_t accel_index = 0;
+    uint8_t fifo_data_enable = 0;
+
+    if(dev == NULL || dev->fifo == NULL || dev->fifo->data == NULL) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* Parsing the FIFO data in header-less mode */
+        if(dev->fifo->fifo_header_enable == 0) {
+            /* Number of bytes to be parsed from FIFO */
+            get_accel_len_to_parse(&data_index, &data_read_length, accel_length, dev);
+            for(; data_index < data_read_length;) {
+                /*Check for the availability of next two bytes of FIFO data */
+                check_frame_validity(&data_index, dev);
+                fifo_data_enable = dev->fifo->fifo_data_enable;
+                unpack_accel_frame(accel_data, &data_index, &accel_index, fifo_data_enable, dev);
+            }
+
+            /* update number of accel data read*/
+            *accel_length = accel_index;
+
+            /*update the accel byte index*/
+            dev->fifo->accel_byte_start_idx = data_index;
+        } else {
+            /* Parsing the FIFO data in header mode */
+            extract_accel_header_mode(accel_data, accel_length, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API parses and extracts the gyro frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "gyro_data" structure instance.
+ */
+int8_t bmi160_extract_gyro(
+    struct bmi160_sensor_data* gyro_data,
+    uint8_t* gyro_length,
+    struct bmi160_dev const* dev) {
+    int8_t rslt = 0;
+    uint16_t data_index = 0;
+    uint16_t data_read_length = 0;
+    uint8_t gyro_index = 0;
+    uint8_t fifo_data_enable = 0;
+
+    if(dev == NULL || dev->fifo->data == NULL) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* Parsing the FIFO data in header-less mode */
+        if(dev->fifo->fifo_header_enable == 0) {
+            /* Number of bytes to be parsed from FIFO */
+            get_gyro_len_to_parse(&data_index, &data_read_length, gyro_length, dev);
+            for(; data_index < data_read_length;) {
+                /*Check for the availability of next two bytes of FIFO data */
+                check_frame_validity(&data_index, dev);
+                fifo_data_enable = dev->fifo->fifo_data_enable;
+                unpack_gyro_frame(gyro_data, &data_index, &gyro_index, fifo_data_enable, dev);
+            }
+
+            /* update number of gyro data read */
+            *gyro_length = gyro_index;
+
+            /* update the gyro byte index */
+            dev->fifo->gyro_byte_start_idx = data_index;
+        } else {
+            /* Parsing the FIFO data in header mode */
+            extract_gyro_header_mode(gyro_data, gyro_length, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API parses and extracts the aux frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "aux_data" structure instance.
+ */
+int8_t bmi160_extract_aux(
+    struct bmi160_aux_data* aux_data,
+    uint8_t* aux_len,
+    struct bmi160_dev const* dev) {
+    int8_t rslt = 0;
+    uint16_t data_index = 0;
+    uint16_t data_read_length = 0;
+    uint8_t aux_index = 0;
+    uint8_t fifo_data_enable = 0;
+
+    if((dev == NULL) || (dev->fifo->data == NULL) || (aux_data == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* Parsing the FIFO data in header-less mode */
+        if(dev->fifo->fifo_header_enable == 0) {
+            /* Number of bytes to be parsed from FIFO */
+            get_aux_len_to_parse(&data_index, &data_read_length, aux_len, dev);
+            for(; data_index < data_read_length;) {
+                /* Check for the availability of next two
+                 * bytes of FIFO data */
+                check_frame_validity(&data_index, dev);
+                fifo_data_enable = dev->fifo->fifo_data_enable;
+                unpack_aux_frame(aux_data, &data_index, &aux_index, fifo_data_enable, dev);
+            }
+
+            /* update number of aux data read */
+            *aux_len = aux_index;
+
+            /* update the aux byte index */
+            dev->fifo->aux_byte_start_idx = data_index;
+        } else {
+            /* Parsing the FIFO data in header mode */
+            extract_aux_header_mode(aux_data, aux_len, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API starts the FOC of accel and gyro
+ *
+ *  @note FOC should not be used in low-power mode of sensor
+ *
+ *  @note Accel FOC targets values of +1g , 0g , -1g
+ *  Gyro FOC always targets value of 0 dps
+ */
+int8_t bmi160_start_foc(
+    const struct bmi160_foc_conf* foc_conf,
+    struct bmi160_offsets* offset,
+    struct bmi160_dev const* dev) {
+    int8_t rslt;
+    uint8_t data;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if(rslt != BMI160_OK) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* Set the offset enable bits */
+        rslt = configure_offset_enable(foc_conf, dev);
+        if(rslt == BMI160_OK) {
+            /* Read the FOC config from the sensor */
+            rslt = bmi160_get_regs(BMI160_FOC_CONF_ADDR, &data, 1, dev);
+
+            /* Set the FOC config for gyro */
+            data = BMI160_SET_BITS(data, BMI160_GYRO_FOC_EN, foc_conf->foc_gyr_en);
+
+            /* Set the FOC config for accel xyz axes */
+            data = BMI160_SET_BITS(data, BMI160_ACCEL_FOC_X_CONF, foc_conf->foc_acc_x);
+            data = BMI160_SET_BITS(data, BMI160_ACCEL_FOC_Y_CONF, foc_conf->foc_acc_y);
+            data = BMI160_SET_BITS_POS_0(data, BMI160_ACCEL_FOC_Z_CONF, foc_conf->foc_acc_z);
+            if(rslt == BMI160_OK) {
+                /* Set the FOC config in the sensor */
+                rslt = bmi160_set_regs(BMI160_FOC_CONF_ADDR, &data, 1, dev);
+                if(rslt == BMI160_OK) {
+                    /* Procedure to trigger
+                     * FOC and check status */
+                    rslt = trigger_foc(offset, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API reads and stores the offset values of accel and gyro
+ */
+int8_t bmi160_get_offsets(struct bmi160_offsets* offset, const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data[7];
+    uint8_t lsb, msb;
+    int16_t offset_msb, offset_lsb;
+    int16_t offset_data;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if(rslt != BMI160_OK) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* Read the FOC config from the sensor */
+        rslt = bmi160_get_regs(BMI160_OFFSET_ADDR, data, 7, dev);
+
+        /* Accel offsets */
+        offset->off_acc_x = (int8_t)data[0];
+        offset->off_acc_y = (int8_t)data[1];
+        offset->off_acc_z = (int8_t)data[2];
+
+        /* Gyro x-axis offset */
+        lsb = data[3];
+        msb = BMI160_GET_BITS_POS_0(data[6], BMI160_GYRO_OFFSET_X);
+        offset_msb = (int16_t)(msb << 14);
+        offset_lsb = lsb << 6;
+        offset_data = offset_msb | offset_lsb;
+
+        /* Divide by 64 to get the Right shift by 6 value */
+        offset->off_gyro_x = (int16_t)(offset_data / 64);
+
+        /* Gyro y-axis offset */
+        lsb = data[4];
+        msb = BMI160_GET_BITS(data[6], BMI160_GYRO_OFFSET_Y);
+        offset_msb = (int16_t)(msb << 14);
+        offset_lsb = lsb << 6;
+        offset_data = offset_msb | offset_lsb;
+
+        /* Divide by 64 to get the Right shift by 6 value */
+        offset->off_gyro_y = (int16_t)(offset_data / 64);
+
+        /* Gyro z-axis offset */
+        lsb = data[5];
+        msb = BMI160_GET_BITS(data[6], BMI160_GYRO_OFFSET_Z);
+        offset_msb = (int16_t)(msb << 14);
+        offset_lsb = lsb << 6;
+        offset_data = offset_msb | offset_lsb;
+
+        /* Divide by 64 to get the Right shift by 6 value */
+        offset->off_gyro_z = (int16_t)(offset_data / 64);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API writes the offset values of accel and gyro to
+ *  the sensor but these values will be reset on POR or soft reset.
+ */
+int8_t bmi160_set_offsets(
+    const struct bmi160_foc_conf* foc_conf,
+    const struct bmi160_offsets* offset,
+    struct bmi160_dev const* dev) {
+    int8_t rslt;
+    uint8_t data[7];
+    uint8_t x_msb, y_msb, z_msb;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if(rslt != BMI160_OK) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* Update the accel offset */
+        data[0] = (uint8_t)offset->off_acc_x;
+        data[1] = (uint8_t)offset->off_acc_y;
+        data[2] = (uint8_t)offset->off_acc_z;
+
+        /* Update the LSB of gyro offset */
+        data[3] = BMI160_GET_LSB(offset->off_gyro_x);
+        data[4] = BMI160_GET_LSB(offset->off_gyro_y);
+        data[5] = BMI160_GET_LSB(offset->off_gyro_z);
+
+        /* Update the MSB of gyro offset */
+        x_msb = BMI160_GET_BITS(offset->off_gyro_x, BMI160_GYRO_OFFSET);
+        y_msb = BMI160_GET_BITS(offset->off_gyro_y, BMI160_GYRO_OFFSET);
+        z_msb = BMI160_GET_BITS(offset->off_gyro_z, BMI160_GYRO_OFFSET);
+        data[6] = (uint8_t)(z_msb << 4 | y_msb << 2 | x_msb);
+
+        /* Set the offset enable/disable for gyro and accel */
+        data[6] = BMI160_SET_BITS(data[6], BMI160_GYRO_OFFSET_EN, foc_conf->gyro_off_en);
+        data[6] = BMI160_SET_BITS(data[6], BMI160_ACCEL_OFFSET_EN, foc_conf->acc_off_en);
+
+        /* Set the offset config and values in the sensor */
+        rslt = bmi160_set_regs(BMI160_OFFSET_ADDR, data, 7, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API writes the image registers values to NVM which is
+ *  stored even after POR or soft reset
+ */
+int8_t bmi160_update_nvm(struct bmi160_dev const* dev) {
+    int8_t rslt;
+    uint8_t data;
+    uint8_t cmd = BMI160_NVM_BACKUP_EN;
+
+    /* Read the nvm_prog_en configuration */
+    rslt = bmi160_get_regs(BMI160_CONF_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        data = BMI160_SET_BITS(data, BMI160_NVM_UPDATE, 1);
+
+        /* Set the nvm_prog_en bit in the sensor */
+        rslt = bmi160_set_regs(BMI160_CONF_ADDR, &data, 1, dev);
+        if(rslt == BMI160_OK) {
+            /* Update NVM */
+            rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
+            if(rslt == BMI160_OK) {
+                /* Check for NVM ready status */
+                rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &data, 1, dev);
+                if(rslt == BMI160_OK) {
+                    data = BMI160_GET_BITS(data, BMI160_NVM_STATUS);
+                    if(data != BMI160_ENABLE) {
+                        /* Delay to update NVM */
+                        dev->delay_ms(25);
+                    }
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API gets the interrupt status from the sensor.
+ */
+int8_t bmi160_get_int_status(
+    enum bmi160_int_status_sel int_status_sel,
+    union bmi160_int_status* int_status,
+    struct bmi160_dev const* dev) {
+    int8_t rslt = 0;
+
+    /* To get the status of all interrupts */
+    if(int_status_sel == BMI160_INT_STATUS_ALL) {
+        rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 4, dev);
+    } else {
+        if(int_status_sel & BMI160_INT_STATUS_0) {
+            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 1, dev);
+        }
+
+        if(int_status_sel & BMI160_INT_STATUS_1) {
+            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 1, &int_status->data[1], 1, dev);
+        }
+
+        if(int_status_sel & BMI160_INT_STATUS_2) {
+            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 2, &int_status->data[2], 1, dev);
+        }
+
+        if(int_status_sel & BMI160_INT_STATUS_3) {
+            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 3, &int_status->data[3], 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*********************** Local function definitions ***************************/
+
+/*!
+ * @brief This API sets the any-motion interrupt of the sensor.
+ * This interrupt occurs when accel values exceeds preset threshold
+ * for a certain period of time.
+ */
+static int8_t
+    set_accel_any_motion_int(struct bmi160_int_settg* int_config, struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if((rslt != BMI160_OK) || (int_config == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg =
+            &(int_config->int_type_cfg.acc_any_motion_int);
+        rslt = enable_accel_any_motion_int(any_motion_int_cfg, dev);
+        if(rslt == BMI160_OK) {
+            rslt = config_any_motion_int_settg(int_config, any_motion_int_cfg, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets tap interrupts.Interrupt is fired when
+ * tap movements happen.
+ */
+static int8_t
+    set_accel_tap_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if((rslt != BMI160_OK) || (int_config == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_tap_int_cfg* tap_int_cfg = &(int_config->int_type_cfg.acc_tap_int);
+        rslt = enable_tap_int(int_config, tap_int_cfg, dev);
+        if(rslt == BMI160_OK) {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if(rslt == BMI160_OK) {
+                rslt = config_tap_int_settg(int_config, tap_int_cfg, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the data ready interrupt for both accel and gyro.
+ * This interrupt occurs when new accel and gyro data comes.
+ */
+static int8_t set_accel_gyro_data_ready_int(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if((rslt != BMI160_OK) || (int_config == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        rslt = enable_data_ready_int(dev);
+        if(rslt == BMI160_OK) {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if(rslt == BMI160_OK) {
+                rslt = map_hardware_interrupt(int_config, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the significant motion interrupt of the sensor.This
+ * interrupt occurs when there is change in user location.
+ */
+static int8_t
+    set_accel_sig_motion_int(struct bmi160_int_settg* int_config, struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if((rslt != BMI160_OK) || (int_config == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg =
+            &(int_config->int_type_cfg.acc_sig_motion_int);
+        rslt = enable_sig_motion_int(sig_mot_int_cfg, dev);
+        if(rslt == BMI160_OK) {
+            rslt = config_sig_motion_int_settg(int_config, sig_mot_int_cfg, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the no motion/slow motion interrupt of the sensor.
+ * Slow motion is similar to any motion interrupt.No motion interrupt
+ * occurs when slope bet. two accel values falls below preset threshold
+ * for preset duration.
+ */
+static int8_t
+    set_accel_no_motion_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if((rslt != BMI160_OK) || (int_config == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg =
+            &(int_config->int_type_cfg.acc_no_motion_int);
+        rslt = enable_no_motion_int(no_mot_int_cfg, dev);
+        if(rslt == BMI160_OK) {
+            /* Configure the INT PIN settings*/
+            rslt = config_no_motion_int_settg(int_config, no_mot_int_cfg, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the step detection interrupt.This interrupt
+ * occurs when the single step causes accel values to go above
+ * preset threshold.
+ */
+static int8_t
+    set_accel_step_detect_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if((rslt != BMI160_OK) || (int_config == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_step_detect_int_cfg* step_detect_int_cfg =
+            &(int_config->int_type_cfg.acc_step_detect_int);
+        rslt = enable_step_detect_int(step_detect_int_cfg, dev);
+        if(rslt == BMI160_OK) {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if(rslt == BMI160_OK) {
+                rslt = map_feature_interrupt(int_config, dev);
+                if(rslt == BMI160_OK) {
+                    rslt = config_step_detect(step_detect_int_cfg, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the orientation interrupt of the sensor.This
+ * interrupt occurs when there is orientation change in the sensor
+ * with respect to gravitational field vector g.
+ */
+static int8_t
+    set_accel_orientation_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if((rslt != BMI160_OK) || (int_config == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_orient_int_cfg* orient_int_cfg =
+            &(int_config->int_type_cfg.acc_orient_int);
+        rslt = enable_orient_int(orient_int_cfg, dev);
+        if(rslt == BMI160_OK) {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if(rslt == BMI160_OK) {
+                /* map INT pin to orient interrupt */
+                rslt = map_feature_interrupt(int_config, dev);
+                if(rslt == BMI160_OK) {
+                    /* configure the
+                     * orientation setting*/
+                    rslt = config_orient_int_settg(orient_int_cfg, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the flat interrupt of the sensor.This interrupt
+ * occurs in case of flat orientation
+ */
+static int8_t
+    set_accel_flat_detect_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if((rslt != BMI160_OK) || (int_config == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_flat_detect_int_cfg* flat_detect_int =
+            &(int_config->int_type_cfg.acc_flat_int);
+
+        /* enable the flat interrupt */
+        rslt = enable_flat_int(flat_detect_int, dev);
+        if(rslt == BMI160_OK) {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if(rslt == BMI160_OK) {
+                /* map INT pin to flat interrupt */
+                rslt = map_feature_interrupt(int_config, dev);
+                if(rslt == BMI160_OK) {
+                    /* configure the flat setting*/
+                    rslt = config_flat_int_settg(flat_detect_int, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the low-g interrupt of the sensor.This interrupt
+ * occurs during free-fall.
+ */
+static int8_t
+    set_accel_low_g_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if((rslt != BMI160_OK) || (int_config == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_low_g_int_cfg* low_g_int = &(int_config->int_type_cfg.acc_low_g_int);
+
+        /* Enable the low-g interrupt*/
+        rslt = enable_low_g_int(low_g_int, dev);
+        if(rslt == BMI160_OK) {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if(rslt == BMI160_OK) {
+                /* Map INT pin to low-g interrupt */
+                rslt = map_feature_interrupt(int_config, dev);
+                if(rslt == BMI160_OK) {
+                    /* configure the data source
+                     * for low-g interrupt*/
+                    rslt = config_low_g_data_src(low_g_int, dev);
+                    if(rslt == BMI160_OK) {
+                        rslt = config_low_g_int_settg(low_g_int, dev);
+                    }
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the high-g interrupt of the sensor.The interrupt
+ * occurs if the absolute value of acceleration data of any enabled axis
+ * exceeds the programmed threshold and the sign of the value does not
+ * change for a preset duration.
+ */
+static int8_t
+    set_accel_high_g_int(struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if((rslt != BMI160_OK) || (int_config == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_high_g_int_cfg* high_g_int_cfg =
+            &(int_config->int_type_cfg.acc_high_g_int);
+
+        /* Enable the high-g interrupt */
+        rslt = enable_high_g_int(high_g_int_cfg, dev);
+        if(rslt == BMI160_OK) {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if(rslt == BMI160_OK) {
+                /* Map INT pin to high-g interrupt */
+                rslt = map_feature_interrupt(int_config, dev);
+                if(rslt == BMI160_OK) {
+                    /* configure the data source
+                     * for high-g interrupt*/
+                    rslt = config_high_g_data_src(high_g_int_cfg, dev);
+                    if(rslt == BMI160_OK) {
+                        rslt = config_high_g_int_settg(high_g_int_cfg, dev);
+                    }
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configures the pins to fire the
+ * interrupt signal when it occurs.
+ */
+static int8_t
+    set_intr_pin_config(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* configure the behavioural settings of interrupt pin */
+    rslt = config_int_out_ctrl(int_config, dev);
+    if(rslt == BMI160_OK) {
+        rslt = config_int_latch(int_config, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to validate the device structure pointer for
+ * null conditions.
+ */
+static int8_t null_ptr_check(const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    if((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_ms == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* Device structure is fine */
+        rslt = BMI160_OK;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the default configuration parameters of accel & gyro.
+ * Also maintain the previous state of configurations.
+ */
+static void default_param_settg(struct bmi160_dev* dev) {
+    /* Initializing accel and gyro params with
+     * default values */
+    dev->accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
+    dev->accel_cfg.odr = BMI160_ACCEL_ODR_100HZ;
+    dev->accel_cfg.power = BMI160_ACCEL_SUSPEND_MODE;
+    dev->accel_cfg.range = BMI160_ACCEL_RANGE_2G;
+    dev->gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
+    dev->gyro_cfg.odr = BMI160_GYRO_ODR_100HZ;
+    dev->gyro_cfg.power = BMI160_GYRO_SUSPEND_MODE;
+    dev->gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
+
+    /* To maintain the previous state of accel configuration */
+    dev->prev_accel_cfg = dev->accel_cfg;
+
+    /* To maintain the previous state of gyro configuration */
+    dev->prev_gyro_cfg = dev->gyro_cfg;
+}
+
+/*!
+ * @brief This API set the accel configuration.
+ */
+static int8_t set_accel_conf(struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data[2] = {0};
+
+    rslt = check_accel_config(data, dev);
+    if(rslt == BMI160_OK) {
+        /* Write output data rate and bandwidth */
+        rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, &data[0], 1, dev);
+        if(rslt == BMI160_OK) {
+            dev->prev_accel_cfg.odr = dev->accel_cfg.odr;
+            dev->prev_accel_cfg.bw = dev->accel_cfg.bw;
+
+            /* write accel range */
+            rslt = bmi160_set_regs(BMI160_ACCEL_RANGE_ADDR, &data[1], 1, dev);
+            if(rslt == BMI160_OK) {
+                dev->prev_accel_cfg.range = dev->accel_cfg.range;
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the accel configuration.
+ */
+static int8_t get_accel_conf(struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data[2] = {0};
+
+    /* Get accel configurations */
+    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 2, dev);
+    if(rslt == BMI160_OK) {
+        dev->accel_cfg.odr = (data[0] & BMI160_ACCEL_ODR_MASK);
+        dev->accel_cfg.bw = (data[0] & BMI160_ACCEL_BW_MASK) >> BMI160_ACCEL_BW_POS;
+        dev->accel_cfg.range = (data[1] & BMI160_ACCEL_RANGE_MASK);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API check the accel configuration.
+ */
+static int8_t check_accel_config(uint8_t* data, const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* read accel Output data rate and bandwidth */
+    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 2, dev);
+    if(rslt == BMI160_OK) {
+        rslt = process_accel_odr(&data[0], dev);
+        if(rslt == BMI160_OK) {
+            rslt = process_accel_bw(&data[0], dev);
+            if(rslt == BMI160_OK) {
+                rslt = process_accel_range(&data[1], dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the accel odr.
+ */
+static int8_t process_accel_odr(uint8_t* data, const struct bmi160_dev* dev) {
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t odr = 0;
+
+    if(dev->accel_cfg.odr <= BMI160_ACCEL_ODR_1600HZ) {
+        if(dev->accel_cfg.odr != dev->prev_accel_cfg.odr) {
+            odr = (uint8_t)dev->accel_cfg.odr;
+            temp = *data & ~BMI160_ACCEL_ODR_MASK;
+
+            /* Adding output data rate */
+            *data = temp | (odr & BMI160_ACCEL_ODR_MASK);
+        }
+    } else {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the accel bandwidth.
+ */
+static int8_t process_accel_bw(uint8_t* data, const struct bmi160_dev* dev) {
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t bw = 0;
+
+    if(dev->accel_cfg.bw <= BMI160_ACCEL_BW_RES_AVG128) {
+        if(dev->accel_cfg.bw != dev->prev_accel_cfg.bw) {
+            bw = (uint8_t)dev->accel_cfg.bw;
+            temp = *data & ~BMI160_ACCEL_BW_MASK;
+
+            /* Adding bandwidth */
+            *data = temp | ((bw << 4) & BMI160_ACCEL_BW_MASK);
+        }
+    } else {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the accel range.
+ */
+static int8_t process_accel_range(uint8_t* data, const struct bmi160_dev* dev) {
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t range = 0;
+
+    if(dev->accel_cfg.range <= BMI160_ACCEL_RANGE_16G) {
+        if(dev->accel_cfg.range != dev->prev_accel_cfg.range) {
+            range = (uint8_t)dev->accel_cfg.range;
+            temp = *data & ~BMI160_ACCEL_RANGE_MASK;
+
+            /* Adding range */
+            *data = temp | (range & BMI160_ACCEL_RANGE_MASK);
+        }
+    } else {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API checks the invalid settings for ODR & Bw for
+ * Accel and Gyro.
+ */
+static int8_t check_invalid_settg(const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+
+    /* read the error reg */
+    rslt = bmi160_get_regs(BMI160_ERROR_REG_ADDR, &data, 1, dev);
+    data = data >> 1;
+    data = data & BMI160_ERR_REG_MASK;
+    if(data == 1) {
+        rslt = BMI160_E_ACCEL_ODR_BW_INVALID;
+    } else if(data == 2) {
+        rslt = BMI160_E_GYRO_ODR_BW_INVALID;
+    } else if(data == 3) {
+        rslt = BMI160_E_LWP_PRE_FLTR_INT_INVALID;
+    } else if(data == 7) {
+        rslt = BMI160_E_LWP_PRE_FLTR_INVALID;
+    }
+
+    return rslt;
+}
+static int8_t set_gyro_conf(struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data[2] = {0};
+
+    rslt = check_gyro_config(data, dev);
+    if(rslt == BMI160_OK) {
+        /* Write output data rate and bandwidth */
+        rslt = bmi160_set_regs(BMI160_GYRO_CONFIG_ADDR, &data[0], 1, dev);
+        if(rslt == BMI160_OK) {
+            dev->prev_gyro_cfg.odr = dev->gyro_cfg.odr;
+            dev->prev_gyro_cfg.bw = dev->gyro_cfg.bw;
+
+            /* Write gyro range */
+            rslt = bmi160_set_regs(BMI160_GYRO_RANGE_ADDR, &data[1], 1, dev);
+            if(rslt == BMI160_OK) {
+                dev->prev_gyro_cfg.range = dev->gyro_cfg.range;
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the gyro configuration.
+ */
+static int8_t get_gyro_conf(struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data[2] = {0};
+
+    /* Get accel configurations */
+    rslt = bmi160_get_regs(BMI160_GYRO_CONFIG_ADDR, data, 2, dev);
+    if(rslt == BMI160_OK) {
+        dev->gyro_cfg.odr = (data[0] & BMI160_GYRO_ODR_MASK);
+        dev->gyro_cfg.bw = (data[0] & BMI160_GYRO_BW_MASK) >> BMI160_GYRO_BW_POS;
+        dev->gyro_cfg.range = (data[1] & BMI160_GYRO_RANGE_MASK);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API check the gyro configuration.
+ */
+static int8_t check_gyro_config(uint8_t* data, const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* read gyro Output data rate and bandwidth */
+    rslt = bmi160_get_regs(BMI160_GYRO_CONFIG_ADDR, data, 2, dev);
+    if(rslt == BMI160_OK) {
+        rslt = process_gyro_odr(&data[0], dev);
+        if(rslt == BMI160_OK) {
+            rslt = process_gyro_bw(&data[0], dev);
+            if(rslt == BMI160_OK) {
+                rslt = process_gyro_range(&data[1], dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the gyro odr.
+ */
+static int8_t process_gyro_odr(uint8_t* data, const struct bmi160_dev* dev) {
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t odr = 0;
+
+    if(dev->gyro_cfg.odr <= BMI160_GYRO_ODR_3200HZ) {
+        if(dev->gyro_cfg.odr != dev->prev_gyro_cfg.odr) {
+            odr = (uint8_t)dev->gyro_cfg.odr;
+            temp = (*data & ~BMI160_GYRO_ODR_MASK);
+
+            /* Adding output data rate */
+            *data = temp | (odr & BMI160_GYRO_ODR_MASK);
+        }
+    } else {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the gyro bandwidth.
+ */
+static int8_t process_gyro_bw(uint8_t* data, const struct bmi160_dev* dev) {
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t bw = 0;
+
+    if(dev->gyro_cfg.bw <= BMI160_GYRO_BW_NORMAL_MODE) {
+        bw = (uint8_t)dev->gyro_cfg.bw;
+        temp = *data & ~BMI160_GYRO_BW_MASK;
+
+        /* Adding bandwidth */
+        *data = temp | ((bw << 4) & BMI160_GYRO_BW_MASK);
+    } else {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the gyro range.
+ */
+static int8_t process_gyro_range(uint8_t* data, const struct bmi160_dev* dev) {
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t range = 0;
+
+    if(dev->gyro_cfg.range <= BMI160_GYRO_RANGE_125_DPS) {
+        if(dev->gyro_cfg.range != dev->prev_gyro_cfg.range) {
+            range = (uint8_t)dev->gyro_cfg.range;
+            temp = *data & ~BMI160_GYRO_RANGE_MASK;
+
+            /* Adding range */
+            *data = temp | (range & BMI160_GYRO_RANGE_MASK);
+        }
+    } else {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the accel power.
+ */
+static int8_t set_accel_pwr(struct bmi160_dev* dev) {
+    int8_t rslt = 0;
+    uint8_t data = 0;
+
+    if((dev->accel_cfg.power >= BMI160_ACCEL_SUSPEND_MODE) &&
+       (dev->accel_cfg.power <= BMI160_ACCEL_LOWPOWER_MODE)) {
+        if(dev->accel_cfg.power != dev->prev_accel_cfg.power) {
+            rslt = process_under_sampling(&data, dev);
+            if(rslt == BMI160_OK) {
+                /* Write accel power */
+                rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &dev->accel_cfg.power, 1, dev);
+
+                /* Add delay of 3.8 ms - refer data sheet table 24*/
+                if(dev->prev_accel_cfg.power == BMI160_ACCEL_SUSPEND_MODE) {
+                    dev->delay_ms(BMI160_ACCEL_DELAY_MS);
+                }
+
+                dev->prev_accel_cfg.power = dev->accel_cfg.power;
+            }
+        }
+    } else {
+        rslt = BMI160_E_INVALID_CONFIG;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the undersampling setting of Accel.
+ */
+static int8_t process_under_sampling(uint8_t* data, const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t pre_filter[2] = {0};
+
+    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
+    if(rslt == BMI160_OK) {
+        if(dev->accel_cfg.power == BMI160_ACCEL_LOWPOWER_MODE) {
+            temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK;
+
+            /* Set under-sampling parameter */
+            *data = temp | ((1 << 7) & BMI160_ACCEL_UNDERSAMPLING_MASK);
+
+            /* Write data */
+            rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
+
+            /* Disable the pre-filter data in low power mode */
+            if(rslt == BMI160_OK) {
+                /* Disable the Pre-filter data*/
+                rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, pre_filter, 2, dev);
+            }
+        } else if(*data & BMI160_ACCEL_UNDERSAMPLING_MASK) {
+            temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK;
+
+            /* Disable under-sampling parameter if already enabled */
+            *data = temp;
+
+            /* Write data */
+            rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the gyro power mode.
+ */
+static int8_t set_gyro_pwr(struct bmi160_dev* dev) {
+    int8_t rslt = 0;
+
+    if((dev->gyro_cfg.power == BMI160_GYRO_SUSPEND_MODE) ||
+       (dev->gyro_cfg.power == BMI160_GYRO_NORMAL_MODE) ||
+       (dev->gyro_cfg.power == BMI160_GYRO_FASTSTARTUP_MODE)) {
+        if(dev->gyro_cfg.power != dev->prev_gyro_cfg.power) {
+            /* Write gyro power */
+            rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &dev->gyro_cfg.power, 1, dev);
+            if(dev->prev_gyro_cfg.power == BMI160_GYRO_SUSPEND_MODE) {
+                /* Delay of 80 ms - datasheet Table 24 */
+                dev->delay_ms(BMI160_GYRO_DELAY_MS);
+            } else if(
+                (dev->prev_gyro_cfg.power == BMI160_GYRO_FASTSTARTUP_MODE) &&
+                (dev->gyro_cfg.power == BMI160_GYRO_NORMAL_MODE)) {
+                /* This delay is required for transition from
+                 * fast-startup mode to normal mode - datasheet Table 3 */
+                dev->delay_ms(10);
+            } else {
+                /* do nothing */
+            }
+
+            dev->prev_gyro_cfg.power = dev->gyro_cfg.power;
+        }
+    } else {
+        rslt = BMI160_E_INVALID_CONFIG;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads accel data along with sensor time if time is requested
+ * by user. Kindly refer the user guide(README.md) for more info.
+ */
+static int8_t
+    get_accel_data(uint8_t len, struct bmi160_sensor_data* accel, const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t idx = 0;
+    uint8_t data_array[9] = {0};
+    uint8_t time_0 = 0;
+    uint16_t time_1 = 0;
+    uint32_t time_2 = 0;
+    uint8_t lsb;
+    uint8_t msb;
+    int16_t msblsb;
+
+    /* read accel sensor data along with time if requested */
+    rslt = bmi160_get_regs(BMI160_ACCEL_DATA_ADDR, data_array, 6 + len, dev);
+    if(rslt == BMI160_OK) {
+        /* Accel Data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->x = msblsb; /* Data in X axis */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->y = msblsb; /* Data in Y axis */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->z = msblsb; /* Data in Z axis */
+        if(len == 3) {
+            time_0 = data_array[idx++];
+            time_1 = (uint16_t)(data_array[idx++] << 8);
+            time_2 = (uint32_t)(data_array[idx++] << 16);
+            accel->sensortime = (uint32_t)(time_2 | time_1 | time_0);
+        } else {
+            accel->sensortime = 0;
+        }
+    } else {
+        rslt = BMI160_E_COM_FAIL;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads accel data along with sensor time if time is requested
+ * by user. Kindly refer the user guide(README.md) for more info.
+ */
+static int8_t
+    get_gyro_data(uint8_t len, struct bmi160_sensor_data* gyro, const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t idx = 0;
+    uint8_t data_array[15] = {0};
+    uint8_t time_0 = 0;
+    uint16_t time_1 = 0;
+    uint32_t time_2 = 0;
+    uint8_t lsb;
+    uint8_t msb;
+    int16_t msblsb;
+
+    if(len == 0) {
+        /* read gyro data only */
+        rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 6, dev);
+        if(rslt == BMI160_OK) {
+            /* Gyro Data */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->x = msblsb; /* Data in X axis */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->y = msblsb; /* Data in Y axis */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->z = msblsb; /* Data in Z axis */
+            gyro->sensortime = 0;
+        } else {
+            rslt = BMI160_E_COM_FAIL;
+        }
+    } else {
+        /* read gyro sensor data along with time */
+        rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev);
+        if(rslt == BMI160_OK) {
+            /* Gyro Data */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->x = msblsb; /* gyro X axis data */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->y = msblsb; /* gyro Y axis data */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->z = msblsb; /* gyro Z axis data */
+            idx = idx + 6;
+            time_0 = data_array[idx++];
+            time_1 = (uint16_t)(data_array[idx++] << 8);
+            time_2 = (uint32_t)(data_array[idx++] << 16);
+            gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0);
+        } else {
+            rslt = BMI160_E_COM_FAIL;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads accel and gyro data along with sensor time
+ * if time is requested by user.
+ *  Kindly refer the user guide(README.md) for more info.
+ */
+static int8_t get_accel_gyro_data(
+    uint8_t len,
+    struct bmi160_sensor_data* accel,
+    struct bmi160_sensor_data* gyro,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t idx = 0;
+    uint8_t data_array[15] = {0};
+    uint8_t time_0 = 0;
+    uint16_t time_1 = 0;
+    uint32_t time_2 = 0;
+    uint8_t lsb;
+    uint8_t msb;
+    int16_t msblsb;
+
+    /* read both accel and gyro sensor data
+     * along with time if requested */
+    rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev);
+    if(rslt == BMI160_OK) {
+        /* Gyro Data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        gyro->x = msblsb; /* gyro X axis data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        gyro->y = msblsb; /* gyro Y axis data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        gyro->z = msblsb; /* gyro Z axis data */
+        /* Accel Data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->x = (int16_t)msblsb; /* accel X axis data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->y = (int16_t)msblsb; /* accel Y axis data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->z = (int16_t)msblsb; /* accel Z axis data */
+        if(len == 3) {
+            time_0 = data_array[idx++];
+            time_1 = (uint16_t)(data_array[idx++] << 8);
+            time_2 = (uint32_t)(data_array[idx++] << 16);
+            accel->sensortime = (uint32_t)(time_2 | time_1 | time_0);
+            gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0);
+        } else {
+            accel->sensortime = 0;
+            gyro->sensortime = 0;
+        }
+    } else {
+        rslt = BMI160_E_COM_FAIL;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the any-motion interrupt for accel.
+ */
+static int8_t enable_accel_any_motion_int(
+    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
+    struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable any motion x, any motion y, any motion z
+     * in Int Enable 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        if(any_motion_int_cfg->anymotion_en == BMI160_ENABLE) {
+            temp = data & ~BMI160_ANY_MOTION_X_INT_EN_MASK;
+
+            /* Adding Any_motion x axis */
+            data = temp | (any_motion_int_cfg->anymotion_x & BMI160_ANY_MOTION_X_INT_EN_MASK);
+            temp = data & ~BMI160_ANY_MOTION_Y_INT_EN_MASK;
+
+            /* Adding Any_motion y axis */
+            data = temp |
+                   ((any_motion_int_cfg->anymotion_y << 1) & BMI160_ANY_MOTION_Y_INT_EN_MASK);
+            temp = data & ~BMI160_ANY_MOTION_Z_INT_EN_MASK;
+
+            /* Adding Any_motion z axis */
+            data = temp |
+                   ((any_motion_int_cfg->anymotion_z << 2) & BMI160_ANY_MOTION_Z_INT_EN_MASK);
+
+            /* any-motion feature selected*/
+            dev->any_sig_sel = BMI160_ANY_MOTION_ENABLED;
+        } else {
+            data = data & ~BMI160_ANY_MOTION_ALL_INT_EN_MASK;
+
+            /* neither any-motion feature nor sig-motion selected */
+            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
+        }
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API disable the sig-motion interrupt.
+ */
+static int8_t disable_sig_motion_int(const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Disabling Significant motion interrupt if enabled */
+    rslt = bmi160_get_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = (data & BMI160_SIG_MOTION_SEL_MASK);
+        if(temp) {
+            temp = data & ~BMI160_SIG_MOTION_SEL_MASK;
+            data = temp;
+
+            /* Write data to register */
+            rslt = bmi160_set_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g,
+ *  Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins.
+ */
+static int8_t
+    map_feature_interrupt(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data[3] = {0, 0, 0};
+    uint8_t temp[3] = {0, 0, 0};
+
+    rslt = bmi160_get_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev);
+    if(rslt == BMI160_OK) {
+        temp[0] = data[0] & ~int_mask_lookup_table[int_config->int_type];
+        temp[2] = data[2] & ~int_mask_lookup_table[int_config->int_type];
+        switch(int_config->int_channel) {
+        case BMI160_INT_CHANNEL_NONE:
+            data[0] = temp[0];
+            data[2] = temp[2];
+            break;
+        case BMI160_INT_CHANNEL_1:
+            data[0] = temp[0] | int_mask_lookup_table[int_config->int_type];
+            data[2] = temp[2];
+            break;
+        case BMI160_INT_CHANNEL_2:
+            data[2] = temp[2] | int_mask_lookup_table[int_config->int_type];
+            data[0] = temp[0];
+            break;
+        case BMI160_INT_CHANNEL_BOTH:
+            data[0] = temp[0] | int_mask_lookup_table[int_config->int_type];
+            data[2] = temp[2] | int_mask_lookup_table[int_config->int_type];
+            break;
+        default:
+            rslt = BMI160_E_OUT_OF_RANGE;
+        }
+        if(rslt == BMI160_OK) {
+            rslt = bmi160_set_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full
+ *  and FIFO watermark interrupt.
+ */
+static int8_t map_hardware_interrupt(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    rslt = bmi160_get_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = data & ~int_mask_lookup_table[int_config->int_type];
+        temp = temp & ~((uint8_t)(int_mask_lookup_table[int_config->int_type] << 4));
+        switch(int_config->int_channel) {
+        case BMI160_INT_CHANNEL_NONE:
+            data = temp;
+            break;
+        case BMI160_INT_CHANNEL_1:
+            data = temp | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4);
+            break;
+        case BMI160_INT_CHANNEL_2:
+            data = temp | int_mask_lookup_table[int_config->int_type];
+            break;
+        case BMI160_INT_CHANNEL_BOTH:
+            data = temp | int_mask_lookup_table[int_config->int_type];
+            data = data | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4);
+            break;
+        default:
+            rslt = BMI160_E_OUT_OF_RANGE;
+        }
+        if(rslt == BMI160_OK) {
+            rslt = bmi160_set_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for any-motion interrupt.
+ */
+static int8_t config_any_motion_src(
+    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 1 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
+        data = temp | ((any_motion_int_cfg->anymotion_data_src << 7) & BMI160_MOTION_SRC_INT_MASK);
+
+        /* Write data to DATA 1 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the duration and threshold of
+ * any-motion interrupt.
+ */
+static int8_t config_any_dur_threshold(
+    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+    uint8_t data_array[2] = {0};
+    uint8_t dur;
+
+    /* Configure Int Motion 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_MOTION_0_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        /* slope duration */
+        dur = (uint8_t)any_motion_int_cfg->anymotion_dur;
+        temp = data & ~BMI160_SLOPE_INT_DUR_MASK;
+        data = temp | (dur & BMI160_MOTION_SRC_INT_MASK);
+        data_array[0] = data;
+
+        /* add slope threshold */
+        data_array[1] = any_motion_int_cfg->anymotion_thr;
+
+        /* INT MOTION 0 and INT MOTION 1 address lie consecutively,
+         * hence writing data to respective registers at one go */
+
+        /* Writing to Int_motion 0 and
+         * Int_motion 1 Address simultaneously */
+        rslt = bmi160_set_regs(BMI160_INT_MOTION_0_ADDR, data_array, 2, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure necessary setting of any-motion interrupt.
+ */
+static int8_t config_any_motion_int_settg(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_acc_any_mot_int_cfg* any_motion_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Configure Interrupt pins */
+    rslt = set_intr_pin_config(int_config, dev);
+    if(rslt == BMI160_OK) {
+        rslt = disable_sig_motion_int(dev);
+        if(rslt == BMI160_OK) {
+            rslt = map_feature_interrupt(int_config, dev);
+            if(rslt == BMI160_OK) {
+                rslt = config_any_motion_src(any_motion_int_cfg, dev);
+                if(rslt == BMI160_OK) {
+                    rslt = config_any_dur_threshold(any_motion_int_cfg, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enable the data ready interrupt.
+ */
+static int8_t enable_data_ready_int(const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable data ready interrupt in Int Enable 1 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = data & ~BMI160_DATA_RDY_INT_EN_MASK;
+        data = temp | ((1 << 4) & BMI160_DATA_RDY_INT_EN_MASK);
+
+        /* Writing data to INT ENABLE 1 Address */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the no motion/slow motion interrupt.
+ */
+static int8_t enable_no_motion_int(
+    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable no motion x, no motion y, no motion z
+     * in Int Enable 2 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        if(no_mot_int_cfg->no_motion_x == 1) {
+            temp = data & ~BMI160_NO_MOTION_X_INT_EN_MASK;
+
+            /* Adding No_motion x axis */
+            data = temp | (1 & BMI160_NO_MOTION_X_INT_EN_MASK);
+        }
+
+        if(no_mot_int_cfg->no_motion_y == 1) {
+            temp = data & ~BMI160_NO_MOTION_Y_INT_EN_MASK;
+
+            /* Adding No_motion x axis */
+            data = temp | ((1 << 1) & BMI160_NO_MOTION_Y_INT_EN_MASK);
+        }
+
+        if(no_mot_int_cfg->no_motion_z == 1) {
+            temp = data & ~BMI160_NO_MOTION_Z_INT_EN_MASK;
+
+            /* Adding No_motion x axis */
+            data = temp | ((1 << 2) & BMI160_NO_MOTION_Z_INT_EN_MASK);
+        }
+
+        /* write data to Int Enable 2 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * no motion/slow motion interrupt.
+ */
+static int8_t config_no_motion_int_settg(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Configure Interrupt pins */
+    rslt = set_intr_pin_config(int_config, dev);
+    if(rslt == BMI160_OK) {
+        rslt = map_feature_interrupt(int_config, dev);
+        if(rslt == BMI160_OK) {
+            rslt = config_no_motion_data_src(no_mot_int_cfg, dev);
+            if(rslt == BMI160_OK) {
+                rslt = config_no_motion_dur_thr(no_mot_int_cfg, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of interrupt for no motion.
+ */
+static int8_t config_no_motion_data_src(
+    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 1 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
+        data = temp | ((no_mot_int_cfg->no_motion_src << 7) & BMI160_MOTION_SRC_INT_MASK);
+
+        /* Write data to DATA 1 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the duration and threshold of
+ * no motion/slow motion interrupt along with selection of no/slow motion.
+ */
+static int8_t config_no_motion_dur_thr(
+    const struct bmi160_acc_no_motion_int_cfg* no_mot_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+    uint8_t temp_1 = 0;
+    uint8_t reg_addr;
+    uint8_t data_array[2] = {0};
+
+    /* Configuring INT_MOTION register */
+    reg_addr = BMI160_INT_MOTION_0_ADDR;
+    rslt = bmi160_get_regs(reg_addr, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = data & ~BMI160_NO_MOTION_INT_DUR_MASK;
+
+        /* Adding no_motion duration */
+        data = temp | ((no_mot_int_cfg->no_motion_dur << 2) & BMI160_NO_MOTION_INT_DUR_MASK);
+
+        /* Write data to NO_MOTION 0 address */
+        rslt = bmi160_set_regs(reg_addr, &data, 1, dev);
+        if(rslt == BMI160_OK) {
+            reg_addr = BMI160_INT_MOTION_3_ADDR;
+            rslt = bmi160_get_regs(reg_addr, &data, 1, dev);
+            if(rslt == BMI160_OK) {
+                temp = data & ~BMI160_NO_MOTION_SEL_BIT_MASK;
+
+                /* Adding no_motion_sel bit */
+                temp_1 = (no_mot_int_cfg->no_motion_sel & BMI160_NO_MOTION_SEL_BIT_MASK);
+                data = (temp | temp_1);
+                data_array[1] = data;
+
+                /* Adding no motion threshold */
+                data_array[0] = no_mot_int_cfg->no_motion_thres;
+                reg_addr = BMI160_INT_MOTION_2_ADDR;
+
+                /* writing data to INT_MOTION 2 and INT_MOTION 3
+                 * address simultaneously */
+                rslt = bmi160_set_regs(reg_addr, data_array, 2, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the sig-motion motion interrupt.
+ */
+static int8_t enable_sig_motion_int(
+    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
+    struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* For significant motion,enable any motion x,any motion y,
+     * any motion z in Int Enable 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        if(sig_mot_int_cfg->sig_en == BMI160_ENABLE) {
+            temp = data & ~BMI160_SIG_MOTION_INT_EN_MASK;
+            data = temp | (7 & BMI160_SIG_MOTION_INT_EN_MASK);
+
+            /* sig-motion feature selected*/
+            dev->any_sig_sel = BMI160_SIG_MOTION_ENABLED;
+        } else {
+            data = data & ~BMI160_SIG_MOTION_INT_EN_MASK;
+
+            /* neither any-motion feature nor sig-motion selected */
+            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
+        }
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * significant motion interrupt.
+ */
+static int8_t config_sig_motion_int_settg(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Configure Interrupt pins */
+    rslt = set_intr_pin_config(int_config, dev);
+    if(rslt == BMI160_OK) {
+        rslt = map_feature_interrupt(int_config, dev);
+        if(rslt == BMI160_OK) {
+            rslt = config_sig_motion_data_src(sig_mot_int_cfg, dev);
+            if(rslt == BMI160_OK) {
+                rslt = config_sig_dur_threshold(sig_mot_int_cfg, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for sig motion interrupt.
+ */
+static int8_t config_sig_motion_data_src(
+    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 1 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
+        data = temp | ((sig_mot_int_cfg->sig_data_src << 7) & BMI160_MOTION_SRC_INT_MASK);
+
+        /* Write data to DATA 1 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the threshold, skip and proof time of
+ * sig motion interrupt.
+ */
+static int8_t config_sig_dur_threshold(
+    const struct bmi160_acc_sig_mot_int_cfg* sig_mot_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data;
+    uint8_t temp = 0;
+
+    /* Configuring INT_MOTION registers */
+
+    /* Write significant motion threshold.
+     * This threshold is same as any motion threshold */
+    data = sig_mot_int_cfg->sig_mot_thres;
+
+    /* Write data to INT_MOTION 1 address */
+    rslt = bmi160_set_regs(BMI160_INT_MOTION_1_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        rslt = bmi160_get_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
+        if(rslt == BMI160_OK) {
+            temp = data & ~BMI160_SIG_MOTION_SKIP_MASK;
+
+            /* adding skip time of sig_motion interrupt*/
+            data = temp | ((sig_mot_int_cfg->sig_mot_skip << 2) & BMI160_SIG_MOTION_SKIP_MASK);
+            temp = data & ~BMI160_SIG_MOTION_PROOF_MASK;
+
+            /* adding proof time of sig_motion interrupt */
+            data = temp | ((sig_mot_int_cfg->sig_mot_proof << 4) & BMI160_SIG_MOTION_PROOF_MASK);
+
+            /* configure the int_sig_mot_sel bit to select
+             * significant motion interrupt */
+            temp = data & ~BMI160_SIG_MOTION_SEL_MASK;
+            data = temp | ((sig_mot_int_cfg->sig_en << 1) & BMI160_SIG_MOTION_SEL_MASK);
+            rslt = bmi160_set_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the step detector interrupt.
+ */
+static int8_t enable_step_detect_int(
+    const struct bmi160_acc_step_detect_int_cfg* step_detect_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable data ready interrupt in Int Enable 2 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = data & ~BMI160_STEP_DETECT_INT_EN_MASK;
+        data = temp |
+               ((step_detect_int_cfg->step_detector_en << 3) & BMI160_STEP_DETECT_INT_EN_MASK);
+
+        /* Writing data to INT ENABLE 2 Address */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the step detector parameter.
+ */
+static int8_t config_step_detect(
+    const struct bmi160_acc_step_detect_int_cfg* step_detect_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data_array[2] = {0};
+
+    if(step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_NORMAL) {
+        /* Normal mode setting */
+        data_array[0] = 0x15;
+        data_array[1] = 0x03;
+    } else if(step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_SENSITIVE) {
+        /* Sensitive mode setting */
+        data_array[0] = 0x2D;
+        data_array[1] = 0x00;
+    } else if(step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_ROBUST) {
+        /* Robust mode setting */
+        data_array[0] = 0x1D;
+        data_array[1] = 0x07;
+    } else if(step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_USER_DEFINE) {
+        /* Non recommended User defined setting */
+        /* Configuring STEP_CONFIG register */
+        rslt = bmi160_get_regs(BMI160_INT_STEP_CONFIG_0_ADDR, &data_array[0], 2, dev);
+        if(rslt == BMI160_OK) {
+            temp = data_array[0] & ~BMI160_STEP_DETECT_MIN_THRES_MASK;
+
+            /* Adding min_threshold */
+            data_array[0] = temp | ((step_detect_int_cfg->min_threshold << 3) &
+                                    BMI160_STEP_DETECT_MIN_THRES_MASK);
+            temp = data_array[0] & ~BMI160_STEP_DETECT_STEPTIME_MIN_MASK;
+
+            /* Adding steptime_min */
+            data_array[0] = temp | ((step_detect_int_cfg->steptime_min) &
+                                    BMI160_STEP_DETECT_STEPTIME_MIN_MASK);
+            temp = data_array[1] & ~BMI160_STEP_MIN_BUF_MASK;
+
+            /* Adding steptime_min */
+            data_array[1] = temp |
+                            ((step_detect_int_cfg->step_min_buf) & BMI160_STEP_MIN_BUF_MASK);
+        }
+    }
+
+    /* Write data to STEP_CONFIG register */
+    rslt = bmi160_set_regs(BMI160_INT_STEP_CONFIG_0_ADDR, data_array, 2, dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the single/double tap interrupt.
+ */
+static int8_t enable_tap_int(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable single tap or double tap interrupt in Int Enable 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        if(int_config->int_type == BMI160_ACC_SINGLE_TAP_INT) {
+            temp = data & ~BMI160_SINGLE_TAP_INT_EN_MASK;
+            data = temp | ((tap_int_cfg->tap_en << 5) & BMI160_SINGLE_TAP_INT_EN_MASK);
+        } else {
+            temp = data & ~BMI160_DOUBLE_TAP_INT_EN_MASK;
+            data = temp | ((tap_int_cfg->tap_en << 4) & BMI160_DOUBLE_TAP_INT_EN_MASK);
+        }
+
+        /* Write to Enable 0 Address */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * tap interrupt.
+ */
+static int8_t config_tap_int_settg(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Configure Interrupt pins */
+    rslt = set_intr_pin_config(int_config, dev);
+    if(rslt == BMI160_OK) {
+        rslt = map_feature_interrupt(int_config, dev);
+        if(rslt == BMI160_OK) {
+            rslt = config_tap_data_src(tap_int_cfg, dev);
+            if(rslt == BMI160_OK) {
+                rslt = config_tap_param(int_config, tap_int_cfg, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for tap interrupt.
+ */
+static int8_t config_tap_data_src(
+    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 0 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = data & ~BMI160_TAP_SRC_INT_MASK;
+        data = temp | ((tap_int_cfg->tap_data_src << 3) & BMI160_TAP_SRC_INT_MASK);
+
+        /* Write data to Data 0 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the  parameters of tap interrupt.
+ * Threshold, quite, shock, and duration.
+ */
+static int8_t config_tap_param(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_acc_tap_int_cfg* tap_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data = 0;
+    uint8_t data_array[2] = {0};
+    uint8_t count = 0;
+    uint8_t dur, shock, quiet, thres;
+
+    /* Configure tap 0 register for tap shock,tap quiet duration
+     * in case of single tap interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_TAP_0_ADDR, data_array, 2, dev);
+    if(rslt == BMI160_OK) {
+        data = data_array[count];
+        if(int_config->int_type == BMI160_ACC_DOUBLE_TAP_INT) {
+            dur = (uint8_t)tap_int_cfg->tap_dur;
+            temp = (data & ~BMI160_TAP_DUR_MASK);
+
+            /* Add tap duration data in case of
+             * double tap interrupt */
+            data = temp | (dur & BMI160_TAP_DUR_MASK);
+        }
+
+        shock = (uint8_t)tap_int_cfg->tap_shock;
+        temp = data & ~BMI160_TAP_SHOCK_DUR_MASK;
+        data = temp | ((shock << 6) & BMI160_TAP_SHOCK_DUR_MASK);
+        quiet = (uint8_t)tap_int_cfg->tap_quiet;
+        temp = data & ~BMI160_TAP_QUIET_DUR_MASK;
+        data = temp | ((quiet << 7) & BMI160_TAP_QUIET_DUR_MASK);
+        data_array[count++] = data;
+        data = data_array[count];
+        thres = (uint8_t)tap_int_cfg->tap_thr;
+        temp = data & ~BMI160_TAP_THRES_MASK;
+        data = temp | (thres & BMI160_TAP_THRES_MASK);
+        data_array[count++] = data;
+
+        /* TAP 0 and TAP 1 address lie consecutively,
+         * hence writing data to respective registers at one go */
+
+        /* Writing to Tap 0 and Tap 1 Address simultaneously */
+        rslt = bmi160_set_regs(BMI160_INT_TAP_0_ADDR, data_array, count, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the secondary interface.
+ */
+static int8_t config_sec_if(const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t if_conf = 0;
+    uint8_t cmd = BMI160_AUX_NORMAL_MODE;
+
+    /* set the aux power mode to normal*/
+    rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
+    if(rslt == BMI160_OK) {
+        /* 0.5ms delay - refer datasheet table 24*/
+        dev->delay_ms(1);
+        rslt = bmi160_get_regs(BMI160_IF_CONF_ADDR, &if_conf, 1, dev);
+        if_conf |= (uint8_t)(1 << 5);
+        if(rslt == BMI160_OK) {
+            /*enable the secondary interface also*/
+            rslt = bmi160_set_regs(BMI160_IF_CONF_ADDR, &if_conf, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the ODR of the auxiliary sensor.
+ */
+static int8_t config_aux_odr(const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t aux_odr;
+
+    rslt = bmi160_get_regs(BMI160_AUX_ODR_ADDR, &aux_odr, 1, dev);
+    if(rslt == BMI160_OK) {
+        aux_odr = (uint8_t)(dev->aux_cfg.aux_odr);
+
+        /* Set the secondary interface ODR
+         * i.e polling rate of secondary sensor */
+        rslt = bmi160_set_regs(BMI160_AUX_ODR_ADDR, &aux_odr, 1, dev);
+        dev->delay_ms(BMI160_AUX_COM_DELAY);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API maps the actual burst read length set by user.
+ */
+static int8_t map_read_len(uint16_t* len, const struct bmi160_dev* dev) {
+    int8_t rslt = BMI160_OK;
+
+    switch(dev->aux_cfg.aux_rd_burst_len) {
+    case BMI160_AUX_READ_LEN_0:
+        *len = 1;
+        break;
+    case BMI160_AUX_READ_LEN_1:
+        *len = 2;
+        break;
+    case BMI160_AUX_READ_LEN_2:
+        *len = 6;
+        break;
+    case BMI160_AUX_READ_LEN_3:
+        *len = 8;
+        break;
+    default:
+        rslt = BMI160_E_INVALID_INPUT;
+        break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the settings of auxiliary sensor.
+ */
+static int8_t config_aux_settg(const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    rslt = config_sec_if(dev);
+    if(rslt == BMI160_OK) {
+        /* Configures the auxiliary interface settings */
+        rslt = bmi160_config_aux_mode(dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API extract the read data from auxiliary sensor.
+ */
+static int8_t extract_aux_read(
+    uint16_t map_len,
+    uint8_t reg_addr,
+    uint8_t* aux_data,
+    uint16_t len,
+    const struct bmi160_dev* dev) {
+    int8_t rslt = BMI160_OK;
+    uint8_t data[8] = {
+        0,
+    };
+    uint8_t read_addr = BMI160_AUX_DATA_ADDR;
+    uint8_t count = 0;
+    uint8_t read_count;
+    uint8_t read_len = (uint8_t)map_len;
+
+    for(; count < len;) {
+        /* set address to read */
+        rslt = bmi160_set_regs(BMI160_AUX_IF_2_ADDR, &reg_addr, 1, dev);
+        dev->delay_ms(BMI160_AUX_COM_DELAY);
+        if(rslt == BMI160_OK) {
+            rslt = bmi160_get_regs(read_addr, data, map_len, dev);
+            if(rslt == BMI160_OK) {
+                read_count = 0;
+
+                /* if read len is less the burst read len
+                 * mention by user*/
+                if(len < map_len) {
+                    read_len = (uint8_t)len;
+                } else if((len - count) < map_len) {
+                    read_len = (uint8_t)(len - count);
+                }
+
+                for(; read_count < read_len; read_count++) {
+                    aux_data[count + read_count] = data[read_count];
+                }
+
+                reg_addr += (uint8_t)map_len;
+                count += (uint8_t)map_len;
+            } else {
+                rslt = BMI160_E_COM_FAIL;
+                break;
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the orient interrupt.
+ */
+static int8_t enable_orient_int(
+    const struct bmi160_acc_orient_int_cfg* orient_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable data ready interrupt in Int Enable 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = data & ~BMI160_ORIENT_INT_EN_MASK;
+        data = temp | ((orient_int_cfg->orient_en << 6) & BMI160_ORIENT_INT_EN_MASK);
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the necessary setting of orientation interrupt.
+ */
+static int8_t config_orient_int_settg(
+    const struct bmi160_acc_orient_int_cfg* orient_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+    uint8_t data_array[2] = {0, 0};
+
+    /* Configuring INT_ORIENT registers */
+    rslt = bmi160_get_regs(BMI160_INT_ORIENT_0_ADDR, data_array, 2, dev);
+    if(rslt == BMI160_OK) {
+        data = data_array[0];
+        temp = data & ~BMI160_ORIENT_MODE_MASK;
+
+        /* Adding Orientation mode */
+        data = temp | ((orient_int_cfg->orient_mode) & BMI160_ORIENT_MODE_MASK);
+        temp = data & ~BMI160_ORIENT_BLOCK_MASK;
+
+        /* Adding Orientation blocking */
+        data = temp | ((orient_int_cfg->orient_blocking << 2) & BMI160_ORIENT_BLOCK_MASK);
+        temp = data & ~BMI160_ORIENT_HYST_MASK;
+
+        /* Adding Orientation hysteresis */
+        data = temp | ((orient_int_cfg->orient_hyst << 4) & BMI160_ORIENT_HYST_MASK);
+        data_array[0] = data;
+        data = data_array[1];
+        temp = data & ~BMI160_ORIENT_THETA_MASK;
+
+        /* Adding Orientation threshold */
+        data = temp | ((orient_int_cfg->orient_theta) & BMI160_ORIENT_THETA_MASK);
+        temp = data & ~BMI160_ORIENT_UD_ENABLE;
+
+        /* Adding Orient_ud_en */
+        data = temp | ((orient_int_cfg->orient_ud_en << 6) & BMI160_ORIENT_UD_ENABLE);
+        temp = data & ~BMI160_AXES_EN_MASK;
+
+        /* Adding axes_en */
+        data = temp | ((orient_int_cfg->axes_ex << 7) & BMI160_AXES_EN_MASK);
+        data_array[1] = data;
+
+        /* Writing data to INT_ORIENT 0 and INT_ORIENT 1
+         * registers simultaneously */
+        rslt = bmi160_set_regs(BMI160_INT_ORIENT_0_ADDR, data_array, 2, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the flat interrupt.
+ */
+static int8_t enable_flat_int(
+    const struct bmi160_acc_flat_detect_int_cfg* flat_int,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable flat interrupt in Int Enable 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = data & ~BMI160_FLAT_INT_EN_MASK;
+        data = temp | ((flat_int->flat_en << 7) & BMI160_FLAT_INT_EN_MASK);
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the necessary setting of flat interrupt.
+ */
+static int8_t config_flat_int_settg(
+    const struct bmi160_acc_flat_detect_int_cfg* flat_int,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+    uint8_t data_array[2] = {0, 0};
+
+    /* Configuring INT_FLAT register */
+    rslt = bmi160_get_regs(BMI160_INT_FLAT_0_ADDR, data_array, 2, dev);
+    if(rslt == BMI160_OK) {
+        data = data_array[0];
+        temp = data & ~BMI160_FLAT_THRES_MASK;
+
+        /* Adding flat theta */
+        data = temp | ((flat_int->flat_theta) & BMI160_FLAT_THRES_MASK);
+        data_array[0] = data;
+        data = data_array[1];
+        temp = data & ~BMI160_FLAT_HOLD_TIME_MASK;
+
+        /* Adding flat hold time */
+        data = temp | ((flat_int->flat_hold_time << 4) & BMI160_FLAT_HOLD_TIME_MASK);
+        temp = data & ~BMI160_FLAT_HYST_MASK;
+
+        /* Adding flat hysteresis */
+        data = temp | ((flat_int->flat_hy) & BMI160_FLAT_HYST_MASK);
+        data_array[1] = data;
+
+        /* Writing data to INT_FLAT 0 and INT_FLAT 1
+         * registers simultaneously */
+        rslt = bmi160_set_regs(BMI160_INT_FLAT_0_ADDR, data_array, 2, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the Low-g interrupt.
+ */
+static int8_t enable_low_g_int(
+    const struct bmi160_acc_low_g_int_cfg* low_g_int,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable low-g interrupt in Int Enable 1 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = data & ~BMI160_LOW_G_INT_EN_MASK;
+        data = temp | ((low_g_int->low_en << 3) & BMI160_LOW_G_INT_EN_MASK);
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for low-g interrupt.
+ */
+static int8_t config_low_g_data_src(
+    const struct bmi160_acc_low_g_int_cfg* low_g_int,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 0 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = data & ~BMI160_LOW_HIGH_SRC_INT_MASK;
+        data = temp | ((low_g_int->low_data_src << 7) & BMI160_LOW_HIGH_SRC_INT_MASK);
+
+        /* Write data to Data 0 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the necessary setting of low-g interrupt.
+ */
+static int8_t config_low_g_int_settg(
+    const struct bmi160_acc_low_g_int_cfg* low_g_int,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data_array[3] = {0, 0, 0};
+
+    /* Configuring INT_LOWHIGH register for low-g interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_LOWHIGH_2_ADDR, &data_array[2], 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = data_array[2] & ~BMI160_LOW_G_HYST_MASK;
+
+        /* Adding low-g hysteresis */
+        data_array[2] = temp | (low_g_int->low_hyst & BMI160_LOW_G_HYST_MASK);
+        temp = data_array[2] & ~BMI160_LOW_G_LOW_MODE_MASK;
+
+        /* Adding low-mode */
+        data_array[2] = temp | ((low_g_int->low_mode << 2) & BMI160_LOW_G_LOW_MODE_MASK);
+
+        /* Adding low-g threshold */
+        data_array[1] = low_g_int->low_thres;
+
+        /* Adding low-g interrupt delay */
+        data_array[0] = low_g_int->low_dur;
+
+        /* Writing data to INT_LOWHIGH 0,1,2 registers simultaneously*/
+        rslt = bmi160_set_regs(BMI160_INT_LOWHIGH_0_ADDR, data_array, 3, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the high-g interrupt.
+ */
+static int8_t enable_high_g_int(
+    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable low-g interrupt in Int Enable 1 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        /* Adding high-g X-axis */
+        temp = data & ~BMI160_HIGH_G_X_INT_EN_MASK;
+        data = temp | (high_g_int_cfg->high_g_x & BMI160_HIGH_G_X_INT_EN_MASK);
+
+        /* Adding high-g Y-axis */
+        temp = data & ~BMI160_HIGH_G_Y_INT_EN_MASK;
+        data = temp | ((high_g_int_cfg->high_g_y << 1) & BMI160_HIGH_G_Y_INT_EN_MASK);
+
+        /* Adding high-g Z-axis */
+        temp = data & ~BMI160_HIGH_G_Z_INT_EN_MASK;
+        data = temp | ((high_g_int_cfg->high_g_z << 2) & BMI160_HIGH_G_Z_INT_EN_MASK);
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for high-g interrupt.
+ */
+static int8_t config_high_g_data_src(
+    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 0 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = data & ~BMI160_LOW_HIGH_SRC_INT_MASK;
+        data = temp | ((high_g_int_cfg->high_data_src << 7) & BMI160_LOW_HIGH_SRC_INT_MASK);
+
+        /* Write data to Data 0 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the necessary setting of high-g interrupt.
+ */
+static int8_t config_high_g_int_settg(
+    const struct bmi160_acc_high_g_int_cfg* high_g_int_cfg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data_array[3] = {0, 0, 0};
+
+    rslt = bmi160_get_regs(BMI160_INT_LOWHIGH_2_ADDR, &data_array[0], 1, dev);
+    if(rslt == BMI160_OK) {
+        temp = data_array[0] & ~BMI160_HIGH_G_HYST_MASK;
+
+        /* Adding high-g hysteresis */
+        data_array[0] = temp | ((high_g_int_cfg->high_hy << 6) & BMI160_HIGH_G_HYST_MASK);
+
+        /* Adding high-g duration */
+        data_array[1] = high_g_int_cfg->high_dur;
+
+        /* Adding high-g threshold */
+        data_array[2] = high_g_int_cfg->high_thres;
+        rslt = bmi160_set_regs(BMI160_INT_LOWHIGH_2_ADDR, data_array, 3, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the behavioural setting of interrupt pin.
+ */
+static int8_t
+    config_int_out_ctrl(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data = 0;
+
+    /* Configuration of output interrupt signals on pins INT1 and INT2 are
+     * done in BMI160_INT_OUT_CTRL_ADDR register*/
+    rslt = bmi160_get_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        /* updating the interrupt pin structure to local structure */
+        const struct bmi160_int_pin_settg* intr_pin_sett = &(int_config->int_pin_settg);
+
+        /* Configuring channel 1 */
+        if(int_config->int_channel == BMI160_INT_CHANNEL_1) {
+            /* Output enable */
+            temp = data & ~BMI160_INT1_OUTPUT_EN_MASK;
+            data = temp | ((intr_pin_sett->output_en << 3) & BMI160_INT1_OUTPUT_EN_MASK);
+
+            /* Output mode */
+            temp = data & ~BMI160_INT1_OUTPUT_MODE_MASK;
+            data = temp | ((intr_pin_sett->output_mode << 2) & BMI160_INT1_OUTPUT_MODE_MASK);
+
+            /* Output type */
+            temp = data & ~BMI160_INT1_OUTPUT_TYPE_MASK;
+            data = temp | ((intr_pin_sett->output_type << 1) & BMI160_INT1_OUTPUT_TYPE_MASK);
+
+            /* edge control */
+            temp = data & ~BMI160_INT1_EDGE_CTRL_MASK;
+            data = temp | ((intr_pin_sett->edge_ctrl) & BMI160_INT1_EDGE_CTRL_MASK);
+        } else {
+            /* Configuring channel 2 */
+            /* Output enable */
+            temp = data & ~BMI160_INT2_OUTPUT_EN_MASK;
+            data = temp | ((intr_pin_sett->output_en << 7) & BMI160_INT2_OUTPUT_EN_MASK);
+
+            /* Output mode */
+            temp = data & ~BMI160_INT2_OUTPUT_MODE_MASK;
+            data = temp | ((intr_pin_sett->output_mode << 6) & BMI160_INT2_OUTPUT_MODE_MASK);
+
+            /* Output type */
+            temp = data & ~BMI160_INT2_OUTPUT_TYPE_MASK;
+            data = temp | ((intr_pin_sett->output_type << 5) & BMI160_INT2_OUTPUT_TYPE_MASK);
+
+            /* edge control */
+            temp = data & ~BMI160_INT2_EDGE_CTRL_MASK;
+            data = temp | ((intr_pin_sett->edge_ctrl << 4) & BMI160_INT2_EDGE_CTRL_MASK);
+        }
+
+        rslt = bmi160_set_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the mode(input enable, latch or non-latch) of interrupt pin.
+ */
+static int8_t
+    config_int_latch(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data = 0;
+
+    /* Configuration of latch on pins INT1 and INT2 are done in
+     * BMI160_INT_LATCH_ADDR register*/
+    rslt = bmi160_get_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        /* updating the interrupt pin structure to local structure */
+        const struct bmi160_int_pin_settg* intr_pin_sett = &(int_config->int_pin_settg);
+        if(int_config->int_channel == BMI160_INT_CHANNEL_1) {
+            /* Configuring channel 1 */
+            /* Input enable */
+            temp = data & ~BMI160_INT1_INPUT_EN_MASK;
+            data = temp | ((intr_pin_sett->input_en << 4) & BMI160_INT1_INPUT_EN_MASK);
+        } else {
+            /* Configuring channel 2 */
+            /* Input enable */
+            temp = data & ~BMI160_INT2_INPUT_EN_MASK;
+            data = temp | ((intr_pin_sett->input_en << 5) & BMI160_INT2_INPUT_EN_MASK);
+        }
+
+        /* In case of latch interrupt,update the latch duration */
+
+        /* Latching holds the interrupt for the amount of latch
+         * duration time */
+        temp = data & ~BMI160_INT_LATCH_MASK;
+        data = temp | (intr_pin_sett->latch_dur & BMI160_INT_LATCH_MASK);
+
+        /* OUT_CTRL_INT and LATCH_INT address lie consecutively,
+         * hence writing data to respective registers at one go */
+        rslt = bmi160_set_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs the self test for accelerometer of BMI160
+ */
+static int8_t perform_accel_self_test(struct bmi160_dev* dev) {
+    int8_t rslt;
+    struct bmi160_sensor_data accel_pos, accel_neg;
+
+    /* Enable Gyro self test bit */
+    rslt = enable_accel_self_test(dev);
+    if(rslt == BMI160_OK) {
+        /* Perform accel self test with positive excitation */
+        rslt = accel_self_test_positive_excitation(&accel_pos, dev);
+        if(rslt == BMI160_OK) {
+            /* Perform accel self test with negative excitation */
+            rslt = accel_self_test_negative_excitation(&accel_neg, dev);
+            if(rslt == BMI160_OK) {
+                /* Validate the self test result */
+                rslt = validate_accel_self_test(&accel_pos, &accel_neg);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables to perform the accel self test by setting proper
+ * configurations to facilitate accel self test
+ */
+static int8_t enable_accel_self_test(struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Set the Accel power mode as normal mode */
+    dev->accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
+
+    /* Set the sensor range configuration as 8G */
+    dev->accel_cfg.range = BMI160_ACCEL_RANGE_8G;
+    rslt = bmi160_set_sens_conf(dev);
+    if(rslt == BMI160_OK) {
+        /* Accel configurations are set to facilitate self test
+         * acc_odr - 1600Hz ; acc_bwp = 2 ; acc_us = 0 */
+        reg_data = BMI160_ACCEL_SELF_TEST_CONFIG;
+        rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, &reg_data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs accel self test with positive excitation
+ */
+static int8_t accel_self_test_positive_excitation(
+    struct bmi160_sensor_data* accel_pos,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Enable accel self test with positive self-test excitation
+     * and with amplitude of deflection set as high */
+    reg_data = BMI160_ACCEL_SELF_TEST_POSITIVE_EN;
+    rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
+    if(rslt == BMI160_OK) {
+        /* Read the data after a delay of 50ms - refer datasheet  2.8.1 accel self test*/
+        dev->delay_ms(BMI160_ACCEL_SELF_TEST_DELAY);
+        rslt = bmi160_get_sensor_data(BMI160_ACCEL_ONLY, accel_pos, NULL, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs accel self test with negative excitation
+ */
+static int8_t accel_self_test_negative_excitation(
+    struct bmi160_sensor_data* accel_neg,
+    const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Enable accel self test with negative self-test excitation
+     * and with amplitude of deflection set as high */
+    reg_data = BMI160_ACCEL_SELF_TEST_NEGATIVE_EN;
+    rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
+    if(rslt == BMI160_OK) {
+        /* Read the data after a delay of 50ms */
+        dev->delay_ms(BMI160_ACCEL_SELF_TEST_DELAY);
+        rslt = bmi160_get_sensor_data(BMI160_ACCEL_ONLY, accel_neg, NULL, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API validates the accel self test results
+ */
+static int8_t validate_accel_self_test(
+    const struct bmi160_sensor_data* accel_pos,
+    const struct bmi160_sensor_data* accel_neg) {
+    int8_t rslt;
+
+    /* Validate the results of self test */
+    if(((accel_neg->x - accel_pos->x) > BMI160_ACCEL_SELF_TEST_LIMIT) &&
+       ((accel_neg->y - accel_pos->y) > BMI160_ACCEL_SELF_TEST_LIMIT) &&
+       ((accel_neg->z - accel_pos->z) > BMI160_ACCEL_SELF_TEST_LIMIT)) {
+        /* Self test pass condition */
+        rslt = BMI160_OK;
+    } else {
+        rslt = BMI160_W_ACCEl_SELF_TEST_FAIL;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs the self test for gyroscope of BMI160
+ */
+static int8_t perform_gyro_self_test(const struct bmi160_dev* dev) {
+    int8_t rslt;
+
+    /* Enable Gyro self test bit */
+    rslt = enable_gyro_self_test(dev);
+    if(rslt == BMI160_OK) {
+        /* Validate the gyro self test a delay of 50ms */
+        dev->delay_ms(50);
+
+        /* Validate the gyro self test results */
+        rslt = validate_gyro_self_test(dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the self test bit to trigger self test for Gyro
+ */
+static int8_t enable_gyro_self_test(const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Enable the Gyro self test bit to trigger the self test */
+    rslt = bmi160_get_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
+    if(rslt == BMI160_OK) {
+        reg_data = BMI160_SET_BITS(reg_data, BMI160_GYRO_SELF_TEST, 1);
+        rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
+        if(rslt == BMI160_OK) {
+            /* Delay to enable gyro self test */
+            dev->delay_ms(15);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API validates the self test results of Gyro
+ */
+static int8_t validate_gyro_self_test(const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Validate the Gyro self test result */
+    rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &reg_data, 1, dev);
+    if(rslt == BMI160_OK) {
+        reg_data = BMI160_GET_BITS(reg_data, BMI160_GYRO_SELF_TEST_STATUS);
+        if(reg_data == BMI160_ENABLE) {
+            /* Gyro self test success case */
+            rslt = BMI160_OK;
+        } else {
+            rslt = BMI160_W_GYRO_SELF_TEST_FAIL;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API sets FIFO full interrupt of the sensor.This interrupt
+ *  occurs when the FIFO is full and the next full data sample would cause
+ *  a FIFO overflow, which may delete the old samples.
+ */
+static int8_t
+    set_fifo_full_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
+    int8_t rslt = BMI160_OK;
+
+    /* Null-pointer check */
+    if((dev == NULL) || (dev->delay_ms == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /*enable the fifo full interrupt */
+        rslt = enable_fifo_full_int(int_config, dev);
+        if(rslt == BMI160_OK) {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if(rslt == BMI160_OK) {
+                rslt = map_hardware_interrupt(int_config, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This enable the FIFO full interrupt engine.
+ */
+static int8_t
+    enable_fifo_full_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        data = BMI160_SET_BITS(data, BMI160_FIFO_FULL_INT, int_config->fifo_full_int_en);
+
+        /* Writing data to INT ENABLE 1 Address */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API sets FIFO watermark interrupt of the sensor.The FIFO
+ *  watermark interrupt is fired, when the FIFO fill level is above a fifo
+ *  watermark.
+ */
+static int8_t set_fifo_watermark_int(
+    const struct bmi160_int_settg* int_config,
+    const struct bmi160_dev* dev) {
+    int8_t rslt = BMI160_OK;
+
+    if((dev == NULL) || (dev->delay_ms == NULL)) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* Enable fifo-watermark interrupt in Int Enable 1 register */
+        rslt = enable_fifo_wtm_int(int_config, dev);
+        if(rslt == BMI160_OK) {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if(rslt == BMI160_OK) {
+                rslt = map_hardware_interrupt(int_config, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This enable the FIFO watermark interrupt engine.
+ */
+static int8_t
+    enable_fifo_wtm_int(const struct bmi160_int_settg* int_config, const struct bmi160_dev* dev) {
+    int8_t rslt;
+    uint8_t data = 0;
+
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        data = BMI160_SET_BITS(data, BMI160_FIFO_WTM_INT, int_config->fifo_wtm_int_en);
+
+        /* Writing data to INT ENABLE 1 Address */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to reset the FIFO related configurations
+ *  in the fifo_frame structure.
+ */
+static void reset_fifo_data_structure(const struct bmi160_dev* dev) {
+    /*Prepare for next FIFO read by resetting FIFO's
+     * internal data structures*/
+    dev->fifo->accel_byte_start_idx = 0;
+    dev->fifo->gyro_byte_start_idx = 0;
+    dev->fifo->aux_byte_start_idx = 0;
+    dev->fifo->sensor_time = 0;
+    dev->fifo->skipped_frame_count = 0;
+}
+
+/*!
+ *  @brief This API is used to read fifo_byte_counter value (i.e)
+ *  current fill-level in Fifo buffer.
+ */
+static int8_t get_fifo_byte_counter(uint16_t* bytes_to_read, struct bmi160_dev const* dev) {
+    int8_t rslt = 0;
+    uint8_t data[2];
+    uint8_t addr = BMI160_FIFO_LENGTH_ADDR;
+
+    rslt |= bmi160_get_regs(addr, data, 2, dev);
+    data[1] = data[1] & BMI160_FIFO_BYTE_COUNTER_MASK;
+
+    /* Available data in FIFO is stored in bytes_to_read*/
+    *bytes_to_read = (((uint16_t)data[1] << 8) | ((uint16_t)data[0]));
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to compute the number of bytes of accel FIFO data
+ *  which is to be parsed in header-less mode
+ */
+static void get_accel_len_to_parse(
+    uint16_t* data_index,
+    uint16_t* data_read_length,
+    const uint8_t* acc_frame_count,
+    const struct bmi160_dev* dev) {
+    /* Data start index */
+    *data_index = dev->fifo->accel_byte_start_idx;
+    if(dev->fifo->fifo_data_enable == BMI160_FIFO_A_ENABLE) {
+        *data_read_length = (*acc_frame_count) * BMI160_FIFO_A_LENGTH;
+    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_G_A_ENABLE) {
+        *data_read_length = (*acc_frame_count) * BMI160_FIFO_GA_LENGTH;
+    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_A_ENABLE) {
+        *data_read_length = (*acc_frame_count) * BMI160_FIFO_MA_LENGTH;
+    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE) {
+        *data_read_length = (*acc_frame_count) * BMI160_FIFO_MGA_LENGTH;
+    } else {
+        /* When accel is not enabled ,there will be no accel data.
+         * so we update the data index as complete */
+        *data_index = dev->fifo->length;
+    }
+
+    if(*data_read_length > dev->fifo->length) {
+        /* Handling the case where more data is requested
+         * than that is available*/
+        *data_read_length = dev->fifo->length;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed.
+ */
+static void unpack_accel_frame(
+    struct bmi160_sensor_data* acc,
+    uint16_t* idx,
+    uint8_t* acc_idx,
+    uint8_t frame_info,
+    const struct bmi160_dev* dev) {
+    switch(frame_info) {
+    case BMI160_FIFO_HEAD_A:
+    case BMI160_FIFO_A_ENABLE:
+
+        /*Partial read, then skip the data*/
+        if((*idx + BMI160_FIFO_A_LENGTH) > dev->fifo->length) {
+            /*Update the data index as complete*/
+            *idx = dev->fifo->length;
+            break;
+        }
+
+        /*Unpack the data array into the structure instance "acc" */
+        unpack_accel_data(&acc[*acc_idx], *idx, dev);
+
+        /*Move the data index*/
+        *idx = *idx + BMI160_FIFO_A_LENGTH;
+        (*acc_idx)++;
+        break;
+    case BMI160_FIFO_HEAD_G_A:
+    case BMI160_FIFO_G_A_ENABLE:
+
+        /*Partial read, then skip the data*/
+        if((*idx + BMI160_FIFO_GA_LENGTH) > dev->fifo->length) {
+            /*Update the data index as complete*/
+            *idx = dev->fifo->length;
+            break;
+        }
+
+        /*Unpack the data array into structure instance "acc"*/
+        unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_G_LENGTH, dev);
+
+        /*Move the data index*/
+        *idx = *idx + BMI160_FIFO_GA_LENGTH;
+        (*acc_idx)++;
+        break;
+    case BMI160_FIFO_HEAD_M_A:
+    case BMI160_FIFO_M_A_ENABLE:
+
+        /*Partial read, then skip the data*/
+        if((*idx + BMI160_FIFO_MA_LENGTH) > dev->fifo->length) {
+            /*Update the data index as complete*/
+            *idx = dev->fifo->length;
+            break;
+        }
+
+        /*Unpack the data array into structure instance "acc"*/
+        unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
+
+        /*Move the data index*/
+        *idx = *idx + BMI160_FIFO_MA_LENGTH;
+        (*acc_idx)++;
+        break;
+    case BMI160_FIFO_HEAD_M_G_A:
+    case BMI160_FIFO_M_G_A_ENABLE:
+
+        /*Partial read, then skip the data*/
+        if((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length) {
+            /*Update the data index as complete*/
+            *idx = dev->fifo->length;
+            break;
+        }
+
+        /*Unpack the data array into structure instance "acc"*/
+        unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_MG_LENGTH, dev);
+
+        /*Move the data index*/
+        *idx = *idx + BMI160_FIFO_MGA_LENGTH;
+        (*acc_idx)++;
+        break;
+    case BMI160_FIFO_HEAD_M:
+    case BMI160_FIFO_M_ENABLE:
+        (*idx) = (*idx) + BMI160_FIFO_M_LENGTH;
+        break;
+    case BMI160_FIFO_HEAD_G:
+    case BMI160_FIFO_G_ENABLE:
+        (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
+        break;
+    case BMI160_FIFO_HEAD_M_G:
+    case BMI160_FIFO_M_G_ENABLE:
+        (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
+        break;
+    default:
+        break;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
+ */
+static void unpack_accel_data(
+    struct bmi160_sensor_data* accel_data,
+    uint16_t data_start_index,
+    const struct bmi160_dev* dev) {
+    uint16_t data_lsb;
+    uint16_t data_msb;
+
+    /* Accel raw x data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    accel_data->x = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Accel raw y data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    accel_data->y = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Accel raw z data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    accel_data->z = (int16_t)((data_msb << 8) | data_lsb);
+}
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data in header mode.
+ */
+static void extract_accel_header_mode(
+    struct bmi160_sensor_data* accel_data,
+    uint8_t* accel_length,
+    const struct bmi160_dev* dev) {
+    uint8_t frame_header = 0;
+    uint16_t data_index;
+    uint8_t accel_index = 0;
+
+    for(data_index = dev->fifo->accel_byte_start_idx; data_index < dev->fifo->length;) {
+        /* extracting Frame header */
+        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
+
+        /*Index is moved to next byte where the data is starting*/
+        data_index++;
+        switch(frame_header) {
+        /* Accel frame */
+        case BMI160_FIFO_HEAD_A:
+        case BMI160_FIFO_HEAD_M_A:
+        case BMI160_FIFO_HEAD_G_A:
+        case BMI160_FIFO_HEAD_M_G_A:
+            unpack_accel_frame(accel_data, &data_index, &accel_index, frame_header, dev);
+            break;
+        case BMI160_FIFO_HEAD_M:
+            move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
+            break;
+        case BMI160_FIFO_HEAD_G:
+            move_next_frame(&data_index, BMI160_FIFO_G_LENGTH, dev);
+            break;
+        case BMI160_FIFO_HEAD_M_G:
+            move_next_frame(&data_index, BMI160_FIFO_MG_LENGTH, dev);
+            break;
+
+        /* Sensor time frame */
+        case BMI160_FIFO_HEAD_SENSOR_TIME:
+            unpack_sensortime_frame(&data_index, dev);
+            break;
+
+        /* Skip frame */
+        case BMI160_FIFO_HEAD_SKIP_FRAME:
+            unpack_skipped_frame(&data_index, dev);
+            break;
+
+        /* Input config frame */
+        case BMI160_FIFO_HEAD_INPUT_CONFIG:
+            move_next_frame(&data_index, 1, dev);
+            break;
+        case BMI160_FIFO_HEAD_OVER_READ:
+
+            /* Update the data index as complete in case of Over read */
+            data_index = dev->fifo->length;
+            break;
+        default:
+            break;
+        }
+        if(*accel_length == accel_index) {
+            /* Number of frames to read completed */
+            break;
+        }
+    }
+
+    /*Update number of accel data read*/
+    *accel_length = accel_index;
+
+    /*Update the accel frame index*/
+    dev->fifo->accel_byte_start_idx = data_index;
+}
+
+/*!
+ *  @brief This API computes the number of bytes of gyro FIFO data
+ *  which is to be parsed in header-less mode
+ */
+static void get_gyro_len_to_parse(
+    uint16_t* data_index,
+    uint16_t* data_read_length,
+    const uint8_t* gyro_frame_count,
+    const struct bmi160_dev* dev) {
+    /* Data start index */
+    *data_index = dev->fifo->gyro_byte_start_idx;
+    if(dev->fifo->fifo_data_enable == BMI160_FIFO_G_ENABLE) {
+        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_G_LENGTH;
+    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_G_A_ENABLE) {
+        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_GA_LENGTH;
+    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_ENABLE) {
+        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_MG_LENGTH;
+    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE) {
+        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_MGA_LENGTH;
+    } else {
+        /* When gyro is not enabled ,there will be no gyro data.
+         * so we update the data index as complete */
+        *data_index = dev->fifo->length;
+    }
+
+    if(*data_read_length > dev->fifo->length) {
+        /* Handling the case where more data is requested
+         * than that is available*/
+        *data_read_length = dev->fifo->length;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the gyroscope's data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed.
+ */
+static void unpack_gyro_frame(
+    struct bmi160_sensor_data* gyro,
+    uint16_t* idx,
+    uint8_t* gyro_idx,
+    uint8_t frame_info,
+    const struct bmi160_dev* dev) {
+    switch(frame_info) {
+    case BMI160_FIFO_HEAD_G:
+    case BMI160_FIFO_G_ENABLE:
+
+        /*Partial read, then skip the data*/
+        if((*idx + BMI160_FIFO_G_LENGTH) > dev->fifo->length) {
+            /*Update the data index as complete*/
+            *idx = dev->fifo->length;
+            break;
+        }
+
+        /*Unpack the data array into structure instance "gyro"*/
+        unpack_gyro_data(&gyro[*gyro_idx], *idx, dev);
+
+        /*Move the data index*/
+        (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
+        (*gyro_idx)++;
+        break;
+    case BMI160_FIFO_HEAD_G_A:
+    case BMI160_FIFO_G_A_ENABLE:
+
+        /*Partial read, then skip the data*/
+        if((*idx + BMI160_FIFO_GA_LENGTH) > dev->fifo->length) {
+            /*Update the data index as complete*/
+            *idx = dev->fifo->length;
+            break;
+        }
+
+        /* Unpack the data array into structure instance "gyro" */
+        unpack_gyro_data(&gyro[*gyro_idx], *idx, dev);
+
+        /* Move the data index */
+        *idx = *idx + BMI160_FIFO_GA_LENGTH;
+        (*gyro_idx)++;
+        break;
+    case BMI160_FIFO_HEAD_M_G_A:
+    case BMI160_FIFO_M_G_A_ENABLE:
+
+        /*Partial read, then skip the data*/
+        if((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length) {
+            /*Update the data index as complete*/
+            *idx = dev->fifo->length;
+            break;
+        }
+
+        /*Unpack the data array into structure instance "gyro"*/
+        unpack_gyro_data(&gyro[*gyro_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
+
+        /*Move the data index*/
+        *idx = *idx + BMI160_FIFO_MGA_LENGTH;
+        (*gyro_idx)++;
+        break;
+    case BMI160_FIFO_HEAD_M_A:
+    case BMI160_FIFO_M_A_ENABLE:
+
+        /* Move the data index */
+        *idx = *idx + BMI160_FIFO_MA_LENGTH;
+        break;
+    case BMI160_FIFO_HEAD_M:
+    case BMI160_FIFO_M_ENABLE:
+        (*idx) = (*idx) + BMI160_FIFO_M_LENGTH;
+        break;
+    case BMI160_FIFO_HEAD_M_G:
+    case BMI160_FIFO_M_G_ENABLE:
+
+        /*Partial read, then skip the data*/
+        if((*idx + BMI160_FIFO_MG_LENGTH) > dev->fifo->length) {
+            /*Update the data index as complete*/
+            *idx = dev->fifo->length;
+            break;
+        }
+
+        /*Unpack the data array into structure instance "gyro"*/
+        unpack_gyro_data(&gyro[*gyro_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
+
+        /*Move the data index*/
+        (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
+        (*gyro_idx)++;
+        break;
+    case BMI160_FIFO_HEAD_A:
+    case BMI160_FIFO_A_ENABLE:
+
+        /*Move the data index*/
+        *idx = *idx + BMI160_FIFO_A_LENGTH;
+        break;
+    default:
+        break;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the gyro data from the
+ *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
+ */
+static void unpack_gyro_data(
+    struct bmi160_sensor_data* gyro_data,
+    uint16_t data_start_index,
+    const struct bmi160_dev* dev) {
+    uint16_t data_lsb;
+    uint16_t data_msb;
+
+    /* Gyro raw x data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    gyro_data->x = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Gyro raw y data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    gyro_data->y = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Gyro raw z data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    gyro_data->z = (int16_t)((data_msb << 8) | data_lsb);
+}
+
+/*!
+ *  @brief This API is used to parse the gyro data from the
+ *  FIFO data in header mode.
+ */
+static void extract_gyro_header_mode(
+    struct bmi160_sensor_data* gyro_data,
+    uint8_t* gyro_length,
+    const struct bmi160_dev* dev) {
+    uint8_t frame_header = 0;
+    uint16_t data_index;
+    uint8_t gyro_index = 0;
+
+    for(data_index = dev->fifo->gyro_byte_start_idx; data_index < dev->fifo->length;) {
+        /* extracting Frame header */
+        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
+
+        /*Index is moved to next byte where the data is starting*/
+        data_index++;
+        switch(frame_header) {
+        /* GYRO frame */
+        case BMI160_FIFO_HEAD_G:
+        case BMI160_FIFO_HEAD_G_A:
+        case BMI160_FIFO_HEAD_M_G:
+        case BMI160_FIFO_HEAD_M_G_A:
+            unpack_gyro_frame(gyro_data, &data_index, &gyro_index, frame_header, dev);
+            break;
+        case BMI160_FIFO_HEAD_A:
+            move_next_frame(&data_index, BMI160_FIFO_A_LENGTH, dev);
+            break;
+        case BMI160_FIFO_HEAD_M:
+            move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
+            break;
+        case BMI160_FIFO_HEAD_M_A:
+            move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
+            break;
+
+        /* Sensor time frame */
+        case BMI160_FIFO_HEAD_SENSOR_TIME:
+            unpack_sensortime_frame(&data_index, dev);
+            break;
+
+        /* Skip frame */
+        case BMI160_FIFO_HEAD_SKIP_FRAME:
+            unpack_skipped_frame(&data_index, dev);
+            break;
+
+        /* Input config frame */
+        case BMI160_FIFO_HEAD_INPUT_CONFIG:
+            move_next_frame(&data_index, 1, dev);
+            break;
+        case BMI160_FIFO_HEAD_OVER_READ:
+
+            /* Update the data index as complete in case of over read */
+            data_index = dev->fifo->length;
+            break;
+        default:
+            break;
+        }
+        if(*gyro_length == gyro_index) {
+            /*Number of frames to read completed*/
+            break;
+        }
+    }
+
+    /*Update number of gyro data read*/
+    *gyro_length = gyro_index;
+
+    /*Update the gyro frame index*/
+    dev->fifo->gyro_byte_start_idx = data_index;
+}
+
+/*!
+ *  @brief This API computes the number of bytes of aux FIFO data
+ *  which is to be parsed in header-less mode
+ */
+static void get_aux_len_to_parse(
+    uint16_t* data_index,
+    uint16_t* data_read_length,
+    const uint8_t* aux_frame_count,
+    const struct bmi160_dev* dev) {
+    /* Data start index */
+    *data_index = dev->fifo->gyro_byte_start_idx;
+    if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_ENABLE) {
+        *data_read_length = (*aux_frame_count) * BMI160_FIFO_M_LENGTH;
+    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_A_ENABLE) {
+        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MA_LENGTH;
+    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_ENABLE) {
+        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MG_LENGTH;
+    } else if(dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE) {
+        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MGA_LENGTH;
+    } else {
+        /* When aux is not enabled ,there will be no aux data.
+         * so we update the data index as complete */
+        *data_index = dev->fifo->length;
+    }
+
+    if(*data_read_length > dev->fifo->length) {
+        /* Handling the case where more data is requested
+         * than that is available */
+        *data_read_length = dev->fifo->length;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the aux's data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed
+ */
+static void unpack_aux_frame(
+    struct bmi160_aux_data* aux_data,
+    uint16_t* idx,
+    uint8_t* aux_index,
+    uint8_t frame_info,
+    const struct bmi160_dev* dev) {
+    switch(frame_info) {
+    case BMI160_FIFO_HEAD_M:
+    case BMI160_FIFO_M_ENABLE:
+
+        /* Partial read, then skip the data */
+        if((*idx + BMI160_FIFO_M_LENGTH) > dev->fifo->length) {
+            /* Update the data index as complete */
+            *idx = dev->fifo->length;
+            break;
+        }
+
+        /* Unpack the data array into structure instance */
+        unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+
+        /* Move the data index */
+        *idx = *idx + BMI160_FIFO_M_LENGTH;
+        (*aux_index)++;
+        break;
+    case BMI160_FIFO_HEAD_M_A:
+    case BMI160_FIFO_M_A_ENABLE:
+
+        /* Partial read, then skip the data */
+        if((*idx + BMI160_FIFO_MA_LENGTH) > dev->fifo->length) {
+            /* Update the data index as complete */
+            *idx = dev->fifo->length;
+            break;
+        }
+
+        /* Unpack the data array into structure instance */
+        unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+
+        /* Move the data index */
+        *idx = *idx + BMI160_FIFO_MA_LENGTH;
+        (*aux_index)++;
+        break;
+    case BMI160_FIFO_HEAD_M_G:
+    case BMI160_FIFO_M_G_ENABLE:
+
+        /* Partial read, then skip the data */
+        if((*idx + BMI160_FIFO_MG_LENGTH) > dev->fifo->length) {
+            /* Update the data index as complete */
+            *idx = dev->fifo->length;
+            break;
+        }
+
+        /* Unpack the data array into structure instance */
+        unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+
+        /* Move the data index */
+        (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
+        (*aux_index)++;
+        break;
+    case BMI160_FIFO_HEAD_M_G_A:
+    case BMI160_FIFO_M_G_A_ENABLE:
+
+        /*Partial read, then skip the data*/
+        if((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length) {
+            /* Update the data index as complete */
+            *idx = dev->fifo->length;
+            break;
+        }
+
+        /* Unpack the data array into structure instance */
+        unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+
+        /*Move the data index*/
+        *idx = *idx + BMI160_FIFO_MGA_LENGTH;
+        (*aux_index)++;
+        break;
+    case BMI160_FIFO_HEAD_G:
+    case BMI160_FIFO_G_ENABLE:
+
+        /* Move the data index */
+        (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
+        break;
+    case BMI160_FIFO_HEAD_G_A:
+    case BMI160_FIFO_G_A_ENABLE:
+
+        /* Move the data index */
+        *idx = *idx + BMI160_FIFO_GA_LENGTH;
+        break;
+    case BMI160_FIFO_HEAD_A:
+    case BMI160_FIFO_A_ENABLE:
+
+        /* Move the data index */
+        *idx = *idx + BMI160_FIFO_A_LENGTH;
+        break;
+    default:
+        break;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data and store it in the instance of the structure bmi160_aux_data.
+ */
+static void unpack_aux_data(
+    struct bmi160_aux_data* aux_data,
+    uint16_t data_start_index,
+    const struct bmi160_dev* dev) {
+    /* Aux data bytes */
+    aux_data->data[0] = dev->fifo->data[data_start_index++];
+    aux_data->data[1] = dev->fifo->data[data_start_index++];
+    aux_data->data[2] = dev->fifo->data[data_start_index++];
+    aux_data->data[3] = dev->fifo->data[data_start_index++];
+    aux_data->data[4] = dev->fifo->data[data_start_index++];
+    aux_data->data[5] = dev->fifo->data[data_start_index++];
+    aux_data->data[6] = dev->fifo->data[data_start_index++];
+    aux_data->data[7] = dev->fifo->data[data_start_index++];
+}
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data in header mode.
+ */
+static void extract_aux_header_mode(
+    struct bmi160_aux_data* aux_data,
+    uint8_t* aux_length,
+    const struct bmi160_dev* dev) {
+    uint8_t frame_header = 0;
+    uint16_t data_index;
+    uint8_t aux_index = 0;
+
+    for(data_index = dev->fifo->aux_byte_start_idx; data_index < dev->fifo->length;) {
+        /* extracting Frame header */
+        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
+
+        /*Index is moved to next byte where the data is starting*/
+        data_index++;
+        switch(frame_header) {
+        /* Aux frame */
+        case BMI160_FIFO_HEAD_M:
+        case BMI160_FIFO_HEAD_M_A:
+        case BMI160_FIFO_HEAD_M_G:
+        case BMI160_FIFO_HEAD_M_G_A:
+            unpack_aux_frame(aux_data, &data_index, &aux_index, frame_header, dev);
+            break;
+        case BMI160_FIFO_HEAD_G:
+            move_next_frame(&data_index, BMI160_FIFO_G_LENGTH, dev);
+            break;
+        case BMI160_FIFO_HEAD_G_A:
+            move_next_frame(&data_index, BMI160_FIFO_GA_LENGTH, dev);
+            break;
+        case BMI160_FIFO_HEAD_A:
+            move_next_frame(&data_index, BMI160_FIFO_A_LENGTH, dev);
+            break;
+
+        /* Sensor time frame */
+        case BMI160_FIFO_HEAD_SENSOR_TIME:
+            unpack_sensortime_frame(&data_index, dev);
+            break;
+
+        /* Skip frame */
+        case BMI160_FIFO_HEAD_SKIP_FRAME:
+            unpack_skipped_frame(&data_index, dev);
+            break;
+
+        /* Input config frame */
+        case BMI160_FIFO_HEAD_INPUT_CONFIG:
+            move_next_frame(&data_index, 1, dev);
+            break;
+        case BMI160_FIFO_HEAD_OVER_READ:
+
+            /* Update the data index as complete in case
+                 * of over read */
+            data_index = dev->fifo->length;
+            break;
+        default:
+
+            /* Update the data index as complete in case of
+                 * getting other headers like 0x00 */
+            data_index = dev->fifo->length;
+            break;
+        }
+        if(*aux_length == aux_index) {
+            /*Number of frames to read completed*/
+            break;
+        }
+    }
+
+    /* Update number of aux data read */
+    *aux_length = aux_index;
+
+    /* Update the aux frame index */
+    dev->fifo->aux_byte_start_idx = data_index;
+}
+
+/*!
+ *  @brief This API checks the presence of non-valid frames in the read fifo data.
+ */
+static void check_frame_validity(uint16_t* data_index, const struct bmi160_dev* dev) {
+    if((*data_index + 2) < dev->fifo->length) {
+        /* Check if FIFO is empty */
+        if((dev->fifo->data[*data_index] == FIFO_CONFIG_MSB_CHECK) &&
+           (dev->fifo->data[*data_index + 1] == FIFO_CONFIG_LSB_CHECK)) {
+            /*Update the data index as complete*/
+            *data_index = dev->fifo->length;
+        }
+    }
+}
+
+/*!
+ *  @brief This API is used to move the data index ahead of the
+ *  current_frame_length parameter when unnecessary FIFO data appears while
+ *  extracting the user specified data.
+ */
+static void move_next_frame(
+    uint16_t* data_index,
+    uint8_t current_frame_length,
+    const struct bmi160_dev* dev) {
+    /*Partial read, then move the data index to last data*/
+    if((*data_index + current_frame_length) > dev->fifo->length) {
+        /*Update the data index as complete*/
+        *data_index = dev->fifo->length;
+    } else {
+        /*Move the data index to next frame*/
+        *data_index = *data_index + current_frame_length;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse and store the sensor time from the
+ *  FIFO data in the structure instance dev.
+ */
+static void unpack_sensortime_frame(uint16_t* data_index, const struct bmi160_dev* dev) {
+    uint32_t sensor_time_byte3 = 0;
+    uint16_t sensor_time_byte2 = 0;
+    uint8_t sensor_time_byte1 = 0;
+
+    /*Partial read, then move the data index to last data*/
+    if((*data_index + BMI160_SENSOR_TIME_LENGTH) > dev->fifo->length) {
+        /*Update the data index as complete*/
+        *data_index = dev->fifo->length;
+    } else {
+        sensor_time_byte3 = dev->fifo->data[(*data_index) + BMI160_SENSOR_TIME_MSB_BYTE] << 16;
+        sensor_time_byte2 = dev->fifo->data[(*data_index) + BMI160_SENSOR_TIME_XLSB_BYTE] << 8;
+        sensor_time_byte1 = dev->fifo->data[(*data_index)];
+
+        /* Sensor time */
+        dev->fifo->sensor_time =
+            (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
+        *data_index = (*data_index) + BMI160_SENSOR_TIME_LENGTH;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse and store the skipped_frame_count from
+ *  the FIFO data in the structure instance dev.
+ */
+static void unpack_skipped_frame(uint16_t* data_index, const struct bmi160_dev* dev) {
+    /*Partial read, then move the data index to last data*/
+    if(*data_index >= dev->fifo->length) {
+        /*Update the data index as complete*/
+        *data_index = dev->fifo->length;
+    } else {
+        dev->fifo->skipped_frame_count = dev->fifo->data[*data_index];
+
+        /*Move the data index*/
+        *data_index = (*data_index) + 1;
+    }
+}
+
+/*!
+ *  @brief This API is used to get the FOC status from the sensor
+ */
+static int8_t get_foc_status(uint8_t* foc_status, struct bmi160_dev const* dev) {
+    int8_t rslt;
+    uint8_t data;
+
+    /* Read the FOC status from sensor */
+    rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &data, 1, dev);
+    if(rslt == BMI160_OK) {
+        /* Get the foc_status bit */
+        *foc_status = BMI160_GET_BITS(data, BMI160_FOC_STATUS);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to configure the offset enable bits in the sensor
+ */
+static int8_t
+    configure_offset_enable(const struct bmi160_foc_conf* foc_conf, struct bmi160_dev const* dev) {
+    int8_t rslt;
+    uint8_t data;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if(rslt != BMI160_OK) {
+        rslt = BMI160_E_NULL_PTR;
+    } else {
+        /* Read the FOC config from the sensor */
+        rslt = bmi160_get_regs(BMI160_OFFSET_CONF_ADDR, &data, 1, dev);
+        if(rslt == BMI160_OK) {
+            /* Set the offset enable/disable for gyro */
+            data = BMI160_SET_BITS(data, BMI160_GYRO_OFFSET_EN, foc_conf->gyro_off_en);
+
+            /* Set the offset enable/disable for accel */
+            data = BMI160_SET_BITS(data, BMI160_ACCEL_OFFSET_EN, foc_conf->acc_off_en);
+
+            /* Set the offset config in the sensor */
+            rslt = bmi160_set_regs(BMI160_OFFSET_CONF_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+static int8_t trigger_foc(struct bmi160_offsets* offset, struct bmi160_dev const* dev) {
+    int8_t rslt;
+    uint8_t foc_status = BMI160_ENABLE;
+    uint8_t cmd = BMI160_START_FOC_CMD;
+    uint8_t timeout = 0;
+    uint8_t data_array[20];
+
+    /* Start the FOC process */
+    rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
+    if(rslt == BMI160_OK) {
+        /* Check the FOC status*/
+        rslt = get_foc_status(&foc_status, dev);
+
+        if((rslt != BMI160_OK) || (foc_status != BMI160_ENABLE)) {
+            while((foc_status != BMI160_ENABLE) && (timeout < 11)) {
+                /* Maximum time of 250ms is given in 10
+                 * steps of 25ms each - 250ms refer datasheet 2.9.1 */
+                dev->delay_ms(25);
+
+                /* Check the FOC status*/
+                rslt = get_foc_status(&foc_status, dev);
+                timeout++;
+            }
+
+            if((rslt == BMI160_OK) && (foc_status == BMI160_ENABLE)) {
+                /* Get offset values from sensor */
+                rslt = bmi160_get_offsets(offset, dev);
+            } else {
+                /* FOC failure case */
+                rslt = BMI160_E_FOC_FAILURE;
+            }
+        }
+
+        if(rslt == BMI160_OK) {
+            /* Read registers 0x04-0x17 */
+            rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 20, dev);
+        }
+    }
+
+    return rslt;
+}

tracking/imu/bmi160.h

@@ -1,992 +1,992 @@
-/**
-* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
-*
-* BSD-3-Clause
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-* 1. Redistributions of source code must retain the above copyright
-*    notice, this list of conditions and the following disclaimer.
-*
-* 2. Redistributions in binary form must reproduce the above copyright
-*    notice, this list of conditions and the following disclaimer in the
-*    documentation and/or other materials provided with the distribution.
-*
-* 3. Neither the name of the copyright holder nor the names of its
-*    contributors may be used to endorse or promote products derived from
-*    this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
-* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
-* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
-* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* @file       bmi160.h
-* @date       2021-10-05
-* @version    v3.9.2
-*
-*/
-
-/*!
- * @defgroup bmi160 BMI160
- */
-
-#ifndef BMI160_H_
-#define BMI160_H_
-
-/*************************** C++ guard macro *****************************/
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "bmi160_defs.h"
-#ifdef __KERNEL__
-#include <bmi160_math.h>
-#else
-#include <math.h>
-#include <string.h>
-#include <stdlib.h>
-#endif
-
-/*********************** User function prototypes ************************/
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiInit Initialization
- * @brief Initialize the sensor and device structure
- */
-
-/*!
- * \ingroup bmi160ApiInit
- * \page bmi160_api_bmi160_init bmi160_init
- * \code
- * int8_t bmi160_init(struct bmi160_dev *dev);
- * \endcode
- * @details This API is the entry point for sensor.It performs
- *  the selection of I2C/SPI read mechanism according to the
- *  selected interface and reads the chip-id of bmi160 sensor.
- *
- *  @param[in,out] dev : Structure instance of bmi160_dev
- *  @note : Refer user guide for detailed info.
- *
- *  @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_init(struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiRegs Registers
- * @brief Read data from the given register address of sensor
- */
-
-/*!
- * \ingroup bmi160ApiRegs
- * \page bmi160_api_bmi160_get_regs bmi160_get_regs
- * \code
- * int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
- * \endcode
- * @details This API reads the data from the given register address of sensor.
- *
- * @param[in] reg_addr  : Register address from where the data to be read
- * @param[out] data     : Pointer to data buffer to store the read data.
- * @param[in] len       : No of bytes of data to be read.
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @note For most of the registers auto address increment applies, with the
- * exception of a few special registers, which trap the address. For e.g.,
- * Register address - 0x24(BMI160_FIFO_DATA_ADDR)
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t
-    bmi160_get_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiRegs
- * \page bmi160_api_bmi160_set_regs bmi160_set_regs
- * \code
- * int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
- * \endcode
- * @details This API writes the given data to the register address
- * of sensor.
- *
- * @param[in] reg_addr  : Register address from where the data to be written.
- * @param[in] data      : Pointer to data buffer which is to be written
- * in the sensor.
- * @param[in] len       : No of bytes of data to write..
- * @param[in] dev       : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t
-    bmi160_set_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiSoftreset Soft reset
- * @brief Perform soft reset of the sensor
- */
-
-/*!
- * \ingroup bmi160ApiSoftreset
- * \page bmi160_api_bmi160_soft_reset bmi160_soft_reset
- * \code
- * int8_t bmi160_soft_reset(struct bmi160_dev *dev);
- * \endcode
- * @details This API resets and restarts the device.
- * All register values are overwritten with default parameters.
- *
- * @param[in] dev  : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_soft_reset(struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiConfig Configuration
- * @brief Configuration of the sensor
- */
-
-/*!
- * \ingroup bmi160ApiConfig
- * \page bmi160_api_bmi160_set_sens_conf bmi160_set_sens_conf
- * \code
- * int8_t bmi160_set_sens_conf(struct bmi160_dev *dev);
- * \endcode
- * @details This API configures the power mode, range and bandwidth
- * of sensor.
- *
- * @param[in] dev    : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_set_sens_conf(struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiConfig
- * \page bmi160_api_bmi160_get_sens_conf bmi160_get_sens_conf
- * \code
- * int8_t bmi160_get_sens_conf(struct bmi160_dev *dev);
- * \endcode
- * @details This API gets accel and gyro configurations.
- *
- * @param[out] dev    : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_get_sens_conf(struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiPowermode Power mode
- * @brief Set / Get power mode of the sensor
- */
-
-/*!
- * \ingroup bmi160ApiPowermode
- * \page bmi160_api_bmi160_set_power_mode bmi160_set_power_mode
- * \code
- * int8_t bmi160_set_power_mode(struct bmi160_dev *dev);
- * \endcode
- * @details This API sets the power mode of the sensor.
- *
- * @param[in] dev  : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_set_power_mode(struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiPowermode
- * \page bmi160_api_bmi160_get_power_mode bmi160_get_power_mode
- * \code
- * int8_t bmi160_get_power_mode(struct bmi160_dev *dev);
- * \endcode
- * @details This API gets the power mode of the sensor.
- *
- * @param[in] dev         : Structure instance of bmi160_dev
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_get_power_mode(struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiData Sensor Data
- * @brief Read sensor data
- */
-
-/*!
- * \ingroup bmi160ApiData
- * \page bmi160_api_bmi160_get_sensor_data bmi160_get_sensor_data
- * \code
- * int8_t bmi160_get_sensor_data(uint8_t select_sensor,
- *                             struct bmi160_sensor_data *accel,
- *                             struct bmi160_sensor_data *gyro,
- *                             const struct bmi160_dev *dev);
- *
- * \endcode
- * @details This API reads sensor data, stores it in
- * the bmi160_sensor_data structure pointer passed by the user.
- * The user can ask for accel data ,gyro data or both sensor
- * data using bmi160_select_sensor enum
- *
- * @param[in] select_sensor    : enum to choose accel,gyro or both sensor data
- * @param[out] accel    : Structure pointer to store accel data
- * @param[out] gyro     : Structure pointer to store gyro data
- * @param[in] dev       : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_get_sensor_data(
-    uint8_t select_sensor,
-    struct bmi160_sensor_data* accel,
-    struct bmi160_sensor_data* gyro,
-    const struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiInt Interrupt configuration
- * @brief Set interrupt configuration of the sensor
- */
-
-/*!
- * \ingroup bmi160ApiInt
- * \page bmi160_api_bmi160_set_int_config bmi160_set_int_config
- * \code
- * int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
- * \endcode
- * @details This API configures the necessary interrupt based on
- *  the user settings in the bmi160_int_settg structure instance.
- *
- * @param[in] int_config  : Structure instance of bmi160_int_settg.
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_set_int_config(struct bmi160_int_settg* int_config, struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiStepC Step counter
- * @brief Step counter operations
- */
-
-/*!
- * \ingroup bmi160ApiStepC
- * \page bmi160_api_bmi160_set_step_counter bmi160_set_step_counter
- * \code
- * int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev);
- * \endcode
- * @details This API enables the step counter feature.
- *
- * @param[in] step_cnt_enable   : value to enable or disable
- * @param[in] dev       : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiStepC
- * \page bmi160_api_bmi160_read_step_counter bmi160_read_step_counter
- * \code
- * int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev);
- * \endcode
- * @details This API reads the step counter value.
- *
- * @param[in] step_val    : Pointer to store the step counter value.
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_read_step_counter(uint16_t* step_val, const struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiAux Auxiliary sensor
- * @brief Auxiliary sensor operations
- */
-
-/*!
- * \ingroup bmi160ApiAux
- * \page bmi160_api_bmi160_aux_read bmi160_aux_read
- * \code
- * int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
- * \endcode
- * @details This API reads the mention no of byte of data from the given
- * register address of auxiliary sensor.
- *
- * @param[in] reg_addr    : Address of register to read.
- * @param[in] aux_data    : Pointer to store the read data.
- * @param[in] len     : No of bytes to read.
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_aux_read(
-    uint8_t reg_addr,
-    uint8_t* aux_data,
-    uint16_t len,
-    const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiAux
- * \page bmi160_api_bmi160_aux_write bmi160_aux_write
- * \code
- * int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
- * \endcode
- * @details This API writes the mention no of byte of data to the given
- * register address of auxiliary sensor.
- *
- * @param[in] reg_addr    : Address of register to write.
- * @param[in] aux_data    : Pointer to write data.
- * @param[in] len     : No of bytes to write.
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_aux_write(
-    uint8_t reg_addr,
-    uint8_t* aux_data,
-    uint16_t len,
-    const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiAux
- * \page bmi160_api_bmi160_aux_init bmi160_aux_init
- * \code
- * int8_t bmi160_aux_init(const struct bmi160_dev *dev);
- * \endcode
- * @details This API initialize the auxiliary sensor
- * in order to access it.
- *
- * @param[in] dev         : Structure instance of bmi160_dev.
- * @note : Refer user guide for detailed info.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_aux_init(const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiAux
- * \page bmi160_api_bmi160_set_aux_auto_mode bmi160_set_aux_auto_mode
- * \code
- * int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev);
- * \endcode
- * @details This API is used to setup the auxiliary sensor of bmi160 in auto mode
- * Thus enabling the auto update of 8 bytes of data from auxiliary sensor
- * to BMI160 register address 0x04 to 0x0B
- *
- * @param[in] data_addr    : Starting address of aux. sensor's data register
- *                           (BMI160 registers 0x04 to 0x0B will be updated
- *                           with 8 bytes of data from auxiliary sensor
- *                           starting from this register address.)
- * @param[in] dev      : Structure instance of bmi160_dev.
- *
- * @note : Set the value of auxiliary polling rate by setting
- *         dev->aux_cfg.aux_odr to the required value from the table
- *         before calling this API
- *
- *@verbatim
- *   dev->aux_cfg.aux_odr  |   Auxiliary ODR (Hz)
- *  -----------------------|-----------------------
- *  BMI160_AUX_ODR_0_78HZ  |        25/32
- *  BMI160_AUX_ODR_1_56HZ  |        25/16
- *  BMI160_AUX_ODR_3_12HZ  |        25/8
- *  BMI160_AUX_ODR_6_25HZ  |        25/4
- *  BMI160_AUX_ODR_12_5HZ  |        25/2
- *  BMI160_AUX_ODR_25HZ    |        25
- *  BMI160_AUX_ODR_50HZ    |        50
- *  BMI160_AUX_ODR_100HZ   |        100
- *  BMI160_AUX_ODR_200HZ   |        200
- *  BMI160_AUX_ODR_400HZ   |        400
- *  BMI160_AUX_ODR_800HZ   |        800
- *@endverbatim
- *
- * @note : Other values of  dev->aux_cfg.aux_odr are reserved and not for use
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_set_aux_auto_mode(uint8_t* data_addr, struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiAux
- * \page bmi160_api_bmi160_config_aux_mode bmi160_config_aux_mode
- * \code
- * int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev);
- * \endcode
- * @details This API configures the 0x4C register and settings like
- * Auxiliary sensor manual enable/ disable and aux burst read length.
- *
- * @param[in] dev    : Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_config_aux_mode(const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiAux
- * \page bmi160_api_bmi160_read_aux_data_auto_mode bmi160_read_aux_data_auto_mode
- * \code
- * int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev);
- * \endcode
- * @details This API is used to read the raw uncompensated auxiliary sensor
- * data of 8 bytes from BMI160 register address 0x04 to 0x0B
- *
- * @param[in] aux_data       : Pointer to user array of length 8 bytes
- *                             Ensure that the aux_data array is of
- *                             length 8 bytes
- * @param[in] dev        : Structure instance of bmi160_dev
- *
- * @retval zero -> Success  / -ve value -> Error
- * @retval Zero Success
- * @retval Negative Error
- */
-int8_t bmi160_read_aux_data_auto_mode(uint8_t* aux_data, const struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiSelfTest Self test
- * @brief Perform self test of the sensor
- */
-
-/*!
- * \ingroup bmi160ApiSelfTest
- * \page bmi160_api_bmi160_perform_self_test bmi160_perform_self_test
- * \code
- * int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev);
- * \endcode
- * @details This is used to perform self test of accel/gyro of the BMI160 sensor
- *
- * @param[in] select_sensor  : enum to choose accel or gyro for self test
- * @param[in] dev            : Structure instance of bmi160_dev
- *
- * @note self test can be performed either for accel/gyro at any instant.
- *
- *@verbatim
- *     value of select_sensor       |  Inference
- *----------------------------------|--------------------------------
- *   BMI160_ACCEL_ONLY              | Accel self test enabled
- *   BMI160_GYRO_ONLY               | Gyro self test enabled
- *   BMI160_BOTH_ACCEL_AND_GYRO     | NOT TO BE USED
- *@endverbatim
- *
- * @note The return value of this API gives us the result of self test.
- *
- * @note Performing self test does soft reset of the sensor, User can
- * set the desired settings after performing the self test.
- *
- * @return Result of API execution status
- * @retval  BMI160_OK                       Self test success
- * @retval  BMI160_W_GYRO_SELF_TEST_FAIL    Gyro self test fail
- * @retval  BMI160_W_ACCEl_SELF_TEST_FAIL   Accel self test fail
- */
-int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiFIFO FIFO
- * @brief FIFO operations of the sensor
- */
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_get_fifo_data bmi160_get_fifo_data
- * \code
- * int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev);
- * \endcode
- * @details This API reads data from the fifo buffer.
- *
- *  @note User has to allocate the FIFO buffer along with
- *  corresponding fifo length from his side before calling this API
- *  as mentioned in the readme.md
- *
- *  @note User must specify the number of bytes to read from the FIFO in
- *  dev->fifo->length , It will be updated by the number of bytes actually
- *  read from FIFO after calling this API
- *
- *  @param[in] dev     : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval Zero Success
- *  @retval Negative Error
- */
-int8_t bmi160_get_fifo_data(struct bmi160_dev const* dev);
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_set_fifo_flush bmi160_set_fifo_flush
- * \code
- * int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev);
- * \endcode
- * @details This API writes fifo_flush command to command register.This
- *  action clears all data in the Fifo without changing fifo configuration
- *  settings.
- *
- *  @param[in] dev     : Structure instance of bmi160_dev
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_set_fifo_flush(const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_set_fifo_config bmi160_set_fifo_config
- * \code
- * int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev);
- * \endcode
- * @details This API sets the FIFO configuration in the sensor.
- *
- *  @param[in] config : variable used to specify the FIFO
- *  configurations which are to be enabled or disabled in the sensor.
- *
- *  @note : User can set either set one or more or all FIFO configurations
- *  by ORing the below mentioned macros.
- *
- *@verbatim
- *      config                  |   Value
- *      ------------------------|---------------------------
- *      BMI160_FIFO_TIME        |   0x02
- *      BMI160_FIFO_TAG_INT2    |   0x04
- *      BMI160_FIFO_TAG_INT1    |   0x08
- *      BMI160_FIFO_HEADER      |   0x10
- *      BMI160_FIFO_AUX         |   0x20
- *      BMI160_FIFO_ACCEL       |   0x40
- *      BMI160_FIFO_GYRO        |   0x80
- *@endverbatim
- *
- *  @param[in] enable : Parameter used to enable or disable the above
- *  FIFO configuration
- *  @param[in] dev : Structure instance of bmi160_dev.
- *
- *  @return status of bus communication result
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const* dev);
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_set_fifo_down bmi160_set_fifo_down
- * \code
- * int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev);
- * \endcode
- * @details This API is used to configure the down sampling ratios of
- *  the accel and gyro data for FIFO.Also, it configures filtered or
- *  pre-filtered data for the fifo for accel and gyro.
- *
- *  @param[in] fifo_down : variable used to specify the FIFO down
- *  configurations which are to be enabled or disabled in the sensor.
- *
- *  @note The user must select one among the following macros to
- *  select down-sampling ratio for accel
- *
- *@verbatim
- *      config                               |   Value
- *      -------------------------------------|---------------------------
- *      BMI160_ACCEL_FIFO_DOWN_ZERO          |   0x00
- *      BMI160_ACCEL_FIFO_DOWN_ONE           |   0x10
- *      BMI160_ACCEL_FIFO_DOWN_TWO           |   0x20
- *      BMI160_ACCEL_FIFO_DOWN_THREE         |   0x30
- *      BMI160_ACCEL_FIFO_DOWN_FOUR          |   0x40
- *      BMI160_ACCEL_FIFO_DOWN_FIVE          |   0x50
- *      BMI160_ACCEL_FIFO_DOWN_SIX           |   0x60
- *      BMI160_ACCEL_FIFO_DOWN_SEVEN         |   0x70
- *@endverbatim
- *
- *  @note The user must select one among the following macros to
- *  select down-sampling ratio for gyro
- *
- *@verbatim
- *      config                               |   Value
- *      -------------------------------------|---------------------------
- *      BMI160_GYRO_FIFO_DOWN_ZERO           |   0x00
- *      BMI160_GYRO_FIFO_DOWN_ONE            |   0x01
- *      BMI160_GYRO_FIFO_DOWN_TWO            |   0x02
- *      BMI160_GYRO_FIFO_DOWN_THREE          |   0x03
- *      BMI160_GYRO_FIFO_DOWN_FOUR           |   0x04
- *      BMI160_GYRO_FIFO_DOWN_FIVE           |   0x05
- *      BMI160_GYRO_FIFO_DOWN_SIX            |   0x06
- *      BMI160_GYRO_FIFO_DOWN_SEVEN          |   0x07
- *@endverbatim
- *
- *  @note The user can enable filtered accel data by the following macro
- *
- *@verbatim
- *      config                               |   Value
- *      -------------------------------------|---------------------------
- *      BMI160_ACCEL_FIFO_FILT_EN            |   0x80
- *@endverbatim
- *
- *  @note The user can enable filtered gyro data by the following macro
- *
- *@verbatim
- *      config                               |   Value
- *      -------------------------------------|---------------------------
- *      BMI160_GYRO_FIFO_FILT_EN             |   0x08
- *@endverbatim
- *
- *  @note : By ORing the above mentioned macros, the user can select
- *  the required FIFO down config settings
- *
- *  @param[in] dev : Structure instance of bmi160_dev.
- *
- *  @return status of bus communication result
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_set_fifo_wm bmi160_set_fifo_wm
- * \code
- * int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev);
- * \endcode
- * @details This API sets the FIFO watermark level in the sensor.
- *
- *  @note The FIFO watermark is issued when the FIFO fill level is
- *  equal or above the watermark level and units of watermark is 4 bytes.
- *
- *  @param[in]  fifo_wm        : Variable used to set the FIFO water mark level
- *  @param[in]  dev            : Structure instance of bmi160_dev
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_extract_accel bmi160_extract_accel
- * \code
- * int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const
- **dev);
- * \endcode
- * @details This API parses and extracts the accelerometer frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the "accel_data" structure instance.
- *
- *  @note The bmi160_extract_accel API should be called only after
- *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
- *
- *  @param[out] accel_data    : Structure instance of bmi160_sensor_data
- *                              where the accelerometer data in FIFO is stored.
- *  @param[in,out] accel_length  : Number of valid accelerometer frames
- *                              (x,y,z axes data) read out from fifo.
- *  @param[in] dev            : Structure instance of bmi160_dev.
- *
- *  @note accel_length is updated with the number of valid accelerometer
- *  frames extracted from fifo (1 accel frame   = 6 bytes) at the end of
- *  execution of this API.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_extract_accel(
-    struct bmi160_sensor_data* accel_data,
-    uint8_t* accel_length,
-    struct bmi160_dev const* dev);
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_extract_gyro bmi160_extract_gyro
- * \code
- * int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev);
- * \endcode
- * @details This API parses and extracts the gyro frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the "gyro_data" structure instance.
- *
- *  @note The bmi160_extract_gyro API should be called only after
- *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
- *
- *  @param[out] gyro_data    : Structure instance of bmi160_sensor_data
- *                             where the gyro data in FIFO is stored.
- *  @param[in,out] gyro_length  : Number of valid gyro frames
- *                             (x,y,z axes data) read out from fifo.
- *  @param[in] dev           : Structure instance of bmi160_dev.
- *
- *  @note gyro_length is updated with the number of valid gyro
- *  frames extracted from fifo (1 gyro frame   = 6 bytes) at the end of
- *  execution of this API.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_extract_gyro(
-    struct bmi160_sensor_data* gyro_data,
-    uint8_t* gyro_length,
-    struct bmi160_dev const* dev);
-
-/*!
- * \ingroup bmi160ApiFIFO
- * \page bmi160_api_bmi160_extract_aux bmi160_extract_aux
- * \code
- * int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev);
- * \endcode
- * @details This API parses and extracts the aux frames from
- *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
- *  the bmi160_aux_data structure instance.
- *
- *  @note The bmi160_extract_aux API should be called only after
- *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
- *
- *  @param[out] aux_data    : Structure instance of bmi160_aux_data
- *                            where the aux data in FIFO is stored.
- *  @param[in,out] aux_len  : Number of valid aux frames (8bytes)
- *                            read out from FIFO.
- *  @param[in] dev          : Structure instance of bmi160_dev.
- *
- *  @note aux_len is updated with the number of valid aux
- *  frames extracted from fifo (1 aux frame = 8 bytes) at the end of
- *  execution of this API.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- *
- */
-int8_t bmi160_extract_aux(
-    struct bmi160_aux_data* aux_data,
-    uint8_t* aux_len,
-    struct bmi160_dev const* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiFOC FOC
- * @brief Start FOC of accel and gyro sensors
- */
-
-/*!
- * \ingroup bmi160ApiFOC
- * \page bmi160_api_bmi160_start_foc bmi160_start_foc
- * \code
- * int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf,
- * \endcode
- * @details This API starts the FOC of accel and gyro
- *
- *  @note FOC should not be used in low-power mode of sensor
- *
- *  @note Accel FOC targets values of +1g , 0g , -1g
- *  Gyro FOC always targets value of 0 dps
- *
- *  @param[in] foc_conf    : Structure instance of bmi160_foc_conf which
- *                                   has the FOC configuration
- *  @param[in,out] offset  : Structure instance to store Offset
- *                                   values read from sensor
- *  @param[in] dev         : Structure instance of bmi160_dev.
- *
- *  @note Pre-requisites for triggering FOC in accel , Set the following,
- *   Enable the acc_off_en
- *       Ex :  foc_conf.acc_off_en = BMI160_ENABLE;
- *
- *   Set the desired target values of FOC to each axes (x,y,z) by using the
- *   following macros
- *       - BMI160_FOC_ACCEL_DISABLED
- *       - BMI160_FOC_ACCEL_POSITIVE_G
- *       - BMI160_FOC_ACCEL_NEGATIVE_G
- *       - BMI160_FOC_ACCEL_0G
- *
- *   Ex : foc_conf.foc_acc_x  = BMI160_FOC_ACCEL_0G;
- *        foc_conf.foc_acc_y  = BMI160_FOC_ACCEL_0G;
- *        foc_conf.foc_acc_z  = BMI160_FOC_ACCEL_POSITIVE_G;
- *
- *  @note Pre-requisites for triggering FOC in gyro ,
- *  Set the following parameters,
- *
- *   Ex : foc_conf.foc_gyr_en = BMI160_ENABLE;
- *        foc_conf.gyro_off_en = BMI160_ENABLE;
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- */
-int8_t bmi160_start_foc(
-    const struct bmi160_foc_conf* foc_conf,
-    struct bmi160_offsets* offset,
-    struct bmi160_dev const* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiOffsets Offsets
- * @brief Set / Get offset values of accel and gyro sensors
- */
-
-/*!
- * \ingroup bmi160ApiOffsets
- * \page bmi160_api_bmi160_get_offsets bmi160_get_offsets
- * \code
- * int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev);
- * \endcode
- * @details This API reads and stores the offset values of accel and gyro
- *
- *  @param[in,out] offset : Structure instance of bmi160_offsets in which
- *                          the offset values are read and stored
- *  @param[in] dev        : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- */
-int8_t bmi160_get_offsets(struct bmi160_offsets* offset, const struct bmi160_dev* dev);
-
-/*!
- * \ingroup bmi160ApiOffsets
- * \page bmi160_api_bmi160_set_offsets bmi160_set_offsets
- * \code
- * int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf,
- *                         const struct bmi160_offsets *offset,
- *                         struct bmi160_dev const *dev);
- * \endcode
- * @details This API writes the offset values of accel and gyro to
- *  the sensor but these values will be reset on POR or soft reset.
- *
- *  @param[in] foc_conf    : Structure instance of bmi160_foc_conf which
- *                                   has the FOC configuration
- *  @param[in] offset      : Structure instance in which user updates offset
- *                            values which are to be written in the sensor
- *  @param[in] dev         : Structure instance of bmi160_dev.
- *
- *  @note Offsets can be set by user like offset->off_acc_x = 10;
- *  where 1LSB = 3.9mg and for gyro 1LSB = 0.061degrees/second
- *
- * @note BMI160 offset values for xyz axes of accel should be within range of
- *  BMI160_ACCEL_MIN_OFFSET (-128) to BMI160_ACCEL_MAX_OFFSET (127)
- *
- * @note BMI160 offset values for xyz axes of gyro should be within range of
- *  BMI160_GYRO_MIN_OFFSET (-512) to BMI160_GYRO_MAX_OFFSET (511)
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- */
-int8_t bmi160_set_offsets(
-    const struct bmi160_foc_conf* foc_conf,
-    const struct bmi160_offsets* offset,
-    struct bmi160_dev const* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiNVM NVM
- * @brief Write image registers values to NVM
- */
-
-/*!
- * \ingroup bmi160ApiNVM
- * \page bmi160_api_bmi160_update_nvm bmi160_update_nvm
- * \code
- * int8_t bmi160_update_nvm(struct bmi160_dev const *dev);
- * \endcode
- * @details This API writes the image registers values to NVM which is
- *  stored even after POR or soft reset
- *
- *  @param[in] dev         : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- */
-int8_t bmi160_update_nvm(struct bmi160_dev const* dev);
-
-/**
- * \ingroup bmi160
- * \defgroup bmi160ApiInts Interrupt status
- * @brief Read interrupt status from the sensor
- */
-
-/*!
- * \ingroup bmi160ApiInts
- * \page bmi160_api_bmi160_get_int_status bmi160_get_int_status
- * \code
- * int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
- *                            union bmi160_int_status *int_status,
- *                            struct bmi160_dev const *dev);
- * \endcode
- * @details This API gets the interrupt status from the sensor.
- *
- *  @param[in] int_status_sel       : Enum variable to select either individual or all the
- *  interrupt status bits.
- *  @param[in] int_status           : pointer variable to get the interrupt status
- *  from the sensor.
- *  param[in] dev                   : Structure instance of bmi160_dev.
- *
- *  @return Result of API execution status
- *  @retval 0 -> Success
- *  @retval Any non zero value -> Fail
- */
-int8_t bmi160_get_int_status(
-    enum bmi160_int_status_sel int_status_sel,
-    union bmi160_int_status* int_status,
-    struct bmi160_dev const* dev);
-
-/*************************** C++ guard macro *****************************/
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* BMI160_H_ */
+/**
+* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
+*
+* BSD-3-Clause
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+*
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in the
+*    documentation and/or other materials provided with the distribution.
+*
+* 3. Neither the name of the copyright holder nor the names of its
+*    contributors may be used to endorse or promote products derived from
+*    this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+* @file       bmi160.h
+* @date       2021-10-05
+* @version    v3.9.2
+*
+*/
+
+/*!
+ * @defgroup bmi160 BMI160
+ */
+
+#ifndef BMI160_H_
+#define BMI160_H_
+
+/*************************** C++ guard macro *****************************/
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "bmi160_defs.h"
+#ifdef __KERNEL__
+#include <bmi160_math.h>
+#else
+#include <math.h>
+#include <string.h>
+#include <stdlib.h>
+#endif
+
+/*********************** User function prototypes ************************/
+
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiInit Initialization
+ * @brief Initialize the sensor and device structure
+ */
+
+/*!
+ * \ingroup bmi160ApiInit
+ * \page bmi160_api_bmi160_init bmi160_init
+ * \code
+ * int8_t bmi160_init(struct bmi160_dev *dev);
+ * \endcode
+ * @details This API is the entry point for sensor.It performs
+ *  the selection of I2C/SPI read mechanism according to the
+ *  selected interface and reads the chip-id of bmi160 sensor.
+ *
+ *  @param[in,out] dev : Structure instance of bmi160_dev
+ *  @note : Refer user guide for detailed info.
+ *
+ *  @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_init(struct bmi160_dev* dev);
+
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiRegs Registers
+ * @brief Read data from the given register address of sensor
+ */
+
+/*!
+ * \ingroup bmi160ApiRegs
+ * \page bmi160_api_bmi160_get_regs bmi160_get_regs
+ * \code
+ * int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
+ * \endcode
+ * @details This API reads the data from the given register address of sensor.
+ *
+ * @param[in] reg_addr  : Register address from where the data to be read
+ * @param[out] data     : Pointer to data buffer to store the read data.
+ * @param[in] len       : No of bytes of data to be read.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @note For most of the registers auto address increment applies, with the
+ * exception of a few special registers, which trap the address. For e.g.,
+ * Register address - 0x24(BMI160_FIFO_DATA_ADDR)
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t
+    bmi160_get_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev);
+
+/*!
+ * \ingroup bmi160ApiRegs
+ * \page bmi160_api_bmi160_set_regs bmi160_set_regs
+ * \code
+ * int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
+ * \endcode
+ * @details This API writes the given data to the register address
+ * of sensor.
+ *
+ * @param[in] reg_addr  : Register address from where the data to be written.
+ * @param[in] data      : Pointer to data buffer which is to be written
+ * in the sensor.
+ * @param[in] len       : No of bytes of data to write..
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t
+    bmi160_set_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev);
+
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiSoftreset Soft reset
+ * @brief Perform soft reset of the sensor
+ */
+
+/*!
+ * \ingroup bmi160ApiSoftreset
+ * \page bmi160_api_bmi160_soft_reset bmi160_soft_reset
+ * \code
+ * int8_t bmi160_soft_reset(struct bmi160_dev *dev);
+ * \endcode
+ * @details This API resets and restarts the device.
+ * All register values are overwritten with default parameters.
+ *
+ * @param[in] dev  : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_soft_reset(struct bmi160_dev* dev);
+
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiConfig Configuration
+ * @brief Configuration of the sensor
+ */
+
+/*!
+ * \ingroup bmi160ApiConfig
+ * \page bmi160_api_bmi160_set_sens_conf bmi160_set_sens_conf
+ * \code
+ * int8_t bmi160_set_sens_conf(struct bmi160_dev *dev);
+ * \endcode
+ * @details This API configures the power mode, range and bandwidth
+ * of sensor.
+ *
+ * @param[in] dev    : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_set_sens_conf(struct bmi160_dev* dev);
+
+/*!
+ * \ingroup bmi160ApiConfig
+ * \page bmi160_api_bmi160_get_sens_conf bmi160_get_sens_conf
+ * \code
+ * int8_t bmi160_get_sens_conf(struct bmi160_dev *dev);
+ * \endcode
+ * @details This API gets accel and gyro configurations.
+ *
+ * @param[out] dev    : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_get_sens_conf(struct bmi160_dev* dev);
+
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiPowermode Power mode
+ * @brief Set / Get power mode of the sensor
+ */
+
+/*!
+ * \ingroup bmi160ApiPowermode
+ * \page bmi160_api_bmi160_set_power_mode bmi160_set_power_mode
+ * \code
+ * int8_t bmi160_set_power_mode(struct bmi160_dev *dev);
+ * \endcode
+ * @details This API sets the power mode of the sensor.
+ *
+ * @param[in] dev  : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_set_power_mode(struct bmi160_dev* dev);
+
+/*!
+ * \ingroup bmi160ApiPowermode
+ * \page bmi160_api_bmi160_get_power_mode bmi160_get_power_mode
+ * \code
+ * int8_t bmi160_get_power_mode(struct bmi160_dev *dev);
+ * \endcode
+ * @details This API gets the power mode of the sensor.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_get_power_mode(struct bmi160_dev* dev);
+
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiData Sensor Data
+ * @brief Read sensor data
+ */
+
+/*!
+ * \ingroup bmi160ApiData
+ * \page bmi160_api_bmi160_get_sensor_data bmi160_get_sensor_data
+ * \code
+ * int8_t bmi160_get_sensor_data(uint8_t select_sensor,
+ *                             struct bmi160_sensor_data *accel,
+ *                             struct bmi160_sensor_data *gyro,
+ *                             const struct bmi160_dev *dev);
+ *
+ * \endcode
+ * @details This API reads sensor data, stores it in
+ * the bmi160_sensor_data structure pointer passed by the user.
+ * The user can ask for accel data ,gyro data or both sensor
+ * data using bmi160_select_sensor enum
+ *
+ * @param[in] select_sensor    : enum to choose accel,gyro or both sensor data
+ * @param[out] accel    : Structure pointer to store accel data
+ * @param[out] gyro     : Structure pointer to store gyro data
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_get_sensor_data(
+    uint8_t select_sensor,
+    struct bmi160_sensor_data* accel,
+    struct bmi160_sensor_data* gyro,
+    const struct bmi160_dev* dev);
+
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiInt Interrupt configuration
+ * @brief Set interrupt configuration of the sensor
+ */
+
+/*!
+ * \ingroup bmi160ApiInt
+ * \page bmi160_api_bmi160_set_int_config bmi160_set_int_config
+ * \code
+ * int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
+ * \endcode
+ * @details This API configures the necessary interrupt based on
+ *  the user settings in the bmi160_int_settg structure instance.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_set_int_config(struct bmi160_int_settg* int_config, struct bmi160_dev* dev);
+
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiStepC Step counter
+ * @brief Step counter operations
+ */
+
+/*!
+ * \ingroup bmi160ApiStepC
+ * \page bmi160_api_bmi160_set_step_counter bmi160_set_step_counter
+ * \code
+ * int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev);
+ * \endcode
+ * @details This API enables the step counter feature.
+ *
+ * @param[in] step_cnt_enable   : value to enable or disable
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev* dev);
+
+/*!
+ * \ingroup bmi160ApiStepC
+ * \page bmi160_api_bmi160_read_step_counter bmi160_read_step_counter
+ * \code
+ * int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev);
+ * \endcode
+ * @details This API reads the step counter value.
+ *
+ * @param[in] step_val    : Pointer to store the step counter value.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_read_step_counter(uint16_t* step_val, const struct bmi160_dev* dev);
+
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiAux Auxiliary sensor
+ * @brief Auxiliary sensor operations
+ */
+
+/*!
+ * \ingroup bmi160ApiAux
+ * \page bmi160_api_bmi160_aux_read bmi160_aux_read
+ * \code
+ * int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
+ * \endcode
+ * @details This API reads the mention no of byte of data from the given
+ * register address of auxiliary sensor.
+ *
+ * @param[in] reg_addr    : Address of register to read.
+ * @param[in] aux_data    : Pointer to store the read data.
+ * @param[in] len     : No of bytes to read.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_aux_read(
+    uint8_t reg_addr,
+    uint8_t* aux_data,
+    uint16_t len,
+    const struct bmi160_dev* dev);
+
+/*!
+ * \ingroup bmi160ApiAux
+ * \page bmi160_api_bmi160_aux_write bmi160_aux_write
+ * \code
+ * int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
+ * \endcode
+ * @details This API writes the mention no of byte of data to the given
+ * register address of auxiliary sensor.
+ *
+ * @param[in] reg_addr    : Address of register to write.
+ * @param[in] aux_data    : Pointer to write data.
+ * @param[in] len     : No of bytes to write.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_aux_write(
+    uint8_t reg_addr,
+    uint8_t* aux_data,
+    uint16_t len,
+    const struct bmi160_dev* dev);
+
+/*!
+ * \ingroup bmi160ApiAux
+ * \page bmi160_api_bmi160_aux_init bmi160_aux_init
+ * \code
+ * int8_t bmi160_aux_init(const struct bmi160_dev *dev);
+ * \endcode
+ * @details This API initialize the auxiliary sensor
+ * in order to access it.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_aux_init(const struct bmi160_dev* dev);
+
+/*!
+ * \ingroup bmi160ApiAux
+ * \page bmi160_api_bmi160_set_aux_auto_mode bmi160_set_aux_auto_mode
+ * \code
+ * int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev);
+ * \endcode
+ * @details This API is used to setup the auxiliary sensor of bmi160 in auto mode
+ * Thus enabling the auto update of 8 bytes of data from auxiliary sensor
+ * to BMI160 register address 0x04 to 0x0B
+ *
+ * @param[in] data_addr    : Starting address of aux. sensor's data register
+ *                           (BMI160 registers 0x04 to 0x0B will be updated
+ *                           with 8 bytes of data from auxiliary sensor
+ *                           starting from this register address.)
+ * @param[in] dev      : Structure instance of bmi160_dev.
+ *
+ * @note : Set the value of auxiliary polling rate by setting
+ *         dev->aux_cfg.aux_odr to the required value from the table
+ *         before calling this API
+ *
+ *@verbatim
+ *   dev->aux_cfg.aux_odr  |   Auxiliary ODR (Hz)
+ *  -----------------------|-----------------------
+ *  BMI160_AUX_ODR_0_78HZ  |        25/32
+ *  BMI160_AUX_ODR_1_56HZ  |        25/16
+ *  BMI160_AUX_ODR_3_12HZ  |        25/8
+ *  BMI160_AUX_ODR_6_25HZ  |        25/4
+ *  BMI160_AUX_ODR_12_5HZ  |        25/2
+ *  BMI160_AUX_ODR_25HZ    |        25
+ *  BMI160_AUX_ODR_50HZ    |        50
+ *  BMI160_AUX_ODR_100HZ   |        100
+ *  BMI160_AUX_ODR_200HZ   |        200
+ *  BMI160_AUX_ODR_400HZ   |        400
+ *  BMI160_AUX_ODR_800HZ   |        800
+ *@endverbatim
+ *
+ * @note : Other values of  dev->aux_cfg.aux_odr are reserved and not for use
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_set_aux_auto_mode(uint8_t* data_addr, struct bmi160_dev* dev);
+
+/*!
+ * \ingroup bmi160ApiAux
+ * \page bmi160_api_bmi160_config_aux_mode bmi160_config_aux_mode
+ * \code
+ * int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev);
+ * \endcode
+ * @details This API configures the 0x4C register and settings like
+ * Auxiliary sensor manual enable/ disable and aux burst read length.
+ *
+ * @param[in] dev    : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_config_aux_mode(const struct bmi160_dev* dev);
+
+/*!
+ * \ingroup bmi160ApiAux
+ * \page bmi160_api_bmi160_read_aux_data_auto_mode bmi160_read_aux_data_auto_mode
+ * \code
+ * int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev);
+ * \endcode
+ * @details This API is used to read the raw uncompensated auxiliary sensor
+ * data of 8 bytes from BMI160 register address 0x04 to 0x0B
+ *
+ * @param[in] aux_data       : Pointer to user array of length 8 bytes
+ *                             Ensure that the aux_data array is of
+ *                             length 8 bytes
+ * @param[in] dev        : Structure instance of bmi160_dev
+ *
+ * @retval zero -> Success  / -ve value -> Error
+ * @retval Zero Success
+ * @retval Negative Error
+ */
+int8_t bmi160_read_aux_data_auto_mode(uint8_t* aux_data, const struct bmi160_dev* dev);
+
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiSelfTest Self test
+ * @brief Perform self test of the sensor
+ */
+
+/*!
+ * \ingroup bmi160ApiSelfTest
+ * \page bmi160_api_bmi160_perform_self_test bmi160_perform_self_test
+ * \code
+ * int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev);
+ * \endcode
+ * @details This is used to perform self test of accel/gyro of the BMI160 sensor
+ *
+ * @param[in] select_sensor  : enum to choose accel or gyro for self test
+ * @param[in] dev            : Structure instance of bmi160_dev
+ *
+ * @note self test can be performed either for accel/gyro at any instant.
+ *
+ *@verbatim
+ *     value of select_sensor       |  Inference
+ *----------------------------------|--------------------------------
+ *   BMI160_ACCEL_ONLY              | Accel self test enabled
+ *   BMI160_GYRO_ONLY               | Gyro self test enabled
+ *   BMI160_BOTH_ACCEL_AND_GYRO     | NOT TO BE USED
+ *@endverbatim
+ *
+ * @note The return value of this API gives us the result of self test.
+ *
+ * @note Performing self test does soft reset of the sensor, User can
+ * set the desired settings after performing the self test.
+ *
+ * @return Result of API execution status
+ * @retval  BMI160_OK                       Self test success
+ * @retval  BMI160_W_GYRO_SELF_TEST_FAIL    Gyro self test fail
+ * @retval  BMI160_W_ACCEl_SELF_TEST_FAIL   Accel self test fail
+ */
+int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev* dev);
+
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiFIFO FIFO
+ * @brief FIFO operations of the sensor
+ */
+
+/*!
+ * \ingroup bmi160ApiFIFO
+ * \page bmi160_api_bmi160_get_fifo_data bmi160_get_fifo_data
+ * \code
+ * int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev);
+ * \endcode
+ * @details This API reads data from the fifo buffer.
+ *
+ *  @note User has to allocate the FIFO buffer along with
+ *  corresponding fifo length from his side before calling this API
+ *  as mentioned in the readme.md
+ *
+ *  @note User must specify the number of bytes to read from the FIFO in
+ *  dev->fifo->length , It will be updated by the number of bytes actually
+ *  read from FIFO after calling this API
+ *
+ *  @param[in] dev     : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval Zero Success
+ *  @retval Negative Error
+ */
+int8_t bmi160_get_fifo_data(struct bmi160_dev const* dev);
+
+/*!
+ * \ingroup bmi160ApiFIFO
+ * \page bmi160_api_bmi160_set_fifo_flush bmi160_set_fifo_flush
+ * \code
+ * int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev);
+ * \endcode
+ * @details This API writes fifo_flush command to command register.This
+ *  action clears all data in the Fifo without changing fifo configuration
+ *  settings.
+ *
+ *  @param[in] dev     : Structure instance of bmi160_dev
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_set_fifo_flush(const struct bmi160_dev* dev);
+
+/*!
+ * \ingroup bmi160ApiFIFO
+ * \page bmi160_api_bmi160_set_fifo_config bmi160_set_fifo_config
+ * \code
+ * int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev);
+ * \endcode
+ * @details This API sets the FIFO configuration in the sensor.
+ *
+ *  @param[in] config : variable used to specify the FIFO
+ *  configurations which are to be enabled or disabled in the sensor.
+ *
+ *  @note : User can set either set one or more or all FIFO configurations
+ *  by ORing the below mentioned macros.
+ *
+ *@verbatim
+ *      config                  |   Value
+ *      ------------------------|---------------------------
+ *      BMI160_FIFO_TIME        |   0x02
+ *      BMI160_FIFO_TAG_INT2    |   0x04
+ *      BMI160_FIFO_TAG_INT1    |   0x08
+ *      BMI160_FIFO_HEADER      |   0x10
+ *      BMI160_FIFO_AUX         |   0x20
+ *      BMI160_FIFO_ACCEL       |   0x40
+ *      BMI160_FIFO_GYRO        |   0x80
+ *@endverbatim
+ *
+ *  @param[in] enable : Parameter used to enable or disable the above
+ *  FIFO configuration
+ *  @param[in] dev : Structure instance of bmi160_dev.
+ *
+ *  @return status of bus communication result
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const* dev);
+
+/*!
+ * \ingroup bmi160ApiFIFO
+ * \page bmi160_api_bmi160_set_fifo_down bmi160_set_fifo_down
+ * \code
+ * int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev);
+ * \endcode
+ * @details This API is used to configure the down sampling ratios of
+ *  the accel and gyro data for FIFO.Also, it configures filtered or
+ *  pre-filtered data for the fifo for accel and gyro.
+ *
+ *  @param[in] fifo_down : variable used to specify the FIFO down
+ *  configurations which are to be enabled or disabled in the sensor.
+ *
+ *  @note The user must select one among the following macros to
+ *  select down-sampling ratio for accel
+ *
+ *@verbatim
+ *      config                               |   Value
+ *      -------------------------------------|---------------------------
+ *      BMI160_ACCEL_FIFO_DOWN_ZERO          |   0x00
+ *      BMI160_ACCEL_FIFO_DOWN_ONE           |   0x10
+ *      BMI160_ACCEL_FIFO_DOWN_TWO           |   0x20
+ *      BMI160_ACCEL_FIFO_DOWN_THREE         |   0x30
+ *      BMI160_ACCEL_FIFO_DOWN_FOUR          |   0x40
+ *      BMI160_ACCEL_FIFO_DOWN_FIVE          |   0x50
+ *      BMI160_ACCEL_FIFO_DOWN_SIX           |   0x60
+ *      BMI160_ACCEL_FIFO_DOWN_SEVEN         |   0x70
+ *@endverbatim
+ *
+ *  @note The user must select one among the following macros to
+ *  select down-sampling ratio for gyro
+ *
+ *@verbatim
+ *      config                               |   Value
+ *      -------------------------------------|---------------------------
+ *      BMI160_GYRO_FIFO_DOWN_ZERO           |   0x00
+ *      BMI160_GYRO_FIFO_DOWN_ONE            |   0x01
+ *      BMI160_GYRO_FIFO_DOWN_TWO            |   0x02
+ *      BMI160_GYRO_FIFO_DOWN_THREE          |   0x03
+ *      BMI160_GYRO_FIFO_DOWN_FOUR           |   0x04
+ *      BMI160_GYRO_FIFO_DOWN_FIVE           |   0x05
+ *      BMI160_GYRO_FIFO_DOWN_SIX            |   0x06
+ *      BMI160_GYRO_FIFO_DOWN_SEVEN          |   0x07
+ *@endverbatim
+ *
+ *  @note The user can enable filtered accel data by the following macro
+ *
+ *@verbatim
+ *      config                               |   Value
+ *      -------------------------------------|---------------------------
+ *      BMI160_ACCEL_FIFO_FILT_EN            |   0x80
+ *@endverbatim
+ *
+ *  @note The user can enable filtered gyro data by the following macro
+ *
+ *@verbatim
+ *      config                               |   Value
+ *      -------------------------------------|---------------------------
+ *      BMI160_GYRO_FIFO_FILT_EN             |   0x08
+ *@endverbatim
+ *
+ *  @note : By ORing the above mentioned macros, the user can select
+ *  the required FIFO down config settings
+ *
+ *  @param[in] dev : Structure instance of bmi160_dev.
+ *
+ *  @return status of bus communication result
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev* dev);
+
+/*!
+ * \ingroup bmi160ApiFIFO
+ * \page bmi160_api_bmi160_set_fifo_wm bmi160_set_fifo_wm
+ * \code
+ * int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev);
+ * \endcode
+ * @details This API sets the FIFO watermark level in the sensor.
+ *
+ *  @note The FIFO watermark is issued when the FIFO fill level is
+ *  equal or above the watermark level and units of watermark is 4 bytes.
+ *
+ *  @param[in]  fifo_wm        : Variable used to set the FIFO water mark level
+ *  @param[in]  dev            : Structure instance of bmi160_dev
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev* dev);
+
+/*!
+ * \ingroup bmi160ApiFIFO
+ * \page bmi160_api_bmi160_extract_accel bmi160_extract_accel
+ * \code
+ * int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const
+ **dev);
+ * \endcode
+ * @details This API parses and extracts the accelerometer frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "accel_data" structure instance.
+ *
+ *  @note The bmi160_extract_accel API should be called only after
+ *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
+ *
+ *  @param[out] accel_data    : Structure instance of bmi160_sensor_data
+ *                              where the accelerometer data in FIFO is stored.
+ *  @param[in,out] accel_length  : Number of valid accelerometer frames
+ *                              (x,y,z axes data) read out from fifo.
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @note accel_length is updated with the number of valid accelerometer
+ *  frames extracted from fifo (1 accel frame   = 6 bytes) at the end of
+ *  execution of this API.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_extract_accel(
+    struct bmi160_sensor_data* accel_data,
+    uint8_t* accel_length,
+    struct bmi160_dev const* dev);
+
+/*!
+ * \ingroup bmi160ApiFIFO
+ * \page bmi160_api_bmi160_extract_gyro bmi160_extract_gyro
+ * \code
+ * int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev);
+ * \endcode
+ * @details This API parses and extracts the gyro frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "gyro_data" structure instance.
+ *
+ *  @note The bmi160_extract_gyro API should be called only after
+ *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
+ *
+ *  @param[out] gyro_data    : Structure instance of bmi160_sensor_data
+ *                             where the gyro data in FIFO is stored.
+ *  @param[in,out] gyro_length  : Number of valid gyro frames
+ *                             (x,y,z axes data) read out from fifo.
+ *  @param[in] dev           : Structure instance of bmi160_dev.
+ *
+ *  @note gyro_length is updated with the number of valid gyro
+ *  frames extracted from fifo (1 gyro frame   = 6 bytes) at the end of
+ *  execution of this API.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_extract_gyro(
+    struct bmi160_sensor_data* gyro_data,
+    uint8_t* gyro_length,
+    struct bmi160_dev const* dev);
+
+/*!
+ * \ingroup bmi160ApiFIFO
+ * \page bmi160_api_bmi160_extract_aux bmi160_extract_aux
+ * \code
+ * int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev);
+ * \endcode
+ * @details This API parses and extracts the aux frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the bmi160_aux_data structure instance.
+ *
+ *  @note The bmi160_extract_aux API should be called only after
+ *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
+ *
+ *  @param[out] aux_data    : Structure instance of bmi160_aux_data
+ *                            where the aux data in FIFO is stored.
+ *  @param[in,out] aux_len  : Number of valid aux frames (8bytes)
+ *                            read out from FIFO.
+ *  @param[in] dev          : Structure instance of bmi160_dev.
+ *
+ *  @note aux_len is updated with the number of valid aux
+ *  frames extracted from fifo (1 aux frame = 8 bytes) at the end of
+ *  execution of this API.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_extract_aux(
+    struct bmi160_aux_data* aux_data,
+    uint8_t* aux_len,
+    struct bmi160_dev const* dev);
+
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiFOC FOC
+ * @brief Start FOC of accel and gyro sensors
+ */
+
+/*!
+ * \ingroup bmi160ApiFOC
+ * \page bmi160_api_bmi160_start_foc bmi160_start_foc
+ * \code
+ * int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf,
+ * \endcode
+ * @details This API starts the FOC of accel and gyro
+ *
+ *  @note FOC should not be used in low-power mode of sensor
+ *
+ *  @note Accel FOC targets values of +1g , 0g , -1g
+ *  Gyro FOC always targets value of 0 dps
+ *
+ *  @param[in] foc_conf    : Structure instance of bmi160_foc_conf which
+ *                                   has the FOC configuration
+ *  @param[in,out] offset  : Structure instance to store Offset
+ *                                   values read from sensor
+ *  @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ *  @note Pre-requisites for triggering FOC in accel , Set the following,
+ *   Enable the acc_off_en
+ *       Ex :  foc_conf.acc_off_en = BMI160_ENABLE;
+ *
+ *   Set the desired target values of FOC to each axes (x,y,z) by using the
+ *   following macros
+ *       - BMI160_FOC_ACCEL_DISABLED
+ *       - BMI160_FOC_ACCEL_POSITIVE_G
+ *       - BMI160_FOC_ACCEL_NEGATIVE_G
+ *       - BMI160_FOC_ACCEL_0G
+ *
+ *   Ex : foc_conf.foc_acc_x  = BMI160_FOC_ACCEL_0G;
+ *        foc_conf.foc_acc_y  = BMI160_FOC_ACCEL_0G;
+ *        foc_conf.foc_acc_z  = BMI160_FOC_ACCEL_POSITIVE_G;
+ *
+ *  @note Pre-requisites for triggering FOC in gyro ,
+ *  Set the following parameters,
+ *
+ *   Ex : foc_conf.foc_gyr_en = BMI160_ENABLE;
+ *        foc_conf.gyro_off_en = BMI160_ENABLE;
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_start_foc(
+    const struct bmi160_foc_conf* foc_conf,
+    struct bmi160_offsets* offset,
+    struct bmi160_dev const* dev);
+
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiOffsets Offsets
+ * @brief Set / Get offset values of accel and gyro sensors
+ */
+
+/*!
+ * \ingroup bmi160ApiOffsets
+ * \page bmi160_api_bmi160_get_offsets bmi160_get_offsets
+ * \code
+ * int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev);
+ * \endcode
+ * @details This API reads and stores the offset values of accel and gyro
+ *
+ *  @param[in,out] offset : Structure instance of bmi160_offsets in which
+ *                          the offset values are read and stored
+ *  @param[in] dev        : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_get_offsets(struct bmi160_offsets* offset, const struct bmi160_dev* dev);
+
+/*!
+ * \ingroup bmi160ApiOffsets
+ * \page bmi160_api_bmi160_set_offsets bmi160_set_offsets
+ * \code
+ * int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf,
+ *                         const struct bmi160_offsets *offset,
+ *                         struct bmi160_dev const *dev);
+ * \endcode
+ * @details This API writes the offset values of accel and gyro to
+ *  the sensor but these values will be reset on POR or soft reset.
+ *
+ *  @param[in] foc_conf    : Structure instance of bmi160_foc_conf which
+ *                                   has the FOC configuration
+ *  @param[in] offset      : Structure instance in which user updates offset
+ *                            values which are to be written in the sensor
+ *  @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ *  @note Offsets can be set by user like offset->off_acc_x = 10;
+ *  where 1LSB = 3.9mg and for gyro 1LSB = 0.061degrees/second
+ *
+ * @note BMI160 offset values for xyz axes of accel should be within range of
+ *  BMI160_ACCEL_MIN_OFFSET (-128) to BMI160_ACCEL_MAX_OFFSET (127)
+ *
+ * @note BMI160 offset values for xyz axes of gyro should be within range of
+ *  BMI160_GYRO_MIN_OFFSET (-512) to BMI160_GYRO_MAX_OFFSET (511)
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_set_offsets(
+    const struct bmi160_foc_conf* foc_conf,
+    const struct bmi160_offsets* offset,
+    struct bmi160_dev const* dev);
+
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiNVM NVM
+ * @brief Write image registers values to NVM
+ */
+
+/*!
+ * \ingroup bmi160ApiNVM
+ * \page bmi160_api_bmi160_update_nvm bmi160_update_nvm
+ * \code
+ * int8_t bmi160_update_nvm(struct bmi160_dev const *dev);
+ * \endcode
+ * @details This API writes the image registers values to NVM which is
+ *  stored even after POR or soft reset
+ *
+ *  @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_update_nvm(struct bmi160_dev const* dev);
+
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiInts Interrupt status
+ * @brief Read interrupt status from the sensor
+ */
+
+/*!
+ * \ingroup bmi160ApiInts
+ * \page bmi160_api_bmi160_get_int_status bmi160_get_int_status
+ * \code
+ * int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
+ *                            union bmi160_int_status *int_status,
+ *                            struct bmi160_dev const *dev);
+ * \endcode
+ * @details This API gets the interrupt status from the sensor.
+ *
+ *  @param[in] int_status_sel       : Enum variable to select either individual or all the
+ *  interrupt status bits.
+ *  @param[in] int_status           : pointer variable to get the interrupt status
+ *  from the sensor.
+ *  param[in] dev                   : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_get_int_status(
+    enum bmi160_int_status_sel int_status_sel,
+    union bmi160_int_status* int_status,
+    struct bmi160_dev const* dev);
+
+/*************************** C++ guard macro *****************************/
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* BMI160_H_ */

tracking/imu/bmi160_defs.h

@@ -1,1619 +1,1619 @@
-/**
-* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
-*
-* BSD-3-Clause
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-* 1. Redistributions of source code must retain the above copyright
-*    notice, this list of conditions and the following disclaimer.
-*
-* 2. Redistributions in binary form must reproduce the above copyright
-*    notice, this list of conditions and the following disclaimer in the
-*    documentation and/or other materials provided with the distribution.
-*
-* 3. Neither the name of the copyright holder nor the names of its
-*    contributors may be used to endorse or promote products derived from
-*    this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
-* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
-* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
-* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* @file       bmi160_defs.h
-* @date       2021-10-05
-* @version    v3.9.2
-*
-*/
-
-#ifndef BMI160_DEFS_H_
-#define BMI160_DEFS_H_
-
-/*************************** C types headers *****************************/
-#ifdef __KERNEL__
-#include <linux/types.h>
-#include <linux/kernel.h>
-#else
-#include <stdint.h>
-#include <stddef.h>
-#endif
-
-/*************************** Common macros   *****************************/
-
-#if !defined(UINT8_C) && !defined(INT8_C)
-#define INT8_C(x) S8_C(x)
-#define UINT8_C(x) U8_C(x)
-#endif
-
-#if !defined(UINT16_C) && !defined(INT16_C)
-#define INT16_C(x) S16_C(x)
-#define UINT16_C(x) U16_C(x)
-#endif
-
-#if !defined(INT32_C) && !defined(UINT32_C)
-#define INT32_C(x) S32_C(x)
-#define UINT32_C(x) U32_C(x)
-#endif
-
-#if !defined(INT64_C) && !defined(UINT64_C)
-#define INT64_C(x) S64_C(x)
-#define UINT64_C(x) U64_C(x)
-#endif
-
-/**@}*/
-/**\name C standard macros */
-#ifndef NULL
-#ifdef __cplusplus
-#define NULL 0
-#else
-#define NULL ((void*)0)
-#endif
-#endif
-
-/*************************** Sensor macros   *****************************/
-/* Test for an endian machine */
-#ifndef __ORDER_LITTLE_ENDIAN__
-#define __ORDER_LITTLE_ENDIAN__ 0
-#endif
-
-#ifndef __BYTE_ORDER__
-#define __BYTE_ORDER__ __ORDER_LITTLE_ENDIAN__
-#endif
-
-#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
-#ifndef LITTLE_ENDIAN
-#define LITTLE_ENDIAN 1
-#endif
-#elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
-#ifndef BIG_ENDIAN
-#define BIG_ENDIAN 1
-#endif
-#else
-#error "Code does not support Endian format of the processor"
-#endif
-
-/** Mask definitions */
-#define BMI160_ACCEL_BW_MASK UINT8_C(0x70)
-#define BMI160_ACCEL_ODR_MASK UINT8_C(0x0F)
-#define BMI160_ACCEL_UNDERSAMPLING_MASK UINT8_C(0x80)
-#define BMI160_ACCEL_RANGE_MASK UINT8_C(0x0F)
-#define BMI160_GYRO_BW_MASK UINT8_C(0x30)
-#define BMI160_GYRO_ODR_MASK UINT8_C(0x0F)
-#define BMI160_GYRO_RANGE_MASK UINT8_C(0x07)
-
-#define BMI160_ACCEL_BW_POS UINT8_C(4)
-#define BMI160_GYRO_BW_POS UINT8_C(4)
-
-/** Mask definitions for INT_EN registers */
-#define BMI160_ANY_MOTION_X_INT_EN_MASK UINT8_C(0x01)
-#define BMI160_HIGH_G_X_INT_EN_MASK UINT8_C(0x01)
-#define BMI160_NO_MOTION_X_INT_EN_MASK UINT8_C(0x01)
-#define BMI160_ANY_MOTION_Y_INT_EN_MASK UINT8_C(0x02)
-#define BMI160_HIGH_G_Y_INT_EN_MASK UINT8_C(0x02)
-#define BMI160_NO_MOTION_Y_INT_EN_MASK UINT8_C(0x02)
-#define BMI160_ANY_MOTION_Z_INT_EN_MASK UINT8_C(0x04)
-#define BMI160_HIGH_G_Z_INT_EN_MASK UINT8_C(0x04)
-#define BMI160_NO_MOTION_Z_INT_EN_MASK UINT8_C(0x04)
-#define BMI160_SIG_MOTION_INT_EN_MASK UINT8_C(0x07)
-#define BMI160_ANY_MOTION_ALL_INT_EN_MASK UINT8_C(0x07)
-#define BMI160_STEP_DETECT_INT_EN_MASK UINT8_C(0x08)
-#define BMI160_DOUBLE_TAP_INT_EN_MASK UINT8_C(0x10)
-#define BMI160_SINGLE_TAP_INT_EN_MASK UINT8_C(0x20)
-#define BMI160_FIFO_FULL_INT_EN_MASK UINT8_C(0x20)
-#define BMI160_ORIENT_INT_EN_MASK UINT8_C(0x40)
-#define BMI160_FIFO_WATERMARK_INT_EN_MASK UINT8_C(0x40)
-#define BMI160_LOW_G_INT_EN_MASK UINT8_C(0x08)
-#define BMI160_STEP_DETECT_EN_MASK UINT8_C(0x08)
-#define BMI160_FLAT_INT_EN_MASK UINT8_C(0x80)
-#define BMI160_DATA_RDY_INT_EN_MASK UINT8_C(0x10)
-
-/** PMU status Macros */
-#define BMI160_AUX_PMU_SUSPEND UINT8_C(0x00)
-#define BMI160_AUX_PMU_NORMAL UINT8_C(0x01)
-#define BMI160_AUX_PMU_LOW_POWER UINT8_C(0x02)
-
-#define BMI160_GYRO_PMU_SUSPEND UINT8_C(0x00)
-#define BMI160_GYRO_PMU_NORMAL UINT8_C(0x01)
-#define BMI160_GYRO_PMU_FSU UINT8_C(0x03)
-
-#define BMI160_ACCEL_PMU_SUSPEND UINT8_C(0x00)
-#define BMI160_ACCEL_PMU_NORMAL UINT8_C(0x01)
-#define BMI160_ACCEL_PMU_LOW_POWER UINT8_C(0x02)
-
-/** Mask definitions for INT_OUT_CTRL register */
-#define BMI160_INT1_EDGE_CTRL_MASK UINT8_C(0x01)
-#define BMI160_INT1_OUTPUT_MODE_MASK UINT8_C(0x04)
-#define BMI160_INT1_OUTPUT_TYPE_MASK UINT8_C(0x02)
-#define BMI160_INT1_OUTPUT_EN_MASK UINT8_C(0x08)
-#define BMI160_INT2_EDGE_CTRL_MASK UINT8_C(0x10)
-#define BMI160_INT2_OUTPUT_MODE_MASK UINT8_C(0x40)
-#define BMI160_INT2_OUTPUT_TYPE_MASK UINT8_C(0x20)
-#define BMI160_INT2_OUTPUT_EN_MASK UINT8_C(0x80)
-
-/** Mask definitions for INT_LATCH register */
-#define BMI160_INT1_INPUT_EN_MASK UINT8_C(0x10)
-#define BMI160_INT2_INPUT_EN_MASK UINT8_C(0x20)
-#define BMI160_INT_LATCH_MASK UINT8_C(0x0F)
-
-/** Mask definitions for INT_MAP register */
-#define BMI160_INT1_LOW_G_MASK UINT8_C(0x01)
-#define BMI160_INT1_HIGH_G_MASK UINT8_C(0x02)
-#define BMI160_INT1_SLOPE_MASK UINT8_C(0x04)
-#define BMI160_INT1_NO_MOTION_MASK UINT8_C(0x08)
-#define BMI160_INT1_DOUBLE_TAP_MASK UINT8_C(0x10)
-#define BMI160_INT1_SINGLE_TAP_MASK UINT8_C(0x20)
-#define BMI160_INT1_FIFO_FULL_MASK UINT8_C(0x20)
-#define BMI160_INT1_FIFO_WM_MASK UINT8_C(0x40)
-#define BMI160_INT1_ORIENT_MASK UINT8_C(0x40)
-#define BMI160_INT1_FLAT_MASK UINT8_C(0x80)
-#define BMI160_INT1_DATA_READY_MASK UINT8_C(0x80)
-#define BMI160_INT2_LOW_G_MASK UINT8_C(0x01)
-#define BMI160_INT1_LOW_STEP_DETECT_MASK UINT8_C(0x01)
-#define BMI160_INT2_LOW_STEP_DETECT_MASK UINT8_C(0x01)
-#define BMI160_INT2_HIGH_G_MASK UINT8_C(0x02)
-#define BMI160_INT2_FIFO_FULL_MASK UINT8_C(0x02)
-#define BMI160_INT2_FIFO_WM_MASK UINT8_C(0x04)
-#define BMI160_INT2_SLOPE_MASK UINT8_C(0x04)
-#define BMI160_INT2_DATA_READY_MASK UINT8_C(0x08)
-#define BMI160_INT2_NO_MOTION_MASK UINT8_C(0x08)
-#define BMI160_INT2_DOUBLE_TAP_MASK UINT8_C(0x10)
-#define BMI160_INT2_SINGLE_TAP_MASK UINT8_C(0x20)
-#define BMI160_INT2_ORIENT_MASK UINT8_C(0x40)
-#define BMI160_INT2_FLAT_MASK UINT8_C(0x80)
-
-/** Mask definitions for INT_DATA register */
-#define BMI160_TAP_SRC_INT_MASK UINT8_C(0x08)
-#define BMI160_LOW_HIGH_SRC_INT_MASK UINT8_C(0x80)
-#define BMI160_MOTION_SRC_INT_MASK UINT8_C(0x80)
-
-/** Mask definitions for INT_MOTION register */
-#define BMI160_SLOPE_INT_DUR_MASK UINT8_C(0x03)
-#define BMI160_NO_MOTION_INT_DUR_MASK UINT8_C(0xFC)
-#define BMI160_NO_MOTION_SEL_BIT_MASK UINT8_C(0x01)
-
-/** Mask definitions for INT_TAP register */
-#define BMI160_TAP_DUR_MASK UINT8_C(0x07)
-#define BMI160_TAP_SHOCK_DUR_MASK UINT8_C(0x40)
-#define BMI160_TAP_QUIET_DUR_MASK UINT8_C(0x80)
-#define BMI160_TAP_THRES_MASK UINT8_C(0x1F)
-
-/** Mask definitions for INT_FLAT register */
-#define BMI160_FLAT_THRES_MASK UINT8_C(0x3F)
-#define BMI160_FLAT_HOLD_TIME_MASK UINT8_C(0x30)
-#define BMI160_FLAT_HYST_MASK UINT8_C(0x07)
-
-/** Mask definitions for INT_LOWHIGH register */
-#define BMI160_LOW_G_HYST_MASK UINT8_C(0x03)
-#define BMI160_LOW_G_LOW_MODE_MASK UINT8_C(0x04)
-#define BMI160_HIGH_G_HYST_MASK UINT8_C(0xC0)
-
-/** Mask definitions for INT_SIG_MOTION register */
-#define BMI160_SIG_MOTION_SEL_MASK UINT8_C(0x02)
-#define BMI160_SIG_MOTION_SKIP_MASK UINT8_C(0x0C)
-#define BMI160_SIG_MOTION_PROOF_MASK UINT8_C(0x30)
-
-/** Mask definitions for INT_ORIENT register */
-#define BMI160_ORIENT_MODE_MASK UINT8_C(0x03)
-#define BMI160_ORIENT_BLOCK_MASK UINT8_C(0x0C)
-#define BMI160_ORIENT_HYST_MASK UINT8_C(0xF0)
-#define BMI160_ORIENT_THETA_MASK UINT8_C(0x3F)
-#define BMI160_ORIENT_UD_ENABLE UINT8_C(0x40)
-#define BMI160_AXES_EN_MASK UINT8_C(0x80)
-
-/** Mask definitions for FIFO_CONFIG register */
-#define BMI160_FIFO_GYRO UINT8_C(0x80)
-#define BMI160_FIFO_ACCEL UINT8_C(0x40)
-#define BMI160_FIFO_AUX UINT8_C(0x20)
-#define BMI160_FIFO_TAG_INT1 UINT8_C(0x08)
-#define BMI160_FIFO_TAG_INT2 UINT8_C(0x04)
-#define BMI160_FIFO_TIME UINT8_C(0x02)
-#define BMI160_FIFO_HEADER UINT8_C(0x10)
-#define BMI160_FIFO_CONFIG_1_MASK UINT8_C(0xFE)
-
-/** Mask definitions for STEP_CONF register */
-#define BMI160_STEP_COUNT_EN_BIT_MASK UINT8_C(0x08)
-#define BMI160_STEP_DETECT_MIN_THRES_MASK UINT8_C(0x18)
-#define BMI160_STEP_DETECT_STEPTIME_MIN_MASK UINT8_C(0x07)
-#define BMI160_STEP_MIN_BUF_MASK UINT8_C(0x07)
-
-/** Mask definition for FIFO Header Data Tag */
-#define BMI160_FIFO_TAG_INTR_MASK UINT8_C(0xFC)
-
-/** Fifo byte counter mask definitions */
-#define BMI160_FIFO_BYTE_COUNTER_MASK UINT8_C(0x07)
-
-/** Enable/disable bit value */
-#define BMI160_ENABLE UINT8_C(0x01)
-#define BMI160_DISABLE UINT8_C(0x00)
-
-/** Latch Duration */
-#define BMI160_LATCH_DUR_NONE UINT8_C(0x00)
-#define BMI160_LATCH_DUR_312_5_MICRO_SEC UINT8_C(0x01)
-#define BMI160_LATCH_DUR_625_MICRO_SEC UINT8_C(0x02)
-#define BMI160_LATCH_DUR_1_25_MILLI_SEC UINT8_C(0x03)
-#define BMI160_LATCH_DUR_2_5_MILLI_SEC UINT8_C(0x04)
-#define BMI160_LATCH_DUR_5_MILLI_SEC UINT8_C(0x05)
-#define BMI160_LATCH_DUR_10_MILLI_SEC UINT8_C(0x06)
-#define BMI160_LATCH_DUR_20_MILLI_SEC UINT8_C(0x07)
-#define BMI160_LATCH_DUR_40_MILLI_SEC UINT8_C(0x08)
-#define BMI160_LATCH_DUR_80_MILLI_SEC UINT8_C(0x09)
-#define BMI160_LATCH_DUR_160_MILLI_SEC UINT8_C(0x0A)
-#define BMI160_LATCH_DUR_320_MILLI_SEC UINT8_C(0x0B)
-#define BMI160_LATCH_DUR_640_MILLI_SEC UINT8_C(0x0C)
-#define BMI160_LATCH_DUR_1_28_SEC UINT8_C(0x0D)
-#define BMI160_LATCH_DUR_2_56_SEC UINT8_C(0x0E)
-#define BMI160_LATCHED UINT8_C(0x0F)
-
-/** BMI160 Register map */
-#define BMI160_CHIP_ID_ADDR UINT8_C(0x00)
-#define BMI160_ERROR_REG_ADDR UINT8_C(0x02)
-#define BMI160_PMU_STATUS_ADDR UINT8_C(0x03)
-#define BMI160_AUX_DATA_ADDR UINT8_C(0x04)
-#define BMI160_GYRO_DATA_ADDR UINT8_C(0x0C)
-#define BMI160_ACCEL_DATA_ADDR UINT8_C(0x12)
-#define BMI160_STATUS_ADDR UINT8_C(0x1B)
-#define BMI160_INT_STATUS_ADDR UINT8_C(0x1C)
-#define BMI160_FIFO_LENGTH_ADDR UINT8_C(0x22)
-#define BMI160_FIFO_DATA_ADDR UINT8_C(0x24)
-#define BMI160_ACCEL_CONFIG_ADDR UINT8_C(0x40)
-#define BMI160_ACCEL_RANGE_ADDR UINT8_C(0x41)
-#define BMI160_GYRO_CONFIG_ADDR UINT8_C(0x42)
-#define BMI160_GYRO_RANGE_ADDR UINT8_C(0x43)
-#define BMI160_AUX_ODR_ADDR UINT8_C(0x44)
-#define BMI160_FIFO_DOWN_ADDR UINT8_C(0x45)
-#define BMI160_FIFO_CONFIG_0_ADDR UINT8_C(0x46)
-#define BMI160_FIFO_CONFIG_1_ADDR UINT8_C(0x47)
-#define BMI160_AUX_IF_0_ADDR UINT8_C(0x4B)
-#define BMI160_AUX_IF_1_ADDR UINT8_C(0x4C)
-#define BMI160_AUX_IF_2_ADDR UINT8_C(0x4D)
-#define BMI160_AUX_IF_3_ADDR UINT8_C(0x4E)
-#define BMI160_AUX_IF_4_ADDR UINT8_C(0x4F)
-#define BMI160_INT_ENABLE_0_ADDR UINT8_C(0x50)
-#define BMI160_INT_ENABLE_1_ADDR UINT8_C(0x51)
-#define BMI160_INT_ENABLE_2_ADDR UINT8_C(0x52)
-#define BMI160_INT_OUT_CTRL_ADDR UINT8_C(0x53)
-#define BMI160_INT_LATCH_ADDR UINT8_C(0x54)
-#define BMI160_INT_MAP_0_ADDR UINT8_C(0x55)
-#define BMI160_INT_MAP_1_ADDR UINT8_C(0x56)
-#define BMI160_INT_MAP_2_ADDR UINT8_C(0x57)
-#define BMI160_INT_DATA_0_ADDR UINT8_C(0x58)
-#define BMI160_INT_DATA_1_ADDR UINT8_C(0x59)
-#define BMI160_INT_LOWHIGH_0_ADDR UINT8_C(0x5A)
-#define BMI160_INT_LOWHIGH_1_ADDR UINT8_C(0x5B)
-#define BMI160_INT_LOWHIGH_2_ADDR UINT8_C(0x5C)
-#define BMI160_INT_LOWHIGH_3_ADDR UINT8_C(0x5D)
-#define BMI160_INT_LOWHIGH_4_ADDR UINT8_C(0x5E)
-#define BMI160_INT_MOTION_0_ADDR UINT8_C(0x5F)
-#define BMI160_INT_MOTION_1_ADDR UINT8_C(0x60)
-#define BMI160_INT_MOTION_2_ADDR UINT8_C(0x61)
-#define BMI160_INT_MOTION_3_ADDR UINT8_C(0x62)
-#define BMI160_INT_TAP_0_ADDR UINT8_C(0x63)
-#define BMI160_INT_TAP_1_ADDR UINT8_C(0x64)
-#define BMI160_INT_ORIENT_0_ADDR UINT8_C(0x65)
-#define BMI160_INT_ORIENT_1_ADDR UINT8_C(0x66)
-#define BMI160_INT_FLAT_0_ADDR UINT8_C(0x67)
-#define BMI160_INT_FLAT_1_ADDR UINT8_C(0x68)
-#define BMI160_FOC_CONF_ADDR UINT8_C(0x69)
-#define BMI160_CONF_ADDR UINT8_C(0x6A)
-
-#define BMI160_IF_CONF_ADDR UINT8_C(0x6B)
-#define BMI160_SELF_TEST_ADDR UINT8_C(0x6D)
-#define BMI160_OFFSET_ADDR UINT8_C(0x71)
-#define BMI160_OFFSET_CONF_ADDR UINT8_C(0x77)
-#define BMI160_INT_STEP_CNT_0_ADDR UINT8_C(0x78)
-#define BMI160_INT_STEP_CONFIG_0_ADDR UINT8_C(0x7A)
-#define BMI160_INT_STEP_CONFIG_1_ADDR UINT8_C(0x7B)
-#define BMI160_COMMAND_REG_ADDR UINT8_C(0x7E)
-#define BMI160_SPI_COMM_TEST_ADDR UINT8_C(0x7F)
-#define BMI160_INTL_PULLUP_CONF_ADDR UINT8_C(0x85)
-
-/** Error code definitions */
-#define BMI160_OK INT8_C(0)
-#define BMI160_E_NULL_PTR INT8_C(-1)
-#define BMI160_E_COM_FAIL INT8_C(-2)
-#define BMI160_E_DEV_NOT_FOUND INT8_C(-3)
-#define BMI160_E_OUT_OF_RANGE INT8_C(-4)
-#define BMI160_E_INVALID_INPUT INT8_C(-5)
-#define BMI160_E_ACCEL_ODR_BW_INVALID INT8_C(-6)
-#define BMI160_E_GYRO_ODR_BW_INVALID INT8_C(-7)
-#define BMI160_E_LWP_PRE_FLTR_INT_INVALID INT8_C(-8)
-#define BMI160_E_LWP_PRE_FLTR_INVALID INT8_C(-9)
-#define BMI160_E_AUX_NOT_FOUND INT8_C(-10)
-#define BMI160_E_FOC_FAILURE INT8_C(-11)
-#define BMI160_E_READ_WRITE_LENGTH_INVALID INT8_C(-12)
-#define BMI160_E_INVALID_CONFIG INT8_C(-13)
-
-/**\name API warning codes */
-#define BMI160_W_GYRO_SELF_TEST_FAIL INT8_C(1)
-#define BMI160_W_ACCEl_SELF_TEST_FAIL INT8_C(2)
-
-/** BMI160 unique chip identifier */
-#define BMI160_CHIP_ID UINT8_C(0xD3)
-
-/** Soft reset command */
-#define BMI160_SOFT_RESET_CMD UINT8_C(0xb6)
-#define BMI160_SOFT_RESET_DELAY_MS UINT8_C(1)
-
-/** Start FOC command */
-#define BMI160_START_FOC_CMD UINT8_C(0x03)
-
-/** NVM backup enabling command */
-#define BMI160_NVM_BACKUP_EN UINT8_C(0xA0)
-
-/* Delay in ms settings */
-#define BMI160_ACCEL_DELAY_MS UINT8_C(5)
-#define BMI160_GYRO_DELAY_MS UINT8_C(80)
-#define BMI160_ONE_MS_DELAY UINT8_C(1)
-#define BMI160_AUX_COM_DELAY UINT8_C(10)
-#define BMI160_GYRO_SELF_TEST_DELAY UINT8_C(20)
-#define BMI160_ACCEL_SELF_TEST_DELAY UINT8_C(50)
-
-/** Self test configurations */
-#define BMI160_ACCEL_SELF_TEST_CONFIG UINT8_C(0x2C)
-#define BMI160_ACCEL_SELF_TEST_POSITIVE_EN UINT8_C(0x0D)
-#define BMI160_ACCEL_SELF_TEST_NEGATIVE_EN UINT8_C(0x09)
-#define BMI160_ACCEL_SELF_TEST_LIMIT UINT16_C(8192)
-
-/** Power mode settings */
-/* Accel power mode */
-#define BMI160_ACCEL_NORMAL_MODE UINT8_C(0x11)
-#define BMI160_ACCEL_LOWPOWER_MODE UINT8_C(0x12)
-#define BMI160_ACCEL_SUSPEND_MODE UINT8_C(0x10)
-
-/* Gyro power mode */
-#define BMI160_GYRO_SUSPEND_MODE UINT8_C(0x14)
-#define BMI160_GYRO_NORMAL_MODE UINT8_C(0x15)
-#define BMI160_GYRO_FASTSTARTUP_MODE UINT8_C(0x17)
-
-/* Aux power mode */
-#define BMI160_AUX_SUSPEND_MODE UINT8_C(0x18)
-#define BMI160_AUX_NORMAL_MODE UINT8_C(0x19)
-#define BMI160_AUX_LOWPOWER_MODE UINT8_C(0x1A)
-
-/** Range settings */
-/* Accel Range */
-#define BMI160_ACCEL_RANGE_2G UINT8_C(0x03)
-#define BMI160_ACCEL_RANGE_4G UINT8_C(0x05)
-#define BMI160_ACCEL_RANGE_8G UINT8_C(0x08)
-#define BMI160_ACCEL_RANGE_16G UINT8_C(0x0C)
-
-/* Gyro Range */
-#define BMI160_GYRO_RANGE_2000_DPS UINT8_C(0x00)
-#define BMI160_GYRO_RANGE_1000_DPS UINT8_C(0x01)
-#define BMI160_GYRO_RANGE_500_DPS UINT8_C(0x02)
-#define BMI160_GYRO_RANGE_250_DPS UINT8_C(0x03)
-#define BMI160_GYRO_RANGE_125_DPS UINT8_C(0x04)
-
-/** Bandwidth settings */
-/* Accel Bandwidth */
-#define BMI160_ACCEL_BW_OSR4_AVG1 UINT8_C(0x00)
-#define BMI160_ACCEL_BW_OSR2_AVG2 UINT8_C(0x01)
-#define BMI160_ACCEL_BW_NORMAL_AVG4 UINT8_C(0x02)
-#define BMI160_ACCEL_BW_RES_AVG8 UINT8_C(0x03)
-#define BMI160_ACCEL_BW_RES_AVG16 UINT8_C(0x04)
-#define BMI160_ACCEL_BW_RES_AVG32 UINT8_C(0x05)
-#define BMI160_ACCEL_BW_RES_AVG64 UINT8_C(0x06)
-#define BMI160_ACCEL_BW_RES_AVG128 UINT8_C(0x07)
-
-#define BMI160_GYRO_BW_OSR4_MODE UINT8_C(0x00)
-#define BMI160_GYRO_BW_OSR2_MODE UINT8_C(0x01)
-#define BMI160_GYRO_BW_NORMAL_MODE UINT8_C(0x02)
-
-/* Output Data Rate settings */
-/* Accel Output data rate */
-#define BMI160_ACCEL_ODR_RESERVED UINT8_C(0x00)
-#define BMI160_ACCEL_ODR_0_78HZ UINT8_C(0x01)
-#define BMI160_ACCEL_ODR_1_56HZ UINT8_C(0x02)
-#define BMI160_ACCEL_ODR_3_12HZ UINT8_C(0x03)
-#define BMI160_ACCEL_ODR_6_25HZ UINT8_C(0x04)
-#define BMI160_ACCEL_ODR_12_5HZ UINT8_C(0x05)
-#define BMI160_ACCEL_ODR_25HZ UINT8_C(0x06)
-#define BMI160_ACCEL_ODR_50HZ UINT8_C(0x07)
-#define BMI160_ACCEL_ODR_100HZ UINT8_C(0x08)
-#define BMI160_ACCEL_ODR_200HZ UINT8_C(0x09)
-#define BMI160_ACCEL_ODR_400HZ UINT8_C(0x0A)
-#define BMI160_ACCEL_ODR_800HZ UINT8_C(0x0B)
-#define BMI160_ACCEL_ODR_1600HZ UINT8_C(0x0C)
-#define BMI160_ACCEL_ODR_RESERVED0 UINT8_C(0x0D)
-#define BMI160_ACCEL_ODR_RESERVED1 UINT8_C(0x0E)
-#define BMI160_ACCEL_ODR_RESERVED2 UINT8_C(0x0F)
-
-/* Gyro Output data rate */
-#define BMI160_GYRO_ODR_RESERVED UINT8_C(0x00)
-#define BMI160_GYRO_ODR_25HZ UINT8_C(0x06)
-#define BMI160_GYRO_ODR_50HZ UINT8_C(0x07)
-#define BMI160_GYRO_ODR_100HZ UINT8_C(0x08)
-#define BMI160_GYRO_ODR_200HZ UINT8_C(0x09)
-#define BMI160_GYRO_ODR_400HZ UINT8_C(0x0A)
-#define BMI160_GYRO_ODR_800HZ UINT8_C(0x0B)
-#define BMI160_GYRO_ODR_1600HZ UINT8_C(0x0C)
-#define BMI160_GYRO_ODR_3200HZ UINT8_C(0x0D)
-
-/* Auxiliary sensor Output data rate */
-#define BMI160_AUX_ODR_RESERVED UINT8_C(0x00)
-#define BMI160_AUX_ODR_0_78HZ UINT8_C(0x01)
-#define BMI160_AUX_ODR_1_56HZ UINT8_C(0x02)
-#define BMI160_AUX_ODR_3_12HZ UINT8_C(0x03)
-#define BMI160_AUX_ODR_6_25HZ UINT8_C(0x04)
-#define BMI160_AUX_ODR_12_5HZ UINT8_C(0x05)
-#define BMI160_AUX_ODR_25HZ UINT8_C(0x06)
-#define BMI160_AUX_ODR_50HZ UINT8_C(0x07)
-#define BMI160_AUX_ODR_100HZ UINT8_C(0x08)
-#define BMI160_AUX_ODR_200HZ UINT8_C(0x09)
-#define BMI160_AUX_ODR_400HZ UINT8_C(0x0A)
-#define BMI160_AUX_ODR_800HZ UINT8_C(0x0B)
-
-/** FIFO_CONFIG Definitions */
-#define BMI160_FIFO_TIME_ENABLE UINT8_C(0x02)
-#define BMI160_FIFO_TAG_INT2_ENABLE UINT8_C(0x04)
-#define BMI160_FIFO_TAG_INT1_ENABLE UINT8_C(0x08)
-#define BMI160_FIFO_HEAD_ENABLE UINT8_C(0x10)
-#define BMI160_FIFO_M_ENABLE UINT8_C(0x20)
-#define BMI160_FIFO_A_ENABLE UINT8_C(0x40)
-#define BMI160_FIFO_M_A_ENABLE UINT8_C(0x60)
-#define BMI160_FIFO_G_ENABLE UINT8_C(0x80)
-#define BMI160_FIFO_M_G_ENABLE UINT8_C(0xA0)
-#define BMI160_FIFO_G_A_ENABLE UINT8_C(0xC0)
-#define BMI160_FIFO_M_G_A_ENABLE UINT8_C(0xE0)
-
-/* Macro to specify the number of bytes over-read from the
- * FIFO in order to get the sensor time at the end of FIFO */
-#ifndef BMI160_FIFO_BYTES_OVERREAD
-#define BMI160_FIFO_BYTES_OVERREAD UINT8_C(25)
-#endif
-
-/* Accel, gyro and aux. sensor length and also their combined
- * length definitions in FIFO */
-#define BMI160_FIFO_G_LENGTH UINT8_C(6)
-#define BMI160_FIFO_A_LENGTH UINT8_C(6)
-#define BMI160_FIFO_M_LENGTH UINT8_C(8)
-#define BMI160_FIFO_GA_LENGTH UINT8_C(12)
-#define BMI160_FIFO_MA_LENGTH UINT8_C(14)
-#define BMI160_FIFO_MG_LENGTH UINT8_C(14)
-#define BMI160_FIFO_MGA_LENGTH UINT8_C(20)
-
-/** FIFO Header Data definitions */
-#define BMI160_FIFO_HEAD_SKIP_FRAME UINT8_C(0x40)
-#define BMI160_FIFO_HEAD_SENSOR_TIME UINT8_C(0x44)
-#define BMI160_FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48)
-#define BMI160_FIFO_HEAD_OVER_READ UINT8_C(0x80)
-#define BMI160_FIFO_HEAD_A UINT8_C(0x84)
-#define BMI160_FIFO_HEAD_G UINT8_C(0x88)
-#define BMI160_FIFO_HEAD_G_A UINT8_C(0x8C)
-#define BMI160_FIFO_HEAD_M UINT8_C(0x90)
-#define BMI160_FIFO_HEAD_M_A UINT8_C(0x94)
-#define BMI160_FIFO_HEAD_M_G UINT8_C(0x98)
-#define BMI160_FIFO_HEAD_M_G_A UINT8_C(0x9C)
-
-/** FIFO sensor time length definitions */
-#define BMI160_SENSOR_TIME_LENGTH UINT8_C(3)
-
-/** FIFO DOWN selection */
-/* Accel fifo down-sampling values*/
-#define BMI160_ACCEL_FIFO_DOWN_ZERO UINT8_C(0x00)
-#define BMI160_ACCEL_FIFO_DOWN_ONE UINT8_C(0x10)
-#define BMI160_ACCEL_FIFO_DOWN_TWO UINT8_C(0x20)
-#define BMI160_ACCEL_FIFO_DOWN_THREE UINT8_C(0x30)
-#define BMI160_ACCEL_FIFO_DOWN_FOUR UINT8_C(0x40)
-#define BMI160_ACCEL_FIFO_DOWN_FIVE UINT8_C(0x50)
-#define BMI160_ACCEL_FIFO_DOWN_SIX UINT8_C(0x60)
-#define BMI160_ACCEL_FIFO_DOWN_SEVEN UINT8_C(0x70)
-
-/* Gyro fifo down-smapling values*/
-#define BMI160_GYRO_FIFO_DOWN_ZERO UINT8_C(0x00)
-#define BMI160_GYRO_FIFO_DOWN_ONE UINT8_C(0x01)
-#define BMI160_GYRO_FIFO_DOWN_TWO UINT8_C(0x02)
-#define BMI160_GYRO_FIFO_DOWN_THREE UINT8_C(0x03)
-#define BMI160_GYRO_FIFO_DOWN_FOUR UINT8_C(0x04)
-#define BMI160_GYRO_FIFO_DOWN_FIVE UINT8_C(0x05)
-#define BMI160_GYRO_FIFO_DOWN_SIX UINT8_C(0x06)
-#define BMI160_GYRO_FIFO_DOWN_SEVEN UINT8_C(0x07)
-
-/* Accel Fifo filter enable*/
-#define BMI160_ACCEL_FIFO_FILT_EN UINT8_C(0x80)
-
-/* Gyro Fifo filter enable*/
-#define BMI160_GYRO_FIFO_FILT_EN UINT8_C(0x08)
-
-/** Definitions to check validity of FIFO frames */
-#define FIFO_CONFIG_MSB_CHECK UINT8_C(0x80)
-#define FIFO_CONFIG_LSB_CHECK UINT8_C(0x00)
-
-/*! BMI160 accel FOC configurations */
-#define BMI160_FOC_ACCEL_DISABLED UINT8_C(0x00)
-#define BMI160_FOC_ACCEL_POSITIVE_G UINT8_C(0x01)
-#define BMI160_FOC_ACCEL_NEGATIVE_G UINT8_C(0x02)
-#define BMI160_FOC_ACCEL_0G UINT8_C(0x03)
-
-/** Array Parameter DefinItions */
-#define BMI160_SENSOR_TIME_LSB_BYTE UINT8_C(0)
-#define BMI160_SENSOR_TIME_XLSB_BYTE UINT8_C(1)
-#define BMI160_SENSOR_TIME_MSB_BYTE UINT8_C(2)
-
-/** Interface settings */
-#define BMI160_SPI_INTF UINT8_C(1)
-#define BMI160_I2C_INTF UINT8_C(0)
-#define BMI160_SPI_RD_MASK UINT8_C(0x80)
-#define BMI160_SPI_WR_MASK UINT8_C(0x7F)
-
-/* Sensor & time select definition*/
-#define BMI160_ACCEL_SEL UINT8_C(0x01)
-#define BMI160_GYRO_SEL UINT8_C(0x02)
-#define BMI160_TIME_SEL UINT8_C(0x04)
-
-/* Sensor select mask*/
-#define BMI160_SEN_SEL_MASK UINT8_C(0x07)
-
-/* Error code mask */
-#define BMI160_ERR_REG_MASK UINT8_C(0x0F)
-
-/* BMI160 I2C address */
-#define BMI160_I2C_ADDR UINT8_C(0x68)
-
-/* BMI160 secondary IF address */
-#define BMI160_AUX_BMM150_I2C_ADDR UINT8_C(0x10)
-
-/** BMI160 Length definitions */
-#define BMI160_ONE UINT8_C(1)
-#define BMI160_TWO UINT8_C(2)
-#define BMI160_THREE UINT8_C(3)
-#define BMI160_FOUR UINT8_C(4)
-#define BMI160_FIVE UINT8_C(5)
-
-/** BMI160 fifo level Margin */
-#define BMI160_FIFO_LEVEL_MARGIN UINT8_C(16)
-
-/** BMI160 fifo flush Command */
-#define BMI160_FIFO_FLUSH_VALUE UINT8_C(0xB0)
-
-/** BMI160 offset values for xyz axes of accel */
-#define BMI160_ACCEL_MIN_OFFSET INT8_C(-128)
-#define BMI160_ACCEL_MAX_OFFSET INT8_C(127)
-
-/** BMI160 offset values for xyz axes of gyro */
-#define BMI160_GYRO_MIN_OFFSET INT16_C(-512)
-#define BMI160_GYRO_MAX_OFFSET INT16_C(511)
-
-/** BMI160 fifo full interrupt position and mask */
-#define BMI160_FIFO_FULL_INT_POS UINT8_C(5)
-#define BMI160_FIFO_FULL_INT_MSK UINT8_C(0x20)
-#define BMI160_FIFO_WTM_INT_POS UINT8_C(6)
-#define BMI160_FIFO_WTM_INT_MSK UINT8_C(0x40)
-
-#define BMI160_FIFO_FULL_INT_PIN1_POS UINT8_C(5)
-#define BMI160_FIFO_FULL_INT_PIN1_MSK UINT8_C(0x20)
-#define BMI160_FIFO_FULL_INT_PIN2_POS UINT8_C(1)
-#define BMI160_FIFO_FULL_INT_PIN2_MSK UINT8_C(0x02)
-
-#define BMI160_FIFO_WTM_INT_PIN1_POS UINT8_C(6)
-#define BMI160_FIFO_WTM_INT_PIN1_MSK UINT8_C(0x40)
-#define BMI160_FIFO_WTM_INT_PIN2_POS UINT8_C(2)
-#define BMI160_FIFO_WTM_INT_PIN2_MSK UINT8_C(0x04)
-
-#define BMI160_MANUAL_MODE_EN_POS UINT8_C(7)
-#define BMI160_MANUAL_MODE_EN_MSK UINT8_C(0x80)
-#define BMI160_AUX_READ_BURST_POS UINT8_C(0)
-#define BMI160_AUX_READ_BURST_MSK UINT8_C(0x03)
-
-#define BMI160_GYRO_SELF_TEST_POS UINT8_C(4)
-#define BMI160_GYRO_SELF_TEST_MSK UINT8_C(0x10)
-#define BMI160_GYRO_SELF_TEST_STATUS_POS UINT8_C(1)
-#define BMI160_GYRO_SELF_TEST_STATUS_MSK UINT8_C(0x02)
-
-#define BMI160_GYRO_FOC_EN_POS UINT8_C(6)
-#define BMI160_GYRO_FOC_EN_MSK UINT8_C(0x40)
-
-#define BMI160_ACCEL_FOC_X_CONF_POS UINT8_C(4)
-#define BMI160_ACCEL_FOC_X_CONF_MSK UINT8_C(0x30)
-
-#define BMI160_ACCEL_FOC_Y_CONF_POS UINT8_C(2)
-#define BMI160_ACCEL_FOC_Y_CONF_MSK UINT8_C(0x0C)
-
-#define BMI160_ACCEL_FOC_Z_CONF_MSK UINT8_C(0x03)
-
-#define BMI160_FOC_STATUS_POS UINT8_C(3)
-#define BMI160_FOC_STATUS_MSK UINT8_C(0x08)
-
-#define BMI160_GYRO_OFFSET_X_MSK UINT8_C(0x03)
-
-#define BMI160_GYRO_OFFSET_Y_POS UINT8_C(2)
-#define BMI160_GYRO_OFFSET_Y_MSK UINT8_C(0x0C)
-
-#define BMI160_GYRO_OFFSET_Z_POS UINT8_C(4)
-#define BMI160_GYRO_OFFSET_Z_MSK UINT8_C(0x30)
-
-#define BMI160_GYRO_OFFSET_EN_POS UINT8_C(7)
-#define BMI160_GYRO_OFFSET_EN_MSK UINT8_C(0x80)
-
-#define BMI160_ACCEL_OFFSET_EN_POS UINT8_C(6)
-#define BMI160_ACCEL_OFFSET_EN_MSK UINT8_C(0x40)
-
-#define BMI160_GYRO_OFFSET_POS UINT16_C(8)
-#define BMI160_GYRO_OFFSET_MSK UINT16_C(0x0300)
-
-#define BMI160_NVM_UPDATE_POS UINT8_C(1)
-#define BMI160_NVM_UPDATE_MSK UINT8_C(0x02)
-
-#define BMI160_NVM_STATUS_POS UINT8_C(4)
-#define BMI160_NVM_STATUS_MSK UINT8_C(0x10)
-
-#define BMI160_MAG_POWER_MODE_MSK UINT8_C(0x03)
-
-#define BMI160_ACCEL_POWER_MODE_MSK UINT8_C(0x30)
-#define BMI160_ACCEL_POWER_MODE_POS UINT8_C(4)
-
-#define BMI160_GYRO_POWER_MODE_MSK UINT8_C(0x0C)
-#define BMI160_GYRO_POWER_MODE_POS UINT8_C(2)
-
-/* BIT SLICE GET AND SET FUNCTIONS */
-#define BMI160_GET_BITS(regvar, bitname) ((regvar & bitname##_MSK) >> bitname##_POS)
-#define BMI160_SET_BITS(regvar, bitname, val) \
-    ((regvar & ~bitname##_MSK) | ((val << bitname##_POS) & bitname##_MSK))
-
-#define BMI160_SET_BITS_POS_0(reg_data, bitname, data) \
-    ((reg_data & ~(bitname##_MSK)) | (data & bitname##_MSK))
-
-#define BMI160_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
-
-/**\name UTILITY MACROS */
-#define BMI160_SET_LOW_BYTE UINT16_C(0x00FF)
-#define BMI160_SET_HIGH_BYTE UINT16_C(0xFF00)
-
-#define BMI160_GET_LSB(var) (uint8_t)(var & BMI160_SET_LOW_BYTE)
-#define BMI160_GET_MSB(var) (uint8_t)((var & BMI160_SET_HIGH_BYTE) >> 8)
-
-/*****************************************************************************/
-/* type definitions */
-
-/*!
- * @brief Bus communication function pointer which should be mapped to
- * the platform specific read functions of the user
- */
-typedef int8_t (
-    *bmi160_read_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t* data, uint16_t len);
-
-/*!
- * @brief Bus communication function pointer which should be mapped to
- * the platform specific write functions of the user
- */
-typedef int8_t (
-    *bmi160_write_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t* read_data, uint16_t len);
-typedef void (*bmi160_delay_fptr_t)(uint32_t period);
-
-/*************************** Data structures *********************************/
-
-/*!
- * @brief bmi160 interrupt status selection enum.
- */
-enum bmi160_int_status_sel {
-    BMI160_INT_STATUS_0 = 1,
-    BMI160_INT_STATUS_1 = 2,
-    BMI160_INT_STATUS_2 = 4,
-    BMI160_INT_STATUS_3 = 8,
-    BMI160_INT_STATUS_ALL = 15
-};
-
-/*!
- * @brief bmi160 interrupt status bits structure
- */
-struct bmi160_int_status_bits {
-#ifdef LITTLE_ENDIAN
-
-    uint32_t step : 1;
-    uint32_t sigmot : 1;
-    uint32_t anym : 1;
-
-    /* pmu trigger will be handled later */
-    uint32_t pmu_trigger_reserved : 1;
-    uint32_t d_tap : 1;
-    uint32_t s_tap : 1;
-    uint32_t orient : 1;
-    uint32_t flat_int : 1;
-    uint32_t reserved : 2;
-    uint32_t high_g : 1;
-    uint32_t low_g : 1;
-    uint32_t drdy : 1;
-    uint32_t ffull : 1;
-    uint32_t fwm : 1;
-    uint32_t nomo : 1;
-    uint32_t anym_first_x : 1;
-    uint32_t anym_first_y : 1;
-    uint32_t anym_first_z : 1;
-    uint32_t anym_sign : 1;
-    uint32_t tap_first_x : 1;
-    uint32_t tap_first_y : 1;
-    uint32_t tap_first_z : 1;
-    uint32_t tap_sign : 1;
-    uint32_t high_first_x : 1;
-    uint32_t high_first_y : 1;
-    uint32_t high_first_z : 1;
-    uint32_t high_sign : 1;
-    uint32_t orient_1_0 : 2;
-    uint32_t orient_2 : 1;
-    uint32_t flat : 1;
-#else
-    uint32_t high_first_x : 1;
-    uint32_t high_first_y : 1;
-    uint32_t high_first_z : 1;
-    uint32_t high_sign : 1;
-    uint32_t orient_1_0 : 2;
-    uint32_t orient_2 : 1;
-    uint32_t flat : 1;
-    uint32_t anym_first_x : 1;
-    uint32_t anym_first_y : 1;
-    uint32_t anym_first_z : 1;
-    uint32_t anym_sign : 1;
-    uint32_t tap_first_x : 1;
-    uint32_t tap_first_y : 1;
-    uint32_t tap_first_z : 1;
-    uint32_t tap_sign : 1;
-    uint32_t reserved : 2;
-    uint32_t high_g : 1;
-    uint32_t low_g : 1;
-    uint32_t drdy : 1;
-    uint32_t ffull : 1;
-    uint32_t fwm : 1;
-    uint32_t nomo : 1;
-    uint32_t step : 1;
-    uint32_t sigmot : 1;
-    uint32_t anym : 1;
-
-    /* pmu trigger will be handled later */
-    uint32_t pmu_trigger_reserved : 1;
-    uint32_t d_tap : 1;
-    uint32_t s_tap : 1;
-    uint32_t orient : 1;
-    uint32_t flat_int : 1;
-#endif
-};
-
-/*!
- * @brief bmi160 interrupt status structure
- */
-union bmi160_int_status {
-    uint8_t data[4];
-    struct bmi160_int_status_bits bit;
-};
-
-/*!
- * @brief bmi160 sensor data structure which comprises of accel data
- */
-struct bmi160_sensor_data {
-    /*! X-axis sensor data */
-    int16_t x;
-
-    /*! Y-axis sensor data */
-    int16_t y;
-
-    /*! Z-axis sensor data */
-    int16_t z;
-
-    /*! sensor time */
-    uint32_t sensortime;
-};
-
-/*!
- * @brief bmi160 aux data structure which comprises of 8 bytes of accel data
- */
-struct bmi160_aux_data {
-    /*! Auxiliary data */
-    uint8_t data[8];
-};
-
-/*!
- * @brief bmi160 FOC configuration structure
- */
-struct bmi160_foc_conf {
-    /*! Enabling FOC in gyro
-     * Assignable macros :
-     *  - BMI160_ENABLE
-     *  - BMI160_DISABLE
-     */
-    uint8_t foc_gyr_en;
-
-    /*! Accel FOC configurations
-     * Assignable macros :
-     *  - BMI160_FOC_ACCEL_DISABLED
-     *  - BMI160_FOC_ACCEL_POSITIVE_G
-     *  - BMI160_FOC_ACCEL_NEGATIVE_G
-     *  - BMI160_FOC_ACCEL_0G
-     */
-    uint8_t foc_acc_x;
-    uint8_t foc_acc_y;
-    uint8_t foc_acc_z;
-
-    /*! Enabling offset compensation for accel in data registers
-     * Assignable macros :
-     *  - BMI160_ENABLE
-     *  - BMI160_DISABLE
-     */
-    uint8_t acc_off_en;
-
-    /*! Enabling offset compensation for gyro in data registers
-     * Assignable macros :
-     *  - BMI160_ENABLE
-     *  - BMI160_DISABLE
-     */
-    uint8_t gyro_off_en;
-};
-
-/*!
- * @brief bmi160 accel gyro offsets
- */
-struct bmi160_offsets {
-    /*! Accel offset for x axis */
-    int8_t off_acc_x;
-
-    /*! Accel offset for y axis */
-    int8_t off_acc_y;
-
-    /*! Accel offset for z axis */
-    int8_t off_acc_z;
-
-    /*! Gyro offset for x axis */
-    int16_t off_gyro_x;
-
-    /*! Gyro offset for y axis */
-    int16_t off_gyro_y;
-
-    /*! Gyro offset for z axis */
-    int16_t off_gyro_z;
-};
-
-/*!
- * @brief FIFO aux. sensor data structure
- */
-struct bmi160_aux_fifo_data {
-    /*! The value of aux. sensor x LSB data */
-    uint8_t aux_x_lsb;
-
-    /*! The value of aux. sensor x MSB data */
-    uint8_t aux_x_msb;
-
-    /*! The value of aux. sensor y LSB data */
-    uint8_t aux_y_lsb;
-
-    /*! The value of aux. sensor y MSB data */
-    uint8_t aux_y_msb;
-
-    /*! The value of aux. sensor z LSB data */
-    uint8_t aux_z_lsb;
-
-    /*! The value of aux. sensor z MSB data */
-    uint8_t aux_z_msb;
-
-    /*! The value of aux. sensor r for BMM150 LSB data */
-    uint8_t aux_r_y2_lsb;
-
-    /*! The value of aux. sensor r for BMM150 MSB data */
-    uint8_t aux_r_y2_msb;
-};
-
-/*!
- * @brief bmi160 sensor select structure
- */
-enum bmi160_select_sensor { BMI160_ACCEL_ONLY = 1, BMI160_GYRO_ONLY, BMI160_BOTH_ACCEL_AND_GYRO };
-
-/*!
- * @brief bmi160 sensor step detector mode structure
- */
-enum bmi160_step_detect_mode {
-    BMI160_STEP_DETECT_NORMAL,
-    BMI160_STEP_DETECT_SENSITIVE,
-    BMI160_STEP_DETECT_ROBUST,
-
-    /*! Non recommended User defined setting */
-    BMI160_STEP_DETECT_USER_DEFINE
-};
-
-/*!
- * @brief enum for auxiliary burst read selection
- */
-enum bmi160_aux_read_len {
-    BMI160_AUX_READ_LEN_0,
-    BMI160_AUX_READ_LEN_1,
-    BMI160_AUX_READ_LEN_2,
-    BMI160_AUX_READ_LEN_3
-};
-
-/*!
- * @brief bmi160 sensor configuration structure
- */
-struct bmi160_cfg {
-    /*! power mode */
-    uint8_t power;
-
-    /*! output data rate */
-    uint8_t odr;
-
-    /*! range */
-    uint8_t range;
-
-    /*! bandwidth */
-    uint8_t bw;
-};
-
-/*!
- * @brief Aux sensor configuration structure
- */
-struct bmi160_aux_cfg {
-    /*! Aux sensor, 1 - enable 0 - disable */
-    uint8_t aux_sensor_enable : 1;
-
-    /*! Aux manual/auto mode status */
-    uint8_t manual_enable : 1;
-
-    /*! Aux read burst length */
-    uint8_t aux_rd_burst_len : 2;
-
-    /*! output data rate */
-    uint8_t aux_odr : 4;
-
-    /*! i2c addr of auxiliary sensor */
-    uint8_t aux_i2c_addr;
-};
-
-/*!
- * @brief bmi160 interrupt channel selection structure
- */
-enum bmi160_int_channel {
-    /*! Un-map both channels */
-    BMI160_INT_CHANNEL_NONE,
-
-    /*! interrupt Channel 1 */
-    BMI160_INT_CHANNEL_1,
-
-    /*! interrupt Channel 2 */
-    BMI160_INT_CHANNEL_2,
-
-    /*! Map both channels */
-    BMI160_INT_CHANNEL_BOTH
-};
-enum bmi160_int_types {
-    /*! Slope/Any-motion interrupt */
-    BMI160_ACC_ANY_MOTION_INT,
-
-    /*! Significant motion interrupt */
-    BMI160_ACC_SIG_MOTION_INT,
-
-    /*! Step detector interrupt */
-    BMI160_STEP_DETECT_INT,
-
-    /*! double tap interrupt */
-    BMI160_ACC_DOUBLE_TAP_INT,
-
-    /*! single tap interrupt */
-    BMI160_ACC_SINGLE_TAP_INT,
-
-    /*! orientation interrupt */
-    BMI160_ACC_ORIENT_INT,
-
-    /*! flat interrupt */
-    BMI160_ACC_FLAT_INT,
-
-    /*! high-g interrupt */
-    BMI160_ACC_HIGH_G_INT,
-
-    /*! low-g interrupt */
-    BMI160_ACC_LOW_G_INT,
-
-    /*! slow/no-motion interrupt */
-    BMI160_ACC_SLOW_NO_MOTION_INT,
-
-    /*! data ready interrupt  */
-    BMI160_ACC_GYRO_DATA_RDY_INT,
-
-    /*! fifo full interrupt */
-    BMI160_ACC_GYRO_FIFO_FULL_INT,
-
-    /*! fifo watermark interrupt */
-    BMI160_ACC_GYRO_FIFO_WATERMARK_INT,
-
-    /*! fifo tagging feature support */
-    BMI160_FIFO_TAG_INT_PIN
-};
-
-/*!
- * @brief bmi160 active state of any & sig motion interrupt.
- */
-enum bmi160_any_sig_motion_active_interrupt_state {
-    /*! Both any & sig motion are disabled */
-    BMI160_BOTH_ANY_SIG_MOTION_DISABLED = -1,
-
-    /*! Any-motion selected */
-    BMI160_ANY_MOTION_ENABLED,
-
-    /*! Sig-motion selected */
-    BMI160_SIG_MOTION_ENABLED
-};
-struct bmi160_acc_tap_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! tap threshold */
-    uint16_t tap_thr : 5;
-
-    /*! tap shock */
-    uint16_t tap_shock : 1;
-
-    /*! tap quiet */
-    uint16_t tap_quiet : 1;
-
-    /*! tap duration */
-    uint16_t tap_dur : 3;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint16_t tap_data_src : 1;
-
-    /*! tap enable, 1 - enable, 0 - disable */
-    uint16_t tap_en : 1;
-#else
-
-    /*! tap enable, 1 - enable, 0 - disable */
-    uint16_t tap_en : 1;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint16_t tap_data_src : 1;
-
-    /*! tap duration */
-    uint16_t tap_dur : 3;
-
-    /*! tap quiet */
-    uint16_t tap_quiet : 1;
-
-    /*! tap shock */
-    uint16_t tap_shock : 1;
-
-    /*! tap threshold */
-    uint16_t tap_thr : 5;
-#endif
-};
-struct bmi160_acc_any_mot_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! 1 any-motion enable, 0 - any-motion disable */
-    uint8_t anymotion_en : 1;
-
-    /*! slope interrupt x, 1 - enable, 0 - disable */
-    uint8_t anymotion_x : 1;
-
-    /*! slope interrupt y, 1 - enable, 0 - disable */
-    uint8_t anymotion_y : 1;
-
-    /*! slope interrupt z, 1 - enable, 0 - disable */
-    uint8_t anymotion_z : 1;
-
-    /*! slope duration */
-    uint8_t anymotion_dur : 2;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint8_t anymotion_data_src : 1;
-
-    /*! slope threshold */
-    uint8_t anymotion_thr;
-#else
-
-    /*! slope threshold */
-    uint8_t anymotion_thr;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint8_t anymotion_data_src : 1;
-
-    /*! slope duration */
-    uint8_t anymotion_dur : 2;
-
-    /*! slope interrupt z, 1 - enable, 0 - disable */
-    uint8_t anymotion_z : 1;
-
-    /*! slope interrupt y, 1 - enable, 0 - disable */
-    uint8_t anymotion_y : 1;
-
-    /*! slope interrupt x, 1 - enable, 0 - disable */
-    uint8_t anymotion_x : 1;
-
-    /*! 1 any-motion enable, 0 - any-motion disable */
-    uint8_t anymotion_en : 1;
-#endif
-};
-struct bmi160_acc_sig_mot_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! skip time of sig-motion interrupt */
-    uint8_t sig_mot_skip : 2;
-
-    /*! proof time of sig-motion interrupt */
-    uint8_t sig_mot_proof : 2;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint8_t sig_data_src : 1;
-
-    /*! 1 - enable sig, 0 - disable sig & enable anymotion */
-    uint8_t sig_en : 1;
-
-    /*! sig-motion threshold */
-    uint8_t sig_mot_thres;
-#else
-
-    /*! sig-motion threshold */
-    uint8_t sig_mot_thres;
-
-    /*! 1 - enable sig, 0 - disable sig & enable anymotion */
-    uint8_t sig_en : 1;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint8_t sig_data_src : 1;
-
-    /*! proof time of sig-motion interrupt */
-    uint8_t sig_mot_proof : 2;
-
-    /*! skip time of sig-motion interrupt */
-    uint8_t sig_mot_skip : 2;
-#endif
-};
-struct bmi160_acc_step_detect_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! 1- step detector enable, 0- step detector disable */
-    uint16_t step_detector_en : 1;
-
-    /*! minimum threshold */
-    uint16_t min_threshold : 2;
-
-    /*! minimal detectable step time */
-    uint16_t steptime_min : 3;
-
-    /*! enable step counter mode setting */
-    uint16_t step_detector_mode : 2;
-
-    /*! minimum step buffer size*/
-    uint16_t step_min_buf : 3;
-#else
-
-    /*! minimum step buffer size*/
-    uint16_t step_min_buf : 3;
-
-    /*! enable step counter mode setting */
-    uint16_t step_detector_mode : 2;
-
-    /*! minimal detectable step time */
-    uint16_t steptime_min : 3;
-
-    /*! minimum threshold */
-    uint16_t min_threshold : 2;
-
-    /*! 1- step detector enable, 0- step detector disable */
-    uint16_t step_detector_en : 1;
-#endif
-};
-struct bmi160_acc_no_motion_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! no motion interrupt x */
-    uint16_t no_motion_x : 1;
-
-    /*! no motion interrupt y */
-    uint16_t no_motion_y : 1;
-
-    /*! no motion interrupt z */
-    uint16_t no_motion_z : 1;
-
-    /*! no motion duration */
-    uint16_t no_motion_dur : 6;
-
-    /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
-    uint16_t no_motion_sel : 1;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint16_t no_motion_src : 1;
-
-    /*! no motion threshold */
-    uint8_t no_motion_thres;
-#else
-
-    /*! no motion threshold */
-    uint8_t no_motion_thres;
-
-    /*! data source 0- filter & 1 pre-filter*/
-    uint16_t no_motion_src : 1;
-
-    /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
-    uint16_t no_motion_sel : 1;
-
-    /*! no motion duration */
-    uint16_t no_motion_dur : 6;
-
-    /* no motion interrupt z */
-    uint16_t no_motion_z : 1;
-
-    /*! no motion interrupt y */
-    uint16_t no_motion_y : 1;
-
-    /*! no motion interrupt x */
-    uint16_t no_motion_x : 1;
-#endif
-};
-struct bmi160_acc_orient_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! thresholds for switching between the different orientations */
-    uint16_t orient_mode : 2;
-
-    /*! blocking_mode */
-    uint16_t orient_blocking : 2;
-
-    /*! Orientation interrupt hysteresis */
-    uint16_t orient_hyst : 4;
-
-    /*! Orientation interrupt theta */
-    uint16_t orient_theta : 6;
-
-    /*! Enable/disable Orientation interrupt */
-    uint16_t orient_ud_en : 1;
-
-    /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
-    uint16_t axes_ex : 1;
-
-    /*! 1 - orient enable, 0 - orient disable */
-    uint8_t orient_en : 1;
-#else
-
-    /*! 1 - orient enable, 0 - orient disable */
-    uint8_t orient_en : 1;
-
-    /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
-    uint16_t axes_ex : 1;
-
-    /*! Enable/disable Orientation interrupt */
-    uint16_t orient_ud_en : 1;
-
-    /*! Orientation interrupt theta */
-    uint16_t orient_theta : 6;
-
-    /*! Orientation interrupt hysteresis */
-    uint16_t orient_hyst : 4;
-
-    /*! blocking_mode */
-    uint16_t orient_blocking : 2;
-
-    /*! thresholds for switching between the different orientations */
-    uint16_t orient_mode : 2;
-#endif
-};
-struct bmi160_acc_flat_detect_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! flat threshold */
-    uint16_t flat_theta : 6;
-
-    /*! flat interrupt hysteresis */
-    uint16_t flat_hy : 3;
-
-    /*! delay time for which the flat value must remain stable for the
-     * flat interrupt to be generated */
-    uint16_t flat_hold_time : 2;
-
-    /*! 1 - flat enable, 0 - flat disable */
-    uint16_t flat_en : 1;
-#else
-
-    /*! 1 - flat enable, 0 - flat disable */
-    uint16_t flat_en : 1;
-
-    /*! delay time for which the flat value must remain stable for the
-     * flat interrupt to be generated */
-    uint16_t flat_hold_time : 2;
-
-    /*! flat interrupt hysteresis */
-    uint16_t flat_hy : 3;
-
-    /*! flat threshold */
-    uint16_t flat_theta : 6;
-#endif
-};
-struct bmi160_acc_low_g_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! low-g interrupt trigger delay */
-    uint8_t low_dur;
-
-    /*! low-g interrupt trigger threshold */
-    uint8_t low_thres;
-
-    /*! hysteresis of low-g interrupt */
-    uint8_t low_hyst : 2;
-
-    /*! 0 - single-axis mode ,1 - axis-summing mode */
-    uint8_t low_mode : 1;
-
-    /*! data source 0- filter & 1 pre-filter */
-    uint8_t low_data_src : 1;
-
-    /*! 1 - enable low-g, 0 - disable low-g */
-    uint8_t low_en : 1;
-#else
-
-    /*! 1 - enable low-g, 0 - disable low-g */
-    uint8_t low_en : 1;
-
-    /*! data source 0- filter & 1 pre-filter */
-    uint8_t low_data_src : 1;
-
-    /*! 0 - single-axis mode ,1 - axis-summing mode */
-    uint8_t low_mode : 1;
-
-    /*! hysteresis of low-g interrupt */
-    uint8_t low_hyst : 2;
-
-    /*! low-g interrupt trigger threshold */
-    uint8_t low_thres;
-
-    /*! low-g interrupt trigger delay */
-    uint8_t low_dur;
-#endif
-};
-struct bmi160_acc_high_g_int_cfg {
-#ifdef LITTLE_ENDIAN
-
-    /*! High-g interrupt x, 1 - enable, 0 - disable */
-    uint8_t high_g_x : 1;
-
-    /*! High-g interrupt y, 1 - enable, 0 - disable */
-    uint8_t high_g_y : 1;
-
-    /*! High-g interrupt z, 1 - enable, 0 - disable */
-    uint8_t high_g_z : 1;
-
-    /*! High-g hysteresis  */
-    uint8_t high_hy : 2;
-
-    /*! data source 0- filter & 1 pre-filter */
-    uint8_t high_data_src : 1;
-
-    /*! High-g threshold */
-    uint8_t high_thres;
-
-    /*! High-g duration */
-    uint8_t high_dur;
-#else
-
-    /*! High-g duration */
-    uint8_t high_dur;
-
-    /*! High-g threshold */
-    uint8_t high_thres;
-
-    /*! data source 0- filter & 1 pre-filter */
-    uint8_t high_data_src : 1;
-
-    /*! High-g hysteresis  */
-    uint8_t high_hy : 2;
-
-    /*! High-g interrupt z, 1 - enable, 0 - disable */
-    uint8_t high_g_z : 1;
-
-    /*! High-g interrupt y, 1 - enable, 0 - disable */
-    uint8_t high_g_y : 1;
-
-    /*! High-g interrupt x, 1 - enable, 0 - disable */
-    uint8_t high_g_x : 1;
-#endif
-};
-struct bmi160_int_pin_settg {
-#ifdef LITTLE_ENDIAN
-
-    /*! To enable either INT1 or INT2 pin as output.
-     * 0- output disabled ,1- output enabled */
-    uint16_t output_en : 1;
-
-    /*! 0 - push-pull 1- open drain,only valid if output_en is set 1 */
-    uint16_t output_mode : 1;
-
-    /*! 0 - active low , 1 - active high level.
-     * if output_en is 1,this applies to interrupts,else PMU_trigger */
-    uint16_t output_type : 1;
-
-    /*! 0 - level trigger , 1 - edge trigger  */
-    uint16_t edge_ctrl : 1;
-
-    /*! To enable either INT1 or INT2 pin as input.
-     * 0 - input disabled ,1 - input enabled */
-    uint16_t input_en : 1;
-
-    /*! latch duration*/
-    uint16_t latch_dur : 4;
-#else
-
-    /*! latch duration*/
-    uint16_t latch_dur : 4;
-
-    /*! Latched,non-latched or temporary interrupt modes */
-    uint16_t input_en : 1;
-
-    /*! 1 - edge trigger, 0 - level trigger */
-    uint16_t edge_ctrl : 1;
-
-    /*! 0 - active low , 1 - active high level.
-     * if output_en is 1,this applies to interrupts,else PMU_trigger */
-    uint16_t output_type : 1;
-
-    /*! 0 - push-pull , 1 - open drain,only valid if output_en is set 1 */
-    uint16_t output_mode : 1;
-
-    /*! To enable either INT1 or INT2 pin as output.
-     * 0 - output disabled , 1 - output enabled */
-    uint16_t output_en : 1;
-#endif
-};
-union bmi160_int_type_cfg {
-    /*! Tap interrupt structure */
-    struct bmi160_acc_tap_int_cfg acc_tap_int;
-
-    /*! Slope interrupt structure */
-    struct bmi160_acc_any_mot_int_cfg acc_any_motion_int;
-
-    /*! Significant motion interrupt structure */
-    struct bmi160_acc_sig_mot_int_cfg acc_sig_motion_int;
-
-    /*! Step detector interrupt structure */
-    struct bmi160_acc_step_detect_int_cfg acc_step_detect_int;
-
-    /*! No motion interrupt structure */
-    struct bmi160_acc_no_motion_int_cfg acc_no_motion_int;
-
-    /*! Orientation interrupt structure */
-    struct bmi160_acc_orient_int_cfg acc_orient_int;
-
-    /*! Flat interrupt structure */
-    struct bmi160_acc_flat_detect_int_cfg acc_flat_int;
-
-    /*! Low-g interrupt structure */
-    struct bmi160_acc_low_g_int_cfg acc_low_g_int;
-
-    /*! High-g interrupt structure */
-    struct bmi160_acc_high_g_int_cfg acc_high_g_int;
-};
-struct bmi160_int_settg {
-    /*! Interrupt channel */
-    enum bmi160_int_channel int_channel;
-
-    /*! Select Interrupt */
-    enum bmi160_int_types int_type;
-
-    /*! Structure configuring Interrupt pins */
-    struct bmi160_int_pin_settg int_pin_settg;
-
-    /*! Union configures required interrupt */
-    union bmi160_int_type_cfg int_type_cfg;
-
-    /*! FIFO FULL INT 1-enable, 0-disable */
-    uint8_t fifo_full_int_en : 1;
-
-    /*! FIFO WTM INT 1-enable, 0-disable */
-    uint8_t fifo_wtm_int_en : 1;
-};
-
-/*!
- *  @brief This structure holds the information for usage of
- *  FIFO by the user.
- */
-struct bmi160_fifo_frame {
-    /*! Data buffer of user defined length is to be mapped here */
-    uint8_t* data;
-
-    /*! While calling the API  "bmi160_get_fifo_data" , length stores
-     *  number of bytes in FIFO to be read (specified by user as input)
-     *  and after execution of the API ,number of FIFO data bytes
-     *  available is provided as an output to user
-     */
-    uint16_t length;
-
-    /*! FIFO time enable */
-    uint8_t fifo_time_enable;
-
-    /*! Enabling of the FIFO header to stream in header mode */
-    uint8_t fifo_header_enable;
-
-    /*! Streaming of the Accelerometer, Gyroscope
-     * sensor data or both in FIFO */
-    uint8_t fifo_data_enable;
-
-    /*! Will be equal to length when no more frames are there to parse */
-    uint16_t accel_byte_start_idx;
-
-    /*! Will be equal to length when no more frames are there to parse */
-    uint16_t gyro_byte_start_idx;
-
-    /*! Will be equal to length when no more frames are there to parse */
-    uint16_t aux_byte_start_idx;
-
-    /*! Value of FIFO sensor time time */
-    uint32_t sensor_time;
-
-    /*! Value of Skipped frame counts */
-    uint8_t skipped_frame_count;
-};
-struct bmi160_dev {
-    /*! Chip Id */
-    uint8_t chip_id;
-
-    /*! Device Id */
-    uint8_t id;
-
-    /*! 0 - I2C , 1 - SPI Interface */
-    uint8_t intf;
-
-    /*! Hold active interrupts status for any and sig motion
-     *  0 - Any-motion enable, 1 - Sig-motion enable,
-     *  -1 neither any-motion nor sig-motion selected */
-    enum bmi160_any_sig_motion_active_interrupt_state any_sig_sel;
-
-    /*! Structure to configure Accel sensor */
-    struct bmi160_cfg accel_cfg;
-
-    /*! Structure to hold previous/old accel config parameters.
-     * This is used at driver level to prevent overwriting of same
-     * data, hence user does not change it in the code */
-    struct bmi160_cfg prev_accel_cfg;
-
-    /*! Structure to configure Gyro sensor */
-    struct bmi160_cfg gyro_cfg;
-
-    /*! Structure to hold previous/old gyro config parameters.
-     * This is used at driver level to prevent overwriting of same
-     * data, hence user does not change it in the code */
-    struct bmi160_cfg prev_gyro_cfg;
-
-    /*! Structure to configure the auxiliary sensor */
-    struct bmi160_aux_cfg aux_cfg;
-
-    /*! Structure to hold previous/old aux config parameters.
-     * This is used at driver level to prevent overwriting of same
-     * data, hence user does not change it in the code */
-    struct bmi160_aux_cfg prev_aux_cfg;
-
-    /*! FIFO related configurations */
-    struct bmi160_fifo_frame* fifo;
-
-    /*! Read function pointer */
-    bmi160_read_fptr_t read;
-
-    /*! Write function pointer */
-    bmi160_write_fptr_t write;
-
-    /*!  Delay function pointer */
-    bmi160_delay_fptr_t delay_ms;
-
-    /*! User set read/write length */
-    uint16_t read_write_len;
-};
-
-#endif /* BMI160_DEFS_H_ */
+/**
+* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
+*
+* BSD-3-Clause
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+*
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in the
+*    documentation and/or other materials provided with the distribution.
+*
+* 3. Neither the name of the copyright holder nor the names of its
+*    contributors may be used to endorse or promote products derived from
+*    this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+* @file       bmi160_defs.h
+* @date       2021-10-05
+* @version    v3.9.2
+*
+*/
+
+#ifndef BMI160_DEFS_H_
+#define BMI160_DEFS_H_
+
+/*************************** C types headers *****************************/
+#ifdef __KERNEL__
+#include <linux/types.h>
+#include <linux/kernel.h>
+#else
+#include <stdint.h>
+#include <stddef.h>
+#endif
+
+/*************************** Common macros   *****************************/
+
+#if !defined(UINT8_C) && !defined(INT8_C)
+#define INT8_C(x) S8_C(x)
+#define UINT8_C(x) U8_C(x)
+#endif
+
+#if !defined(UINT16_C) && !defined(INT16_C)
+#define INT16_C(x) S16_C(x)
+#define UINT16_C(x) U16_C(x)
+#endif
+
+#if !defined(INT32_C) && !defined(UINT32_C)
+#define INT32_C(x) S32_C(x)
+#define UINT32_C(x) U32_C(x)
+#endif
+
+#if !defined(INT64_C) && !defined(UINT64_C)
+#define INT64_C(x) S64_C(x)
+#define UINT64_C(x) U64_C(x)
+#endif
+
+/**@}*/
+/**\name C standard macros */
+#ifndef NULL
+#ifdef __cplusplus
+#define NULL 0
+#else
+#define NULL ((void*)0)
+#endif
+#endif
+
+/*************************** Sensor macros   *****************************/
+/* Test for an endian machine */
+#ifndef __ORDER_LITTLE_ENDIAN__
+#define __ORDER_LITTLE_ENDIAN__ 0
+#endif
+
+#ifndef __BYTE_ORDER__
+#define __BYTE_ORDER__ __ORDER_LITTLE_ENDIAN__
+#endif
+
+#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
+#ifndef LITTLE_ENDIAN
+#define LITTLE_ENDIAN 1
+#endif
+#elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
+#ifndef BIG_ENDIAN
+#define BIG_ENDIAN 1
+#endif
+#else
+#error "Code does not support Endian format of the processor"
+#endif
+
+/** Mask definitions */
+#define BMI160_ACCEL_BW_MASK UINT8_C(0x70)
+#define BMI160_ACCEL_ODR_MASK UINT8_C(0x0F)
+#define BMI160_ACCEL_UNDERSAMPLING_MASK UINT8_C(0x80)
+#define BMI160_ACCEL_RANGE_MASK UINT8_C(0x0F)
+#define BMI160_GYRO_BW_MASK UINT8_C(0x30)
+#define BMI160_GYRO_ODR_MASK UINT8_C(0x0F)
+#define BMI160_GYRO_RANGE_MASK UINT8_C(0x07)
+
+#define BMI160_ACCEL_BW_POS UINT8_C(4)
+#define BMI160_GYRO_BW_POS UINT8_C(4)
+
+/** Mask definitions for INT_EN registers */
+#define BMI160_ANY_MOTION_X_INT_EN_MASK UINT8_C(0x01)
+#define BMI160_HIGH_G_X_INT_EN_MASK UINT8_C(0x01)
+#define BMI160_NO_MOTION_X_INT_EN_MASK UINT8_C(0x01)
+#define BMI160_ANY_MOTION_Y_INT_EN_MASK UINT8_C(0x02)
+#define BMI160_HIGH_G_Y_INT_EN_MASK UINT8_C(0x02)
+#define BMI160_NO_MOTION_Y_INT_EN_MASK UINT8_C(0x02)
+#define BMI160_ANY_MOTION_Z_INT_EN_MASK UINT8_C(0x04)
+#define BMI160_HIGH_G_Z_INT_EN_MASK UINT8_C(0x04)
+#define BMI160_NO_MOTION_Z_INT_EN_MASK UINT8_C(0x04)
+#define BMI160_SIG_MOTION_INT_EN_MASK UINT8_C(0x07)
+#define BMI160_ANY_MOTION_ALL_INT_EN_MASK UINT8_C(0x07)
+#define BMI160_STEP_DETECT_INT_EN_MASK UINT8_C(0x08)
+#define BMI160_DOUBLE_TAP_INT_EN_MASK UINT8_C(0x10)
+#define BMI160_SINGLE_TAP_INT_EN_MASK UINT8_C(0x20)
+#define BMI160_FIFO_FULL_INT_EN_MASK UINT8_C(0x20)
+#define BMI160_ORIENT_INT_EN_MASK UINT8_C(0x40)
+#define BMI160_FIFO_WATERMARK_INT_EN_MASK UINT8_C(0x40)
+#define BMI160_LOW_G_INT_EN_MASK UINT8_C(0x08)
+#define BMI160_STEP_DETECT_EN_MASK UINT8_C(0x08)
+#define BMI160_FLAT_INT_EN_MASK UINT8_C(0x80)
+#define BMI160_DATA_RDY_INT_EN_MASK UINT8_C(0x10)
+
+/** PMU status Macros */
+#define BMI160_AUX_PMU_SUSPEND UINT8_C(0x00)
+#define BMI160_AUX_PMU_NORMAL UINT8_C(0x01)
+#define BMI160_AUX_PMU_LOW_POWER UINT8_C(0x02)
+
+#define BMI160_GYRO_PMU_SUSPEND UINT8_C(0x00)
+#define BMI160_GYRO_PMU_NORMAL UINT8_C(0x01)
+#define BMI160_GYRO_PMU_FSU UINT8_C(0x03)
+
+#define BMI160_ACCEL_PMU_SUSPEND UINT8_C(0x00)
+#define BMI160_ACCEL_PMU_NORMAL UINT8_C(0x01)
+#define BMI160_ACCEL_PMU_LOW_POWER UINT8_C(0x02)
+
+/** Mask definitions for INT_OUT_CTRL register */
+#define BMI160_INT1_EDGE_CTRL_MASK UINT8_C(0x01)
+#define BMI160_INT1_OUTPUT_MODE_MASK UINT8_C(0x04)
+#define BMI160_INT1_OUTPUT_TYPE_MASK UINT8_C(0x02)
+#define BMI160_INT1_OUTPUT_EN_MASK UINT8_C(0x08)
+#define BMI160_INT2_EDGE_CTRL_MASK UINT8_C(0x10)
+#define BMI160_INT2_OUTPUT_MODE_MASK UINT8_C(0x40)
+#define BMI160_INT2_OUTPUT_TYPE_MASK UINT8_C(0x20)
+#define BMI160_INT2_OUTPUT_EN_MASK UINT8_C(0x80)
+
+/** Mask definitions for INT_LATCH register */
+#define BMI160_INT1_INPUT_EN_MASK UINT8_C(0x10)
+#define BMI160_INT2_INPUT_EN_MASK UINT8_C(0x20)
+#define BMI160_INT_LATCH_MASK UINT8_C(0x0F)
+
+/** Mask definitions for INT_MAP register */
+#define BMI160_INT1_LOW_G_MASK UINT8_C(0x01)
+#define BMI160_INT1_HIGH_G_MASK UINT8_C(0x02)
+#define BMI160_INT1_SLOPE_MASK UINT8_C(0x04)
+#define BMI160_INT1_NO_MOTION_MASK UINT8_C(0x08)
+#define BMI160_INT1_DOUBLE_TAP_MASK UINT8_C(0x10)
+#define BMI160_INT1_SINGLE_TAP_MASK UINT8_C(0x20)
+#define BMI160_INT1_FIFO_FULL_MASK UINT8_C(0x20)
+#define BMI160_INT1_FIFO_WM_MASK UINT8_C(0x40)
+#define BMI160_INT1_ORIENT_MASK UINT8_C(0x40)
+#define BMI160_INT1_FLAT_MASK UINT8_C(0x80)
+#define BMI160_INT1_DATA_READY_MASK UINT8_C(0x80)
+#define BMI160_INT2_LOW_G_MASK UINT8_C(0x01)
+#define BMI160_INT1_LOW_STEP_DETECT_MASK UINT8_C(0x01)
+#define BMI160_INT2_LOW_STEP_DETECT_MASK UINT8_C(0x01)
+#define BMI160_INT2_HIGH_G_MASK UINT8_C(0x02)
+#define BMI160_INT2_FIFO_FULL_MASK UINT8_C(0x02)
+#define BMI160_INT2_FIFO_WM_MASK UINT8_C(0x04)
+#define BMI160_INT2_SLOPE_MASK UINT8_C(0x04)
+#define BMI160_INT2_DATA_READY_MASK UINT8_C(0x08)
+#define BMI160_INT2_NO_MOTION_MASK UINT8_C(0x08)
+#define BMI160_INT2_DOUBLE_TAP_MASK UINT8_C(0x10)
+#define BMI160_INT2_SINGLE_TAP_MASK UINT8_C(0x20)
+#define BMI160_INT2_ORIENT_MASK UINT8_C(0x40)
+#define BMI160_INT2_FLAT_MASK UINT8_C(0x80)
+
+/** Mask definitions for INT_DATA register */
+#define BMI160_TAP_SRC_INT_MASK UINT8_C(0x08)
+#define BMI160_LOW_HIGH_SRC_INT_MASK UINT8_C(0x80)
+#define BMI160_MOTION_SRC_INT_MASK UINT8_C(0x80)
+
+/** Mask definitions for INT_MOTION register */
+#define BMI160_SLOPE_INT_DUR_MASK UINT8_C(0x03)
+#define BMI160_NO_MOTION_INT_DUR_MASK UINT8_C(0xFC)
+#define BMI160_NO_MOTION_SEL_BIT_MASK UINT8_C(0x01)
+
+/** Mask definitions for INT_TAP register */
+#define BMI160_TAP_DUR_MASK UINT8_C(0x07)
+#define BMI160_TAP_SHOCK_DUR_MASK UINT8_C(0x40)
+#define BMI160_TAP_QUIET_DUR_MASK UINT8_C(0x80)
+#define BMI160_TAP_THRES_MASK UINT8_C(0x1F)
+
+/** Mask definitions for INT_FLAT register */
+#define BMI160_FLAT_THRES_MASK UINT8_C(0x3F)
+#define BMI160_FLAT_HOLD_TIME_MASK UINT8_C(0x30)
+#define BMI160_FLAT_HYST_MASK UINT8_C(0x07)
+
+/** Mask definitions for INT_LOWHIGH register */
+#define BMI160_LOW_G_HYST_MASK UINT8_C(0x03)
+#define BMI160_LOW_G_LOW_MODE_MASK UINT8_C(0x04)
+#define BMI160_HIGH_G_HYST_MASK UINT8_C(0xC0)
+
+/** Mask definitions for INT_SIG_MOTION register */
+#define BMI160_SIG_MOTION_SEL_MASK UINT8_C(0x02)
+#define BMI160_SIG_MOTION_SKIP_MASK UINT8_C(0x0C)
+#define BMI160_SIG_MOTION_PROOF_MASK UINT8_C(0x30)
+
+/** Mask definitions for INT_ORIENT register */
+#define BMI160_ORIENT_MODE_MASK UINT8_C(0x03)
+#define BMI160_ORIENT_BLOCK_MASK UINT8_C(0x0C)
+#define BMI160_ORIENT_HYST_MASK UINT8_C(0xF0)
+#define BMI160_ORIENT_THETA_MASK UINT8_C(0x3F)
+#define BMI160_ORIENT_UD_ENABLE UINT8_C(0x40)
+#define BMI160_AXES_EN_MASK UINT8_C(0x80)
+
+/** Mask definitions for FIFO_CONFIG register */
+#define BMI160_FIFO_GYRO UINT8_C(0x80)
+#define BMI160_FIFO_ACCEL UINT8_C(0x40)
+#define BMI160_FIFO_AUX UINT8_C(0x20)
+#define BMI160_FIFO_TAG_INT1 UINT8_C(0x08)
+#define BMI160_FIFO_TAG_INT2 UINT8_C(0x04)
+#define BMI160_FIFO_TIME UINT8_C(0x02)
+#define BMI160_FIFO_HEADER UINT8_C(0x10)
+#define BMI160_FIFO_CONFIG_1_MASK UINT8_C(0xFE)
+
+/** Mask definitions for STEP_CONF register */
+#define BMI160_STEP_COUNT_EN_BIT_MASK UINT8_C(0x08)
+#define BMI160_STEP_DETECT_MIN_THRES_MASK UINT8_C(0x18)
+#define BMI160_STEP_DETECT_STEPTIME_MIN_MASK UINT8_C(0x07)
+#define BMI160_STEP_MIN_BUF_MASK UINT8_C(0x07)
+
+/** Mask definition for FIFO Header Data Tag */
+#define BMI160_FIFO_TAG_INTR_MASK UINT8_C(0xFC)
+
+/** Fifo byte counter mask definitions */
+#define BMI160_FIFO_BYTE_COUNTER_MASK UINT8_C(0x07)
+
+/** Enable/disable bit value */
+#define BMI160_ENABLE UINT8_C(0x01)
+#define BMI160_DISABLE UINT8_C(0x00)
+
+/** Latch Duration */
+#define BMI160_LATCH_DUR_NONE UINT8_C(0x00)
+#define BMI160_LATCH_DUR_312_5_MICRO_SEC UINT8_C(0x01)
+#define BMI160_LATCH_DUR_625_MICRO_SEC UINT8_C(0x02)
+#define BMI160_LATCH_DUR_1_25_MILLI_SEC UINT8_C(0x03)
+#define BMI160_LATCH_DUR_2_5_MILLI_SEC UINT8_C(0x04)
+#define BMI160_LATCH_DUR_5_MILLI_SEC UINT8_C(0x05)
+#define BMI160_LATCH_DUR_10_MILLI_SEC UINT8_C(0x06)
+#define BMI160_LATCH_DUR_20_MILLI_SEC UINT8_C(0x07)
+#define BMI160_LATCH_DUR_40_MILLI_SEC UINT8_C(0x08)
+#define BMI160_LATCH_DUR_80_MILLI_SEC UINT8_C(0x09)
+#define BMI160_LATCH_DUR_160_MILLI_SEC UINT8_C(0x0A)
+#define BMI160_LATCH_DUR_320_MILLI_SEC UINT8_C(0x0B)
+#define BMI160_LATCH_DUR_640_MILLI_SEC UINT8_C(0x0C)
+#define BMI160_LATCH_DUR_1_28_SEC UINT8_C(0x0D)
+#define BMI160_LATCH_DUR_2_56_SEC UINT8_C(0x0E)
+#define BMI160_LATCHED UINT8_C(0x0F)
+
+/** BMI160 Register map */
+#define BMI160_CHIP_ID_ADDR UINT8_C(0x00)
+#define BMI160_ERROR_REG_ADDR UINT8_C(0x02)
+#define BMI160_PMU_STATUS_ADDR UINT8_C(0x03)
+#define BMI160_AUX_DATA_ADDR UINT8_C(0x04)
+#define BMI160_GYRO_DATA_ADDR UINT8_C(0x0C)
+#define BMI160_ACCEL_DATA_ADDR UINT8_C(0x12)
+#define BMI160_STATUS_ADDR UINT8_C(0x1B)
+#define BMI160_INT_STATUS_ADDR UINT8_C(0x1C)
+#define BMI160_FIFO_LENGTH_ADDR UINT8_C(0x22)
+#define BMI160_FIFO_DATA_ADDR UINT8_C(0x24)
+#define BMI160_ACCEL_CONFIG_ADDR UINT8_C(0x40)
+#define BMI160_ACCEL_RANGE_ADDR UINT8_C(0x41)
+#define BMI160_GYRO_CONFIG_ADDR UINT8_C(0x42)
+#define BMI160_GYRO_RANGE_ADDR UINT8_C(0x43)
+#define BMI160_AUX_ODR_ADDR UINT8_C(0x44)
+#define BMI160_FIFO_DOWN_ADDR UINT8_C(0x45)
+#define BMI160_FIFO_CONFIG_0_ADDR UINT8_C(0x46)
+#define BMI160_FIFO_CONFIG_1_ADDR UINT8_C(0x47)
+#define BMI160_AUX_IF_0_ADDR UINT8_C(0x4B)
+#define BMI160_AUX_IF_1_ADDR UINT8_C(0x4C)
+#define BMI160_AUX_IF_2_ADDR UINT8_C(0x4D)
+#define BMI160_AUX_IF_3_ADDR UINT8_C(0x4E)
+#define BMI160_AUX_IF_4_ADDR UINT8_C(0x4F)
+#define BMI160_INT_ENABLE_0_ADDR UINT8_C(0x50)
+#define BMI160_INT_ENABLE_1_ADDR UINT8_C(0x51)
+#define BMI160_INT_ENABLE_2_ADDR UINT8_C(0x52)
+#define BMI160_INT_OUT_CTRL_ADDR UINT8_C(0x53)
+#define BMI160_INT_LATCH_ADDR UINT8_C(0x54)
+#define BMI160_INT_MAP_0_ADDR UINT8_C(0x55)
+#define BMI160_INT_MAP_1_ADDR UINT8_C(0x56)
+#define BMI160_INT_MAP_2_ADDR UINT8_C(0x57)
+#define BMI160_INT_DATA_0_ADDR UINT8_C(0x58)
+#define BMI160_INT_DATA_1_ADDR UINT8_C(0x59)
+#define BMI160_INT_LOWHIGH_0_ADDR UINT8_C(0x5A)
+#define BMI160_INT_LOWHIGH_1_ADDR UINT8_C(0x5B)
+#define BMI160_INT_LOWHIGH_2_ADDR UINT8_C(0x5C)
+#define BMI160_INT_LOWHIGH_3_ADDR UINT8_C(0x5D)
+#define BMI160_INT_LOWHIGH_4_ADDR UINT8_C(0x5E)
+#define BMI160_INT_MOTION_0_ADDR UINT8_C(0x5F)
+#define BMI160_INT_MOTION_1_ADDR UINT8_C(0x60)
+#define BMI160_INT_MOTION_2_ADDR UINT8_C(0x61)
+#define BMI160_INT_MOTION_3_ADDR UINT8_C(0x62)
+#define BMI160_INT_TAP_0_ADDR UINT8_C(0x63)
+#define BMI160_INT_TAP_1_ADDR UINT8_C(0x64)
+#define BMI160_INT_ORIENT_0_ADDR UINT8_C(0x65)
+#define BMI160_INT_ORIENT_1_ADDR UINT8_C(0x66)
+#define BMI160_INT_FLAT_0_ADDR UINT8_C(0x67)
+#define BMI160_INT_FLAT_1_ADDR UINT8_C(0x68)
+#define BMI160_FOC_CONF_ADDR UINT8_C(0x69)
+#define BMI160_CONF_ADDR UINT8_C(0x6A)
+
+#define BMI160_IF_CONF_ADDR UINT8_C(0x6B)
+#define BMI160_SELF_TEST_ADDR UINT8_C(0x6D)
+#define BMI160_OFFSET_ADDR UINT8_C(0x71)
+#define BMI160_OFFSET_CONF_ADDR UINT8_C(0x77)
+#define BMI160_INT_STEP_CNT_0_ADDR UINT8_C(0x78)
+#define BMI160_INT_STEP_CONFIG_0_ADDR UINT8_C(0x7A)
+#define BMI160_INT_STEP_CONFIG_1_ADDR UINT8_C(0x7B)
+#define BMI160_COMMAND_REG_ADDR UINT8_C(0x7E)
+#define BMI160_SPI_COMM_TEST_ADDR UINT8_C(0x7F)
+#define BMI160_INTL_PULLUP_CONF_ADDR UINT8_C(0x85)
+
+/** Error code definitions */
+#define BMI160_OK INT8_C(0)
+#define BMI160_E_NULL_PTR INT8_C(-1)
+#define BMI160_E_COM_FAIL INT8_C(-2)
+#define BMI160_E_DEV_NOT_FOUND INT8_C(-3)
+#define BMI160_E_OUT_OF_RANGE INT8_C(-4)
+#define BMI160_E_INVALID_INPUT INT8_C(-5)
+#define BMI160_E_ACCEL_ODR_BW_INVALID INT8_C(-6)
+#define BMI160_E_GYRO_ODR_BW_INVALID INT8_C(-7)
+#define BMI160_E_LWP_PRE_FLTR_INT_INVALID INT8_C(-8)
+#define BMI160_E_LWP_PRE_FLTR_INVALID INT8_C(-9)
+#define BMI160_E_AUX_NOT_FOUND INT8_C(-10)
+#define BMI160_E_FOC_FAILURE INT8_C(-11)
+#define BMI160_E_READ_WRITE_LENGTH_INVALID INT8_C(-12)
+#define BMI160_E_INVALID_CONFIG INT8_C(-13)
+
+/**\name API warning codes */
+#define BMI160_W_GYRO_SELF_TEST_FAIL INT8_C(1)
+#define BMI160_W_ACCEl_SELF_TEST_FAIL INT8_C(2)
+
+/** BMI160 unique chip identifier */
+#define BMI160_CHIP_ID UINT8_C(0xD1)
+
+/** Soft reset command */
+#define BMI160_SOFT_RESET_CMD UINT8_C(0xb6)
+#define BMI160_SOFT_RESET_DELAY_MS UINT8_C(1)
+
+/** Start FOC command */
+#define BMI160_START_FOC_CMD UINT8_C(0x03)
+
+/** NVM backup enabling command */
+#define BMI160_NVM_BACKUP_EN UINT8_C(0xA0)
+
+/* Delay in ms settings */
+#define BMI160_ACCEL_DELAY_MS UINT8_C(5)
+#define BMI160_GYRO_DELAY_MS UINT8_C(80)
+#define BMI160_ONE_MS_DELAY UINT8_C(1)
+#define BMI160_AUX_COM_DELAY UINT8_C(10)
+#define BMI160_GYRO_SELF_TEST_DELAY UINT8_C(20)
+#define BMI160_ACCEL_SELF_TEST_DELAY UINT8_C(50)
+
+/** Self test configurations */
+#define BMI160_ACCEL_SELF_TEST_CONFIG UINT8_C(0x2C)
+#define BMI160_ACCEL_SELF_TEST_POSITIVE_EN UINT8_C(0x0D)
+#define BMI160_ACCEL_SELF_TEST_NEGATIVE_EN UINT8_C(0x09)
+#define BMI160_ACCEL_SELF_TEST_LIMIT UINT16_C(8192)
+
+/** Power mode settings */
+/* Accel power mode */
+#define BMI160_ACCEL_NORMAL_MODE UINT8_C(0x11)
+#define BMI160_ACCEL_LOWPOWER_MODE UINT8_C(0x12)
+#define BMI160_ACCEL_SUSPEND_MODE UINT8_C(0x10)
+
+/* Gyro power mode */
+#define BMI160_GYRO_SUSPEND_MODE UINT8_C(0x14)
+#define BMI160_GYRO_NORMAL_MODE UINT8_C(0x15)
+#define BMI160_GYRO_FASTSTARTUP_MODE UINT8_C(0x17)
+
+/* Aux power mode */
+#define BMI160_AUX_SUSPEND_MODE UINT8_C(0x18)
+#define BMI160_AUX_NORMAL_MODE UINT8_C(0x19)
+#define BMI160_AUX_LOWPOWER_MODE UINT8_C(0x1A)
+
+/** Range settings */
+/* Accel Range */
+#define BMI160_ACCEL_RANGE_2G UINT8_C(0x03)
+#define BMI160_ACCEL_RANGE_4G UINT8_C(0x05)
+#define BMI160_ACCEL_RANGE_8G UINT8_C(0x08)
+#define BMI160_ACCEL_RANGE_16G UINT8_C(0x0C)
+
+/* Gyro Range */
+#define BMI160_GYRO_RANGE_2000_DPS UINT8_C(0x00)
+#define BMI160_GYRO_RANGE_1000_DPS UINT8_C(0x01)
+#define BMI160_GYRO_RANGE_500_DPS UINT8_C(0x02)
+#define BMI160_GYRO_RANGE_250_DPS UINT8_C(0x03)
+#define BMI160_GYRO_RANGE_125_DPS UINT8_C(0x04)
+
+/** Bandwidth settings */
+/* Accel Bandwidth */
+#define BMI160_ACCEL_BW_OSR4_AVG1 UINT8_C(0x00)
+#define BMI160_ACCEL_BW_OSR2_AVG2 UINT8_C(0x01)
+#define BMI160_ACCEL_BW_NORMAL_AVG4 UINT8_C(0x02)
+#define BMI160_ACCEL_BW_RES_AVG8 UINT8_C(0x03)
+#define BMI160_ACCEL_BW_RES_AVG16 UINT8_C(0x04)
+#define BMI160_ACCEL_BW_RES_AVG32 UINT8_C(0x05)
+#define BMI160_ACCEL_BW_RES_AVG64 UINT8_C(0x06)
+#define BMI160_ACCEL_BW_RES_AVG128 UINT8_C(0x07)
+
+#define BMI160_GYRO_BW_OSR4_MODE UINT8_C(0x00)
+#define BMI160_GYRO_BW_OSR2_MODE UINT8_C(0x01)
+#define BMI160_GYRO_BW_NORMAL_MODE UINT8_C(0x02)
+
+/* Output Data Rate settings */
+/* Accel Output data rate */
+#define BMI160_ACCEL_ODR_RESERVED UINT8_C(0x00)
+#define BMI160_ACCEL_ODR_0_78HZ UINT8_C(0x01)
+#define BMI160_ACCEL_ODR_1_56HZ UINT8_C(0x02)
+#define BMI160_ACCEL_ODR_3_12HZ UINT8_C(0x03)
+#define BMI160_ACCEL_ODR_6_25HZ UINT8_C(0x04)
+#define BMI160_ACCEL_ODR_12_5HZ UINT8_C(0x05)
+#define BMI160_ACCEL_ODR_25HZ UINT8_C(0x06)
+#define BMI160_ACCEL_ODR_50HZ UINT8_C(0x07)
+#define BMI160_ACCEL_ODR_100HZ UINT8_C(0x08)
+#define BMI160_ACCEL_ODR_200HZ UINT8_C(0x09)
+#define BMI160_ACCEL_ODR_400HZ UINT8_C(0x0A)
+#define BMI160_ACCEL_ODR_800HZ UINT8_C(0x0B)
+#define BMI160_ACCEL_ODR_1600HZ UINT8_C(0x0C)
+#define BMI160_ACCEL_ODR_RESERVED0 UINT8_C(0x0D)
+#define BMI160_ACCEL_ODR_RESERVED1 UINT8_C(0x0E)
+#define BMI160_ACCEL_ODR_RESERVED2 UINT8_C(0x0F)
+
+/* Gyro Output data rate */
+#define BMI160_GYRO_ODR_RESERVED UINT8_C(0x00)
+#define BMI160_GYRO_ODR_25HZ UINT8_C(0x06)
+#define BMI160_GYRO_ODR_50HZ UINT8_C(0x07)
+#define BMI160_GYRO_ODR_100HZ UINT8_C(0x08)
+#define BMI160_GYRO_ODR_200HZ UINT8_C(0x09)
+#define BMI160_GYRO_ODR_400HZ UINT8_C(0x0A)
+#define BMI160_GYRO_ODR_800HZ UINT8_C(0x0B)
+#define BMI160_GYRO_ODR_1600HZ UINT8_C(0x0C)
+#define BMI160_GYRO_ODR_3200HZ UINT8_C(0x0D)
+
+/* Auxiliary sensor Output data rate */
+#define BMI160_AUX_ODR_RESERVED UINT8_C(0x00)
+#define BMI160_AUX_ODR_0_78HZ UINT8_C(0x01)
+#define BMI160_AUX_ODR_1_56HZ UINT8_C(0x02)
+#define BMI160_AUX_ODR_3_12HZ UINT8_C(0x03)
+#define BMI160_AUX_ODR_6_25HZ UINT8_C(0x04)
+#define BMI160_AUX_ODR_12_5HZ UINT8_C(0x05)
+#define BMI160_AUX_ODR_25HZ UINT8_C(0x06)
+#define BMI160_AUX_ODR_50HZ UINT8_C(0x07)
+#define BMI160_AUX_ODR_100HZ UINT8_C(0x08)
+#define BMI160_AUX_ODR_200HZ UINT8_C(0x09)
+#define BMI160_AUX_ODR_400HZ UINT8_C(0x0A)
+#define BMI160_AUX_ODR_800HZ UINT8_C(0x0B)
+
+/** FIFO_CONFIG Definitions */
+#define BMI160_FIFO_TIME_ENABLE UINT8_C(0x02)
+#define BMI160_FIFO_TAG_INT2_ENABLE UINT8_C(0x04)
+#define BMI160_FIFO_TAG_INT1_ENABLE UINT8_C(0x08)
+#define BMI160_FIFO_HEAD_ENABLE UINT8_C(0x10)
+#define BMI160_FIFO_M_ENABLE UINT8_C(0x20)
+#define BMI160_FIFO_A_ENABLE UINT8_C(0x40)
+#define BMI160_FIFO_M_A_ENABLE UINT8_C(0x60)
+#define BMI160_FIFO_G_ENABLE UINT8_C(0x80)
+#define BMI160_FIFO_M_G_ENABLE UINT8_C(0xA0)
+#define BMI160_FIFO_G_A_ENABLE UINT8_C(0xC0)
+#define BMI160_FIFO_M_G_A_ENABLE UINT8_C(0xE0)
+
+/* Macro to specify the number of bytes over-read from the
+ * FIFO in order to get the sensor time at the end of FIFO */
+#ifndef BMI160_FIFO_BYTES_OVERREAD
+#define BMI160_FIFO_BYTES_OVERREAD UINT8_C(25)
+#endif
+
+/* Accel, gyro and aux. sensor length and also their combined
+ * length definitions in FIFO */
+#define BMI160_FIFO_G_LENGTH UINT8_C(6)
+#define BMI160_FIFO_A_LENGTH UINT8_C(6)
+#define BMI160_FIFO_M_LENGTH UINT8_C(8)
+#define BMI160_FIFO_GA_LENGTH UINT8_C(12)
+#define BMI160_FIFO_MA_LENGTH UINT8_C(14)
+#define BMI160_FIFO_MG_LENGTH UINT8_C(14)
+#define BMI160_FIFO_MGA_LENGTH UINT8_C(20)
+
+/** FIFO Header Data definitions */
+#define BMI160_FIFO_HEAD_SKIP_FRAME UINT8_C(0x40)
+#define BMI160_FIFO_HEAD_SENSOR_TIME UINT8_C(0x44)
+#define BMI160_FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48)
+#define BMI160_FIFO_HEAD_OVER_READ UINT8_C(0x80)
+#define BMI160_FIFO_HEAD_A UINT8_C(0x84)
+#define BMI160_FIFO_HEAD_G UINT8_C(0x88)
+#define BMI160_FIFO_HEAD_G_A UINT8_C(0x8C)
+#define BMI160_FIFO_HEAD_M UINT8_C(0x90)
+#define BMI160_FIFO_HEAD_M_A UINT8_C(0x94)
+#define BMI160_FIFO_HEAD_M_G UINT8_C(0x98)
+#define BMI160_FIFO_HEAD_M_G_A UINT8_C(0x9C)
+
+/** FIFO sensor time length definitions */
+#define BMI160_SENSOR_TIME_LENGTH UINT8_C(3)
+
+/** FIFO DOWN selection */
+/* Accel fifo down-sampling values*/
+#define BMI160_ACCEL_FIFO_DOWN_ZERO UINT8_C(0x00)
+#define BMI160_ACCEL_FIFO_DOWN_ONE UINT8_C(0x10)
+#define BMI160_ACCEL_FIFO_DOWN_TWO UINT8_C(0x20)
+#define BMI160_ACCEL_FIFO_DOWN_THREE UINT8_C(0x30)
+#define BMI160_ACCEL_FIFO_DOWN_FOUR UINT8_C(0x40)
+#define BMI160_ACCEL_FIFO_DOWN_FIVE UINT8_C(0x50)
+#define BMI160_ACCEL_FIFO_DOWN_SIX UINT8_C(0x60)
+#define BMI160_ACCEL_FIFO_DOWN_SEVEN UINT8_C(0x70)
+
+/* Gyro fifo down-smapling values*/
+#define BMI160_GYRO_FIFO_DOWN_ZERO UINT8_C(0x00)
+#define BMI160_GYRO_FIFO_DOWN_ONE UINT8_C(0x01)
+#define BMI160_GYRO_FIFO_DOWN_TWO UINT8_C(0x02)
+#define BMI160_GYRO_FIFO_DOWN_THREE UINT8_C(0x03)
+#define BMI160_GYRO_FIFO_DOWN_FOUR UINT8_C(0x04)
+#define BMI160_GYRO_FIFO_DOWN_FIVE UINT8_C(0x05)
+#define BMI160_GYRO_FIFO_DOWN_SIX UINT8_C(0x06)
+#define BMI160_GYRO_FIFO_DOWN_SEVEN UINT8_C(0x07)
+
+/* Accel Fifo filter enable*/
+#define BMI160_ACCEL_FIFO_FILT_EN UINT8_C(0x80)
+
+/* Gyro Fifo filter enable*/
+#define BMI160_GYRO_FIFO_FILT_EN UINT8_C(0x08)
+
+/** Definitions to check validity of FIFO frames */
+#define FIFO_CONFIG_MSB_CHECK UINT8_C(0x80)
+#define FIFO_CONFIG_LSB_CHECK UINT8_C(0x00)
+
+/*! BMI160 accel FOC configurations */
+#define BMI160_FOC_ACCEL_DISABLED UINT8_C(0x00)
+#define BMI160_FOC_ACCEL_POSITIVE_G UINT8_C(0x01)
+#define BMI160_FOC_ACCEL_NEGATIVE_G UINT8_C(0x02)
+#define BMI160_FOC_ACCEL_0G UINT8_C(0x03)
+
+/** Array Parameter DefinItions */
+#define BMI160_SENSOR_TIME_LSB_BYTE UINT8_C(0)
+#define BMI160_SENSOR_TIME_XLSB_BYTE UINT8_C(1)
+#define BMI160_SENSOR_TIME_MSB_BYTE UINT8_C(2)
+
+/** Interface settings */
+#define BMI160_SPI_INTF UINT8_C(1)
+#define BMI160_I2C_INTF UINT8_C(0)
+#define BMI160_SPI_RD_MASK UINT8_C(0x80)
+#define BMI160_SPI_WR_MASK UINT8_C(0x7F)
+
+/* Sensor & time select definition*/
+#define BMI160_ACCEL_SEL UINT8_C(0x01)
+#define BMI160_GYRO_SEL UINT8_C(0x02)
+#define BMI160_TIME_SEL UINT8_C(0x04)
+
+/* Sensor select mask*/
+#define BMI160_SEN_SEL_MASK UINT8_C(0x07)
+
+/* Error code mask */
+#define BMI160_ERR_REG_MASK UINT8_C(0x0F)
+
+/* BMI160 I2C address */
+#define BMI160_I2C_ADDR UINT8_C(0x68)
+
+/* BMI160 secondary IF address */
+#define BMI160_AUX_BMM150_I2C_ADDR UINT8_C(0x10)
+
+/** BMI160 Length definitions */
+#define BMI160_ONE UINT8_C(1)
+#define BMI160_TWO UINT8_C(2)
+#define BMI160_THREE UINT8_C(3)
+#define BMI160_FOUR UINT8_C(4)
+#define BMI160_FIVE UINT8_C(5)
+
+/** BMI160 fifo level Margin */
+#define BMI160_FIFO_LEVEL_MARGIN UINT8_C(16)
+
+/** BMI160 fifo flush Command */
+#define BMI160_FIFO_FLUSH_VALUE UINT8_C(0xB0)
+
+/** BMI160 offset values for xyz axes of accel */
+#define BMI160_ACCEL_MIN_OFFSET INT8_C(-128)
+#define BMI160_ACCEL_MAX_OFFSET INT8_C(127)
+
+/** BMI160 offset values for xyz axes of gyro */
+#define BMI160_GYRO_MIN_OFFSET INT16_C(-512)
+#define BMI160_GYRO_MAX_OFFSET INT16_C(511)
+
+/** BMI160 fifo full interrupt position and mask */
+#define BMI160_FIFO_FULL_INT_POS UINT8_C(5)
+#define BMI160_FIFO_FULL_INT_MSK UINT8_C(0x20)
+#define BMI160_FIFO_WTM_INT_POS UINT8_C(6)
+#define BMI160_FIFO_WTM_INT_MSK UINT8_C(0x40)
+
+#define BMI160_FIFO_FULL_INT_PIN1_POS UINT8_C(5)
+#define BMI160_FIFO_FULL_INT_PIN1_MSK UINT8_C(0x20)
+#define BMI160_FIFO_FULL_INT_PIN2_POS UINT8_C(1)
+#define BMI160_FIFO_FULL_INT_PIN2_MSK UINT8_C(0x02)
+
+#define BMI160_FIFO_WTM_INT_PIN1_POS UINT8_C(6)
+#define BMI160_FIFO_WTM_INT_PIN1_MSK UINT8_C(0x40)
+#define BMI160_FIFO_WTM_INT_PIN2_POS UINT8_C(2)
+#define BMI160_FIFO_WTM_INT_PIN2_MSK UINT8_C(0x04)
+
+#define BMI160_MANUAL_MODE_EN_POS UINT8_C(7)
+#define BMI160_MANUAL_MODE_EN_MSK UINT8_C(0x80)
+#define BMI160_AUX_READ_BURST_POS UINT8_C(0)
+#define BMI160_AUX_READ_BURST_MSK UINT8_C(0x03)
+
+#define BMI160_GYRO_SELF_TEST_POS UINT8_C(4)
+#define BMI160_GYRO_SELF_TEST_MSK UINT8_C(0x10)
+#define BMI160_GYRO_SELF_TEST_STATUS_POS UINT8_C(1)
+#define BMI160_GYRO_SELF_TEST_STATUS_MSK UINT8_C(0x02)
+
+#define BMI160_GYRO_FOC_EN_POS UINT8_C(6)
+#define BMI160_GYRO_FOC_EN_MSK UINT8_C(0x40)
+
+#define BMI160_ACCEL_FOC_X_CONF_POS UINT8_C(4)
+#define BMI160_ACCEL_FOC_X_CONF_MSK UINT8_C(0x30)
+
+#define BMI160_ACCEL_FOC_Y_CONF_POS UINT8_C(2)
+#define BMI160_ACCEL_FOC_Y_CONF_MSK UINT8_C(0x0C)
+
+#define BMI160_ACCEL_FOC_Z_CONF_MSK UINT8_C(0x03)
+
+#define BMI160_FOC_STATUS_POS UINT8_C(3)
+#define BMI160_FOC_STATUS_MSK UINT8_C(0x08)
+
+#define BMI160_GYRO_OFFSET_X_MSK UINT8_C(0x03)
+
+#define BMI160_GYRO_OFFSET_Y_POS UINT8_C(2)
+#define BMI160_GYRO_OFFSET_Y_MSK UINT8_C(0x0C)
+
+#define BMI160_GYRO_OFFSET_Z_POS UINT8_C(4)
+#define BMI160_GYRO_OFFSET_Z_MSK UINT8_C(0x30)
+
+#define BMI160_GYRO_OFFSET_EN_POS UINT8_C(7)
+#define BMI160_GYRO_OFFSET_EN_MSK UINT8_C(0x80)
+
+#define BMI160_ACCEL_OFFSET_EN_POS UINT8_C(6)
+#define BMI160_ACCEL_OFFSET_EN_MSK UINT8_C(0x40)
+
+#define BMI160_GYRO_OFFSET_POS UINT16_C(8)
+#define BMI160_GYRO_OFFSET_MSK UINT16_C(0x0300)
+
+#define BMI160_NVM_UPDATE_POS UINT8_C(1)
+#define BMI160_NVM_UPDATE_MSK UINT8_C(0x02)
+
+#define BMI160_NVM_STATUS_POS UINT8_C(4)
+#define BMI160_NVM_STATUS_MSK UINT8_C(0x10)
+
+#define BMI160_MAG_POWER_MODE_MSK UINT8_C(0x03)
+
+#define BMI160_ACCEL_POWER_MODE_MSK UINT8_C(0x30)
+#define BMI160_ACCEL_POWER_MODE_POS UINT8_C(4)
+
+#define BMI160_GYRO_POWER_MODE_MSK UINT8_C(0x0C)
+#define BMI160_GYRO_POWER_MODE_POS UINT8_C(2)
+
+/* BIT SLICE GET AND SET FUNCTIONS */
+#define BMI160_GET_BITS(regvar, bitname) ((regvar & bitname##_MSK) >> bitname##_POS)
+#define BMI160_SET_BITS(regvar, bitname, val) \
+    ((regvar & ~bitname##_MSK) | ((val << bitname##_POS) & bitname##_MSK))
+
+#define BMI160_SET_BITS_POS_0(reg_data, bitname, data) \
+    ((reg_data & ~(bitname##_MSK)) | (data & bitname##_MSK))
+
+#define BMI160_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
+
+/**\name UTILITY MACROS */
+#define BMI160_SET_LOW_BYTE UINT16_C(0x00FF)
+#define BMI160_SET_HIGH_BYTE UINT16_C(0xFF00)
+
+#define BMI160_GET_LSB(var) (uint8_t)(var & BMI160_SET_LOW_BYTE)
+#define BMI160_GET_MSB(var) (uint8_t)((var & BMI160_SET_HIGH_BYTE) >> 8)
+
+/*****************************************************************************/
+/* type definitions */
+
+/*!
+ * @brief Bus communication function pointer which should be mapped to
+ * the platform specific read functions of the user
+ */
+typedef int8_t (
+    *bmi160_read_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t* data, uint16_t len);
+
+/*!
+ * @brief Bus communication function pointer which should be mapped to
+ * the platform specific write functions of the user
+ */
+typedef int8_t (
+    *bmi160_write_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t* read_data, uint16_t len);
+typedef void (*bmi160_delay_fptr_t)(uint32_t period);
+
+/*************************** Data structures *********************************/
+
+/*!
+ * @brief bmi160 interrupt status selection enum.
+ */
+enum bmi160_int_status_sel {
+    BMI160_INT_STATUS_0 = 1,
+    BMI160_INT_STATUS_1 = 2,
+    BMI160_INT_STATUS_2 = 4,
+    BMI160_INT_STATUS_3 = 8,
+    BMI160_INT_STATUS_ALL = 15
+};
+
+/*!
+ * @brief bmi160 interrupt status bits structure
+ */
+struct bmi160_int_status_bits {
+#ifdef LITTLE_ENDIAN
+
+    uint32_t step : 1;
+    uint32_t sigmot : 1;
+    uint32_t anym : 1;
+
+    /* pmu trigger will be handled later */
+    uint32_t pmu_trigger_reserved : 1;
+    uint32_t d_tap : 1;
+    uint32_t s_tap : 1;
+    uint32_t orient : 1;
+    uint32_t flat_int : 1;
+    uint32_t reserved : 2;
+    uint32_t high_g : 1;
+    uint32_t low_g : 1;
+    uint32_t drdy : 1;
+    uint32_t ffull : 1;
+    uint32_t fwm : 1;
+    uint32_t nomo : 1;
+    uint32_t anym_first_x : 1;
+    uint32_t anym_first_y : 1;
+    uint32_t anym_first_z : 1;
+    uint32_t anym_sign : 1;
+    uint32_t tap_first_x : 1;
+    uint32_t tap_first_y : 1;
+    uint32_t tap_first_z : 1;
+    uint32_t tap_sign : 1;
+    uint32_t high_first_x : 1;
+    uint32_t high_first_y : 1;
+    uint32_t high_first_z : 1;
+    uint32_t high_sign : 1;
+    uint32_t orient_1_0 : 2;
+    uint32_t orient_2 : 1;
+    uint32_t flat : 1;
+#else
+    uint32_t high_first_x : 1;
+    uint32_t high_first_y : 1;
+    uint32_t high_first_z : 1;
+    uint32_t high_sign : 1;
+    uint32_t orient_1_0 : 2;
+    uint32_t orient_2 : 1;
+    uint32_t flat : 1;
+    uint32_t anym_first_x : 1;
+    uint32_t anym_first_y : 1;
+    uint32_t anym_first_z : 1;
+    uint32_t anym_sign : 1;
+    uint32_t tap_first_x : 1;
+    uint32_t tap_first_y : 1;
+    uint32_t tap_first_z : 1;
+    uint32_t tap_sign : 1;
+    uint32_t reserved : 2;
+    uint32_t high_g : 1;
+    uint32_t low_g : 1;
+    uint32_t drdy : 1;
+    uint32_t ffull : 1;
+    uint32_t fwm : 1;
+    uint32_t nomo : 1;
+    uint32_t step : 1;
+    uint32_t sigmot : 1;
+    uint32_t anym : 1;
+
+    /* pmu trigger will be handled later */
+    uint32_t pmu_trigger_reserved : 1;
+    uint32_t d_tap : 1;
+    uint32_t s_tap : 1;
+    uint32_t orient : 1;
+    uint32_t flat_int : 1;
+#endif
+};
+
+/*!
+ * @brief bmi160 interrupt status structure
+ */
+union bmi160_int_status {
+    uint8_t data[4];
+    struct bmi160_int_status_bits bit;
+};
+
+/*!
+ * @brief bmi160 sensor data structure which comprises of accel data
+ */
+struct bmi160_sensor_data {
+    /*! X-axis sensor data */
+    int16_t x;
+
+    /*! Y-axis sensor data */
+    int16_t y;
+
+    /*! Z-axis sensor data */
+    int16_t z;
+
+    /*! sensor time */
+    uint32_t sensortime;
+};
+
+/*!
+ * @brief bmi160 aux data structure which comprises of 8 bytes of accel data
+ */
+struct bmi160_aux_data {
+    /*! Auxiliary data */
+    uint8_t data[8];
+};
+
+/*!
+ * @brief bmi160 FOC configuration structure
+ */
+struct bmi160_foc_conf {
+    /*! Enabling FOC in gyro
+     * Assignable macros :
+     *  - BMI160_ENABLE
+     *  - BMI160_DISABLE
+     */
+    uint8_t foc_gyr_en;
+
+    /*! Accel FOC configurations
+     * Assignable macros :
+     *  - BMI160_FOC_ACCEL_DISABLED
+     *  - BMI160_FOC_ACCEL_POSITIVE_G
+     *  - BMI160_FOC_ACCEL_NEGATIVE_G
+     *  - BMI160_FOC_ACCEL_0G
+     */
+    uint8_t foc_acc_x;
+    uint8_t foc_acc_y;
+    uint8_t foc_acc_z;
+
+    /*! Enabling offset compensation for accel in data registers
+     * Assignable macros :
+     *  - BMI160_ENABLE
+     *  - BMI160_DISABLE
+     */
+    uint8_t acc_off_en;
+
+    /*! Enabling offset compensation for gyro in data registers
+     * Assignable macros :
+     *  - BMI160_ENABLE
+     *  - BMI160_DISABLE
+     */
+    uint8_t gyro_off_en;
+};
+
+/*!
+ * @brief bmi160 accel gyro offsets
+ */
+struct bmi160_offsets {
+    /*! Accel offset for x axis */
+    int8_t off_acc_x;
+
+    /*! Accel offset for y axis */
+    int8_t off_acc_y;
+
+    /*! Accel offset for z axis */
+    int8_t off_acc_z;
+
+    /*! Gyro offset for x axis */
+    int16_t off_gyro_x;
+
+    /*! Gyro offset for y axis */
+    int16_t off_gyro_y;
+
+    /*! Gyro offset for z axis */
+    int16_t off_gyro_z;
+};
+
+/*!
+ * @brief FIFO aux. sensor data structure
+ */
+struct bmi160_aux_fifo_data {
+    /*! The value of aux. sensor x LSB data */
+    uint8_t aux_x_lsb;
+
+    /*! The value of aux. sensor x MSB data */
+    uint8_t aux_x_msb;
+
+    /*! The value of aux. sensor y LSB data */
+    uint8_t aux_y_lsb;
+
+    /*! The value of aux. sensor y MSB data */
+    uint8_t aux_y_msb;
+
+    /*! The value of aux. sensor z LSB data */
+    uint8_t aux_z_lsb;
+
+    /*! The value of aux. sensor z MSB data */
+    uint8_t aux_z_msb;
+
+    /*! The value of aux. sensor r for BMM150 LSB data */
+    uint8_t aux_r_y2_lsb;
+
+    /*! The value of aux. sensor r for BMM150 MSB data */
+    uint8_t aux_r_y2_msb;
+};
+
+/*!
+ * @brief bmi160 sensor select structure
+ */
+enum bmi160_select_sensor { BMI160_ACCEL_ONLY = 1, BMI160_GYRO_ONLY, BMI160_BOTH_ACCEL_AND_GYRO };
+
+/*!
+ * @brief bmi160 sensor step detector mode structure
+ */
+enum bmi160_step_detect_mode {
+    BMI160_STEP_DETECT_NORMAL,
+    BMI160_STEP_DETECT_SENSITIVE,
+    BMI160_STEP_DETECT_ROBUST,
+
+    /*! Non recommended User defined setting */
+    BMI160_STEP_DETECT_USER_DEFINE
+};
+
+/*!
+ * @brief enum for auxiliary burst read selection
+ */
+enum bmi160_aux_read_len {
+    BMI160_AUX_READ_LEN_0,
+    BMI160_AUX_READ_LEN_1,
+    BMI160_AUX_READ_LEN_2,
+    BMI160_AUX_READ_LEN_3
+};
+
+/*!
+ * @brief bmi160 sensor configuration structure
+ */
+struct bmi160_cfg {
+    /*! power mode */
+    uint8_t power;
+
+    /*! output data rate */
+    uint8_t odr;
+
+    /*! range */
+    uint8_t range;
+
+    /*! bandwidth */
+    uint8_t bw;
+};
+
+/*!
+ * @brief Aux sensor configuration structure
+ */
+struct bmi160_aux_cfg {
+    /*! Aux sensor, 1 - enable 0 - disable */
+    uint8_t aux_sensor_enable : 1;
+
+    /*! Aux manual/auto mode status */
+    uint8_t manual_enable : 1;
+
+    /*! Aux read burst length */
+    uint8_t aux_rd_burst_len : 2;
+
+    /*! output data rate */
+    uint8_t aux_odr : 4;
+
+    /*! i2c addr of auxiliary sensor */
+    uint8_t aux_i2c_addr;
+};
+
+/*!
+ * @brief bmi160 interrupt channel selection structure
+ */
+enum bmi160_int_channel {
+    /*! Un-map both channels */
+    BMI160_INT_CHANNEL_NONE,
+
+    /*! interrupt Channel 1 */
+    BMI160_INT_CHANNEL_1,
+
+    /*! interrupt Channel 2 */
+    BMI160_INT_CHANNEL_2,
+
+    /*! Map both channels */
+    BMI160_INT_CHANNEL_BOTH
+};
+enum bmi160_int_types {
+    /*! Slope/Any-motion interrupt */
+    BMI160_ACC_ANY_MOTION_INT,
+
+    /*! Significant motion interrupt */
+    BMI160_ACC_SIG_MOTION_INT,
+
+    /*! Step detector interrupt */
+    BMI160_STEP_DETECT_INT,
+
+    /*! double tap interrupt */
+    BMI160_ACC_DOUBLE_TAP_INT,
+
+    /*! single tap interrupt */
+    BMI160_ACC_SINGLE_TAP_INT,
+
+    /*! orientation interrupt */
+    BMI160_ACC_ORIENT_INT,
+
+    /*! flat interrupt */
+    BMI160_ACC_FLAT_INT,
+
+    /*! high-g interrupt */
+    BMI160_ACC_HIGH_G_INT,
+
+    /*! low-g interrupt */
+    BMI160_ACC_LOW_G_INT,
+
+    /*! slow/no-motion interrupt */
+    BMI160_ACC_SLOW_NO_MOTION_INT,
+
+    /*! data ready interrupt  */
+    BMI160_ACC_GYRO_DATA_RDY_INT,
+
+    /*! fifo full interrupt */
+    BMI160_ACC_GYRO_FIFO_FULL_INT,
+
+    /*! fifo watermark interrupt */
+    BMI160_ACC_GYRO_FIFO_WATERMARK_INT,
+
+    /*! fifo tagging feature support */
+    BMI160_FIFO_TAG_INT_PIN
+};
+
+/*!
+ * @brief bmi160 active state of any & sig motion interrupt.
+ */
+enum bmi160_any_sig_motion_active_interrupt_state {
+    /*! Both any & sig motion are disabled */
+    BMI160_BOTH_ANY_SIG_MOTION_DISABLED = -1,
+
+    /*! Any-motion selected */
+    BMI160_ANY_MOTION_ENABLED,
+
+    /*! Sig-motion selected */
+    BMI160_SIG_MOTION_ENABLED
+};
+struct bmi160_acc_tap_int_cfg {
+#ifdef LITTLE_ENDIAN
+
+    /*! tap threshold */
+    uint16_t tap_thr : 5;
+
+    /*! tap shock */
+    uint16_t tap_shock : 1;
+
+    /*! tap quiet */
+    uint16_t tap_quiet : 1;
+
+    /*! tap duration */
+    uint16_t tap_dur : 3;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint16_t tap_data_src : 1;
+
+    /*! tap enable, 1 - enable, 0 - disable */
+    uint16_t tap_en : 1;
+#else
+
+    /*! tap enable, 1 - enable, 0 - disable */
+    uint16_t tap_en : 1;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint16_t tap_data_src : 1;
+
+    /*! tap duration */
+    uint16_t tap_dur : 3;
+
+    /*! tap quiet */
+    uint16_t tap_quiet : 1;
+
+    /*! tap shock */
+    uint16_t tap_shock : 1;
+
+    /*! tap threshold */
+    uint16_t tap_thr : 5;
+#endif
+};
+struct bmi160_acc_any_mot_int_cfg {
+#ifdef LITTLE_ENDIAN
+
+    /*! 1 any-motion enable, 0 - any-motion disable */
+    uint8_t anymotion_en : 1;
+
+    /*! slope interrupt x, 1 - enable, 0 - disable */
+    uint8_t anymotion_x : 1;
+
+    /*! slope interrupt y, 1 - enable, 0 - disable */
+    uint8_t anymotion_y : 1;
+
+    /*! slope interrupt z, 1 - enable, 0 - disable */
+    uint8_t anymotion_z : 1;
+
+    /*! slope duration */
+    uint8_t anymotion_dur : 2;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint8_t anymotion_data_src : 1;
+
+    /*! slope threshold */
+    uint8_t anymotion_thr;
+#else
+
+    /*! slope threshold */
+    uint8_t anymotion_thr;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint8_t anymotion_data_src : 1;
+
+    /*! slope duration */
+    uint8_t anymotion_dur : 2;
+
+    /*! slope interrupt z, 1 - enable, 0 - disable */
+    uint8_t anymotion_z : 1;
+
+    /*! slope interrupt y, 1 - enable, 0 - disable */
+    uint8_t anymotion_y : 1;
+
+    /*! slope interrupt x, 1 - enable, 0 - disable */
+    uint8_t anymotion_x : 1;
+
+    /*! 1 any-motion enable, 0 - any-motion disable */
+    uint8_t anymotion_en : 1;
+#endif
+};
+struct bmi160_acc_sig_mot_int_cfg {
+#ifdef LITTLE_ENDIAN
+
+    /*! skip time of sig-motion interrupt */
+    uint8_t sig_mot_skip : 2;
+
+    /*! proof time of sig-motion interrupt */
+    uint8_t sig_mot_proof : 2;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint8_t sig_data_src : 1;
+
+    /*! 1 - enable sig, 0 - disable sig & enable anymotion */
+    uint8_t sig_en : 1;
+
+    /*! sig-motion threshold */
+    uint8_t sig_mot_thres;
+#else
+
+    /*! sig-motion threshold */
+    uint8_t sig_mot_thres;
+
+    /*! 1 - enable sig, 0 - disable sig & enable anymotion */
+    uint8_t sig_en : 1;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint8_t sig_data_src : 1;
+
+    /*! proof time of sig-motion interrupt */
+    uint8_t sig_mot_proof : 2;
+
+    /*! skip time of sig-motion interrupt */
+    uint8_t sig_mot_skip : 2;
+#endif
+};
+struct bmi160_acc_step_detect_int_cfg {
+#ifdef LITTLE_ENDIAN
+
+    /*! 1- step detector enable, 0- step detector disable */
+    uint16_t step_detector_en : 1;
+
+    /*! minimum threshold */
+    uint16_t min_threshold : 2;
+
+    /*! minimal detectable step time */
+    uint16_t steptime_min : 3;
+
+    /*! enable step counter mode setting */
+    uint16_t step_detector_mode : 2;
+
+    /*! minimum step buffer size*/
+    uint16_t step_min_buf : 3;
+#else
+
+    /*! minimum step buffer size*/
+    uint16_t step_min_buf : 3;
+
+    /*! enable step counter mode setting */
+    uint16_t step_detector_mode : 2;
+
+    /*! minimal detectable step time */
+    uint16_t steptime_min : 3;
+
+    /*! minimum threshold */
+    uint16_t min_threshold : 2;
+
+    /*! 1- step detector enable, 0- step detector disable */
+    uint16_t step_detector_en : 1;
+#endif
+};
+struct bmi160_acc_no_motion_int_cfg {
+#ifdef LITTLE_ENDIAN
+
+    /*! no motion interrupt x */
+    uint16_t no_motion_x : 1;
+
+    /*! no motion interrupt y */
+    uint16_t no_motion_y : 1;
+
+    /*! no motion interrupt z */
+    uint16_t no_motion_z : 1;
+
+    /*! no motion duration */
+    uint16_t no_motion_dur : 6;
+
+    /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
+    uint16_t no_motion_sel : 1;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint16_t no_motion_src : 1;
+
+    /*! no motion threshold */
+    uint8_t no_motion_thres;
+#else
+
+    /*! no motion threshold */
+    uint8_t no_motion_thres;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint16_t no_motion_src : 1;
+
+    /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
+    uint16_t no_motion_sel : 1;
+
+    /*! no motion duration */
+    uint16_t no_motion_dur : 6;
+
+    /* no motion interrupt z */
+    uint16_t no_motion_z : 1;
+
+    /*! no motion interrupt y */
+    uint16_t no_motion_y : 1;
+
+    /*! no motion interrupt x */
+    uint16_t no_motion_x : 1;
+#endif
+};
+struct bmi160_acc_orient_int_cfg {
+#ifdef LITTLE_ENDIAN
+
+    /*! thresholds for switching between the different orientations */
+    uint16_t orient_mode : 2;
+
+    /*! blocking_mode */
+    uint16_t orient_blocking : 2;
+
+    /*! Orientation interrupt hysteresis */
+    uint16_t orient_hyst : 4;
+
+    /*! Orientation interrupt theta */
+    uint16_t orient_theta : 6;
+
+    /*! Enable/disable Orientation interrupt */
+    uint16_t orient_ud_en : 1;
+
+    /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
+    uint16_t axes_ex : 1;
+
+    /*! 1 - orient enable, 0 - orient disable */
+    uint8_t orient_en : 1;
+#else
+
+    /*! 1 - orient enable, 0 - orient disable */
+    uint8_t orient_en : 1;
+
+    /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
+    uint16_t axes_ex : 1;
+
+    /*! Enable/disable Orientation interrupt */
+    uint16_t orient_ud_en : 1;
+
+    /*! Orientation interrupt theta */
+    uint16_t orient_theta : 6;
+
+    /*! Orientation interrupt hysteresis */
+    uint16_t orient_hyst : 4;
+
+    /*! blocking_mode */
+    uint16_t orient_blocking : 2;
+
+    /*! thresholds for switching between the different orientations */
+    uint16_t orient_mode : 2;
+#endif
+};
+struct bmi160_acc_flat_detect_int_cfg {
+#ifdef LITTLE_ENDIAN
+
+    /*! flat threshold */
+    uint16_t flat_theta : 6;
+
+    /*! flat interrupt hysteresis */
+    uint16_t flat_hy : 3;
+
+    /*! delay time for which the flat value must remain stable for the
+     * flat interrupt to be generated */
+    uint16_t flat_hold_time : 2;
+
+    /*! 1 - flat enable, 0 - flat disable */
+    uint16_t flat_en : 1;
+#else
+
+    /*! 1 - flat enable, 0 - flat disable */
+    uint16_t flat_en : 1;
+
+    /*! delay time for which the flat value must remain stable for the
+     * flat interrupt to be generated */
+    uint16_t flat_hold_time : 2;
+
+    /*! flat interrupt hysteresis */
+    uint16_t flat_hy : 3;
+
+    /*! flat threshold */
+    uint16_t flat_theta : 6;
+#endif
+};
+struct bmi160_acc_low_g_int_cfg {
+#ifdef LITTLE_ENDIAN
+
+    /*! low-g interrupt trigger delay */
+    uint8_t low_dur;
+
+    /*! low-g interrupt trigger threshold */
+    uint8_t low_thres;
+
+    /*! hysteresis of low-g interrupt */
+    uint8_t low_hyst : 2;
+
+    /*! 0 - single-axis mode ,1 - axis-summing mode */
+    uint8_t low_mode : 1;
+
+    /*! data source 0- filter & 1 pre-filter */
+    uint8_t low_data_src : 1;
+
+    /*! 1 - enable low-g, 0 - disable low-g */
+    uint8_t low_en : 1;
+#else
+
+    /*! 1 - enable low-g, 0 - disable low-g */
+    uint8_t low_en : 1;
+
+    /*! data source 0- filter & 1 pre-filter */
+    uint8_t low_data_src : 1;
+
+    /*! 0 - single-axis mode ,1 - axis-summing mode */
+    uint8_t low_mode : 1;
+
+    /*! hysteresis of low-g interrupt */
+    uint8_t low_hyst : 2;
+
+    /*! low-g interrupt trigger threshold */
+    uint8_t low_thres;
+
+    /*! low-g interrupt trigger delay */
+    uint8_t low_dur;
+#endif
+};
+struct bmi160_acc_high_g_int_cfg {
+#ifdef LITTLE_ENDIAN
+
+    /*! High-g interrupt x, 1 - enable, 0 - disable */
+    uint8_t high_g_x : 1;
+
+    /*! High-g interrupt y, 1 - enable, 0 - disable */
+    uint8_t high_g_y : 1;
+
+    /*! High-g interrupt z, 1 - enable, 0 - disable */
+    uint8_t high_g_z : 1;
+
+    /*! High-g hysteresis  */
+    uint8_t high_hy : 2;
+
+    /*! data source 0- filter & 1 pre-filter */
+    uint8_t high_data_src : 1;
+
+    /*! High-g threshold */
+    uint8_t high_thres;
+
+    /*! High-g duration */
+    uint8_t high_dur;
+#else
+
+    /*! High-g duration */
+    uint8_t high_dur;
+
+    /*! High-g threshold */
+    uint8_t high_thres;
+
+    /*! data source 0- filter & 1 pre-filter */
+    uint8_t high_data_src : 1;
+
+    /*! High-g hysteresis  */
+    uint8_t high_hy : 2;
+
+    /*! High-g interrupt z, 1 - enable, 0 - disable */
+    uint8_t high_g_z : 1;
+
+    /*! High-g interrupt y, 1 - enable, 0 - disable */
+    uint8_t high_g_y : 1;
+
+    /*! High-g interrupt x, 1 - enable, 0 - disable */
+    uint8_t high_g_x : 1;
+#endif
+};
+struct bmi160_int_pin_settg {
+#ifdef LITTLE_ENDIAN
+
+    /*! To enable either INT1 or INT2 pin as output.
+     * 0- output disabled ,1- output enabled */
+    uint16_t output_en : 1;
+
+    /*! 0 - push-pull 1- open drain,only valid if output_en is set 1 */
+    uint16_t output_mode : 1;
+
+    /*! 0 - active low , 1 - active high level.
+     * if output_en is 1,this applies to interrupts,else PMU_trigger */
+    uint16_t output_type : 1;
+
+    /*! 0 - level trigger , 1 - edge trigger  */
+    uint16_t edge_ctrl : 1;
+
+    /*! To enable either INT1 or INT2 pin as input.
+     * 0 - input disabled ,1 - input enabled */
+    uint16_t input_en : 1;
+
+    /*! latch duration*/
+    uint16_t latch_dur : 4;
+#else
+
+    /*! latch duration*/
+    uint16_t latch_dur : 4;
+
+    /*! Latched,non-latched or temporary interrupt modes */
+    uint16_t input_en : 1;
+
+    /*! 1 - edge trigger, 0 - level trigger */
+    uint16_t edge_ctrl : 1;
+
+    /*! 0 - active low , 1 - active high level.
+     * if output_en is 1,this applies to interrupts,else PMU_trigger */
+    uint16_t output_type : 1;
+
+    /*! 0 - push-pull , 1 - open drain,only valid if output_en is set 1 */
+    uint16_t output_mode : 1;
+
+    /*! To enable either INT1 or INT2 pin as output.
+     * 0 - output disabled , 1 - output enabled */
+    uint16_t output_en : 1;
+#endif
+};
+union bmi160_int_type_cfg {
+    /*! Tap interrupt structure */
+    struct bmi160_acc_tap_int_cfg acc_tap_int;
+
+    /*! Slope interrupt structure */
+    struct bmi160_acc_any_mot_int_cfg acc_any_motion_int;
+
+    /*! Significant motion interrupt structure */
+    struct bmi160_acc_sig_mot_int_cfg acc_sig_motion_int;
+
+    /*! Step detector interrupt structure */
+    struct bmi160_acc_step_detect_int_cfg acc_step_detect_int;
+
+    /*! No motion interrupt structure */
+    struct bmi160_acc_no_motion_int_cfg acc_no_motion_int;
+
+    /*! Orientation interrupt structure */
+    struct bmi160_acc_orient_int_cfg acc_orient_int;
+
+    /*! Flat interrupt structure */
+    struct bmi160_acc_flat_detect_int_cfg acc_flat_int;
+
+    /*! Low-g interrupt structure */
+    struct bmi160_acc_low_g_int_cfg acc_low_g_int;
+
+    /*! High-g interrupt structure */
+    struct bmi160_acc_high_g_int_cfg acc_high_g_int;
+};
+struct bmi160_int_settg {
+    /*! Interrupt channel */
+    enum bmi160_int_channel int_channel;
+
+    /*! Select Interrupt */
+    enum bmi160_int_types int_type;
+
+    /*! Structure configuring Interrupt pins */
+    struct bmi160_int_pin_settg int_pin_settg;
+
+    /*! Union configures required interrupt */
+    union bmi160_int_type_cfg int_type_cfg;
+
+    /*! FIFO FULL INT 1-enable, 0-disable */
+    uint8_t fifo_full_int_en : 1;
+
+    /*! FIFO WTM INT 1-enable, 0-disable */
+    uint8_t fifo_wtm_int_en : 1;
+};
+
+/*!
+ *  @brief This structure holds the information for usage of
+ *  FIFO by the user.
+ */
+struct bmi160_fifo_frame {
+    /*! Data buffer of user defined length is to be mapped here */
+    uint8_t* data;
+
+    /*! While calling the API  "bmi160_get_fifo_data" , length stores
+     *  number of bytes in FIFO to be read (specified by user as input)
+     *  and after execution of the API ,number of FIFO data bytes
+     *  available is provided as an output to user
+     */
+    uint16_t length;
+
+    /*! FIFO time enable */
+    uint8_t fifo_time_enable;
+
+    /*! Enabling of the FIFO header to stream in header mode */
+    uint8_t fifo_header_enable;
+
+    /*! Streaming of the Accelerometer, Gyroscope
+     * sensor data or both in FIFO */
+    uint8_t fifo_data_enable;
+
+    /*! Will be equal to length when no more frames are there to parse */
+    uint16_t accel_byte_start_idx;
+
+    /*! Will be equal to length when no more frames are there to parse */
+    uint16_t gyro_byte_start_idx;
+
+    /*! Will be equal to length when no more frames are there to parse */
+    uint16_t aux_byte_start_idx;
+
+    /*! Value of FIFO sensor time time */
+    uint32_t sensor_time;
+
+    /*! Value of Skipped frame counts */
+    uint8_t skipped_frame_count;
+};
+struct bmi160_dev {
+    /*! Chip Id */
+    uint8_t chip_id;
+
+    /*! Device Id */
+    uint8_t id;
+
+    /*! 0 - I2C , 1 - SPI Interface */
+    uint8_t intf;
+
+    /*! Hold active interrupts status for any and sig motion
+     *  0 - Any-motion enable, 1 - Sig-motion enable,
+     *  -1 neither any-motion nor sig-motion selected */
+    enum bmi160_any_sig_motion_active_interrupt_state any_sig_sel;
+
+    /*! Structure to configure Accel sensor */
+    struct bmi160_cfg accel_cfg;
+
+    /*! Structure to hold previous/old accel config parameters.
+     * This is used at driver level to prevent overwriting of same
+     * data, hence user does not change it in the code */
+    struct bmi160_cfg prev_accel_cfg;
+
+    /*! Structure to configure Gyro sensor */
+    struct bmi160_cfg gyro_cfg;
+
+    /*! Structure to hold previous/old gyro config parameters.
+     * This is used at driver level to prevent overwriting of same
+     * data, hence user does not change it in the code */
+    struct bmi160_cfg prev_gyro_cfg;
+
+    /*! Structure to configure the auxiliary sensor */
+    struct bmi160_aux_cfg aux_cfg;
+
+    /*! Structure to hold previous/old aux config parameters.
+     * This is used at driver level to prevent overwriting of same
+     * data, hence user does not change it in the code */
+    struct bmi160_aux_cfg prev_aux_cfg;
+
+    /*! FIFO related configurations */
+    struct bmi160_fifo_frame* fifo;
+
+    /*! Read function pointer */
+    bmi160_read_fptr_t read;
+
+    /*! Write function pointer */
+    bmi160_write_fptr_t write;
+
+    /*!  Delay function pointer */
+    bmi160_delay_fptr_t delay_ms;
+
+    /*! User set read/write length */
+    uint16_t read_write_len;
+};
+
+#endif /* BMI160_DEFS_H_ */

tracking/imu/imu.c

@@ -10,20 +10,20 @@ int lsm6ds3trc_read(double* vec);
 
 bool imu_begin() {
     furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
-    bool ret = lsm6ds3trc_begin(); // bmi160_begin();
+    bool ret = bmi160_begin(); // lsm6ds3trc_begin();
     furi_hal_i2c_release(&furi_hal_i2c_handle_external);
     return ret;
 }
 
 void imu_end() {
-    furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
-    lsm6ds3trc_end(); //
-    furi_hal_i2c_release(&furi_hal_i2c_handle_external);
+    // furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
+    // lsm6ds3trc_end();
+    // furi_hal_i2c_release(&furi_hal_i2c_handle_external);
 }
 
 int imu_read(double* vec) {
     furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
-    int ret = lsm6ds3trc_read(vec); // bmi160_read(vec);
+    int ret = bmi160_read(vec); // lsm6ds3trc_read(vec);
     furi_hal_i2c_release(&furi_hal_i2c_handle_external);
     return ret;
 }

tracking/imu/imu_bmi160.c

@@ -70,7 +70,7 @@ bool bmi160_begin() {
     return true;
 }
 
-int bmi160_read(float* vec) {
+int bmi160_read(double* vec) {
     if(bmi160_get_sensor_data(
            (BMI160_ACCEL_SEL | BMI160_GYRO_SEL), &bmi160_accel, &bmi160_gyro, &bmi160dev) !=
        BMI160_OK) {

tracking/imu/imu_lsm6ds3trc.c

@@ -76,17 +76,17 @@ int lsm6ds3trc_read(double* vec) {
 
     if(reg.status_reg.xlda) {
         lsm6ds3tr_c_acceleration_raw_get(&lsm6ds3trc_ctx, data);
-        vec[0] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[0]) / 1000;
-        vec[1] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[1]) / 1000;
-        vec[2] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[2]) / 1000;
+        vec[2] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[0]) / 1000;
+        vec[0] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[1]) / 1000;
+        vec[1] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[2]) / 1000;
         ret |= ACC_DATA_READY;
     }
 
     if(reg.status_reg.gda) {
         lsm6ds3tr_c_angular_rate_raw_get(&lsm6ds3trc_ctx, data);
-        vec[3] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[0]) * DEG_TO_RAD / 1000;
-        vec[4] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[1]) * DEG_TO_RAD / 1000;
-        vec[5] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[2]) * DEG_TO_RAD / 1000;
+        vec[5] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[0]) * DEG_TO_RAD / 1000;
+        vec[3] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[1]) * DEG_TO_RAD / 1000;
+        vec[4] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[2]) * DEG_TO_RAD / 1000;
         ret |= GYR_DATA_READY;
     }
 

tracking/main_loop.cc

@@ -126,9 +126,10 @@ bool calibration_step() {
     if (calibration.isComplete())
         return true;
 
-    double vec[6] = { 0, 0, 0, 0, 0, 0 };
+    double vec[6];
     if (imu_read(vec) & GYR_DATA_READY) {
-        cardboard::Vector3 data(vec[5], vec[3], vec[4]);
+        cardboard::Vector3 data(vec[3], vec[4], vec[5]);
+        furi_delay_ms(9); // Artificially limit to ~100Hz
         return calibration.add(data);
     }
 
@@ -160,20 +161,20 @@ void tracking_begin() {
 }
 
 void tracking_step(MouseMoveCallback mouse_move) {
-    double vec[6] = { 0, 0, 0, 0, 0, 0 };
+    double vec[6];
     int ret = imu_read(vec);
     if (ret != 0) {
         uint64_t t = (DWT->CYCCNT * 1000llu + ippms2) / ippms;
         if (ret & ACC_DATA_READY) {
             cardboard::AccelerometerData adata
                 = { .system_timestamp = t, .sensor_timestamp_ns = t,
-                    .data = cardboard::Vector3(vec[2], vec[0], vec[1]) };
+                    .data = cardboard::Vector3(vec[0], vec[1], vec[2]) };
             tracker.OnAccelerometerData(adata);
         }
         if (ret & GYR_DATA_READY) {
             cardboard::GyroscopeData gdata
                 = { .system_timestamp = t, .sensor_timestamp_ns = t,
-                    .data = cardboard::Vector3(vec[5], vec[3], vec[4]) };
+                    .data = cardboard::Vector3(vec[3], vec[4], vec[5]) };
             cardboard::Vector4 pose = tracker.OnGyroscopeData(gdata);
             onOrientation(pose);
             sendCurrentState(mouse_move);