From 0a6b87236e634d8af9659f20a39fa7e01c243fbd Mon Sep 17 00:00:00 2001
From: lilulab <lilu12@andrew.cmu.edu>
Date: Thu, 20 Feb 2020 16:11:02 -0500
Subject: [PATCH] update bootloadable project

---
 documentation/PSOC5_SOM_V2R1_DOC_191114.pdf   |  Bin 0 -> 2457873 bytes
 .../Bootloader/ROBOSOM_Bootloader_V0000.elf   |  Bin 0 -> 559980 bytes
 .../Bootloader/ROBOSOM_Bootloader_V0000.hex   | 4626 ++++++++++++
 robosom_psoc_ws/Library/BMI160/LICENSE        |   30 +
 robosom_psoc_ws/Library/BMI160/README.md      |  793 ++
 robosom_psoc_ws/Library/BMI160/bmi160.c       | 6360 +++++++++++++++++
 robosom_psoc_ws/Library/BMI160/bmi160.h       |  683 ++
 robosom_psoc_ws/Library/BMI160/bmi160_defs.h  | 1675 +++++
 robosom_psoc_ws/Library/BMI160/bmi160_psoc.c  |   21 +
 .../TopDesign/TopDesign.cysch                 |  Bin 272070 -> 272160 bytes
 .../Pri01_ROBOSOM_Template_Bootloadable.cycdx |  197 +
 .../Pri01_ROBOSOM_Template_Bootloadable.cydwr | 3999 +++++++++++
 .../Pri01_ROBOSOM_Template_Bootloadable.cyprj | 2868 ++++++++
 .../TopDesign/TopDesign.cysch                 |  Bin 0 -> 196236 bytes
 .../main.c                                    |   49 +
 robosom_psoc_ws/robosom_psoc_ws.cywrk         |    3 +-
 16 files changed, 21303 insertions(+), 1 deletion(-)
 create mode 100644 documentation/PSOC5_SOM_V2R1_DOC_191114.pdf
 create mode 100644 release/Bootloader/ROBOSOM_Bootloader_V0000.elf
 create mode 100644 release/Bootloader/ROBOSOM_Bootloader_V0000.hex
 create mode 100644 robosom_psoc_ws/Library/BMI160/LICENSE
 create mode 100644 robosom_psoc_ws/Library/BMI160/README.md
 create mode 100644 robosom_psoc_ws/Library/BMI160/bmi160.c
 create mode 100644 robosom_psoc_ws/Library/BMI160/bmi160.h
 create mode 100644 robosom_psoc_ws/Library/BMI160/bmi160_defs.h
 create mode 100644 robosom_psoc_ws/Library/BMI160/bmi160_psoc.c
 create mode 100644 robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/Pri01_ROBOSOM_Template_Bootloadable.cycdx
 create mode 100644 robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/Pri01_ROBOSOM_Template_Bootloadable.cydwr
 create mode 100644 robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/Pri01_ROBOSOM_Template_Bootloadable.cyprj
 create mode 100644 robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/TopDesign/TopDesign.cysch
 create mode 100644 robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/main.c

diff --git a/documentation/PSOC5_SOM_V2R1_DOC_191114.pdf b/documentation/PSOC5_SOM_V2R1_DOC_191114.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..c87b227efae156db2fef3a040b13e765a76dcf20
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diff --git a/release/Bootloader/ROBOSOM_Bootloader_V0000.elf b/release/Bootloader/ROBOSOM_Bootloader_V0000.elf
new file mode 100644
index 0000000000000000000000000000000000000000..cb1b435bc5ec6d05854e0cd2b467e1f1c469d13f
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diff --git a/release/Bootloader/ROBOSOM_Bootloader_V0000.hex b/release/Bootloader/ROBOSOM_Bootloader_V0000.hex
new file mode 100644
index 0000000..58effc1
--- /dev/null
+++ b/release/Bootloader/ROBOSOM_Bootloader_V0000.hex
@@ -0,0 +1,4626 @@
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diff --git a/robosom_psoc_ws/Library/BMI160/LICENSE b/robosom_psoc_ws/Library/BMI160/LICENSE
new file mode 100644
index 0000000..df241f2
--- /dev/null
+++ b/robosom_psoc_ws/Library/BMI160/LICENSE
@@ -0,0 +1,30 @@
+Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+
+BSD-3-Clause
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
diff --git a/robosom_psoc_ws/Library/BMI160/README.md b/robosom_psoc_ws/Library/BMI160/README.md
new file mode 100644
index 0000000..77e3cd2
--- /dev/null
+++ b/robosom_psoc_ws/Library/BMI160/README.md
@@ -0,0 +1,793 @@
+# BMI160 sensor API
+## Introduction
+This package contains the Bosch Sensortec's BMI160 sensor driver (sensor API)
+
+The sensor driver package includes bmi160.h, bmi160.c and bmi160_defs.h files
+
+## Version
+File          | Version | Date
+--------------|---------|---------------
+bmi160.c      |   3.8.1 |   11 Jan 2020
+bmi160.h      |   3.8.1 |   11 Jan 2020
+bmi160_defs.h |   3.8.1 |   11 Jan 2020
+
+## Integration details
+* Integrate bmi160.h, bmi160_defs.h and bmi160.c file in to your project.
+* Include the bmi160.h file in your code like below.
+``` c
+#include "bmi160.h"
+```
+
+## File information
+* bmi160_defs.h : This header file has the constants, macros and datatype declarations.
+* bmi160.h : This header file contains the declarations of the sensor driver APIs.
+* bmi160.c : This source file contains the definitions of the sensor driver APIs.
+
+## Supported sensor interface
+* SPI 4-wire
+* I2C
+
+## Usage guide
+### Initializing the sensor
+To initialize the sensor, you will first need to create a device structure. You 
+can do this by creating an instance of the structure bmi160_dev. Then go on to 
+fill in the various parameters as shown below.
+
+#### Example for SPI 4-Wire
+``` c
+struct bmi160_dev sensor;
+
+/* You may assign a chip select identifier to be handled later */
+sensor.id = 0;
+sensor.interface = BMI160_SPI_INTF;
+sensor.read = user_spi_read;
+sensor.write = user_spi_write;
+sensor.delay_ms = user_delay_ms;
+
+
+int8_t rslt = BMI160_OK;
+rslt = bmi160_init(&sensor);
+/* After the above function call, accel_cfg and gyro_cfg parameters in the device 
+structure are set with default values, found in the datasheet of the sensor */
+```
+
+#### Example for I2C
+``` c
+struct bmi160_dev sensor;
+
+sensor.id = BMI160_I2C_ADDR;
+sensor.interface = BMI160_I2C_INTF;
+sensor.read = user_i2c_read;
+sensor.write = user_i2c_write;
+sensor.delay_ms = user_delay_ms;
+
+int8_t rslt = BMI160_OK;
+rslt = bmi160_init(&sensor);
+/* After the above function call, accel and gyro parameters in the device structure 
+are set with default values, found in the datasheet of the sensor */
+```
+
+### Configuring accel and gyro sensor
+#### Example for configuring accel and gyro sensors in normal mode
+``` c
+
+int8_t rslt = BMI160_OK;
+
+/* Select the Output data rate, range of accelerometer sensor */
+sensor.accel_cfg.odr = BMI160_ACCEL_ODR_1600HZ;
+sensor.accel_cfg.range = BMI160_ACCEL_RANGE_2G;
+sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
+
+/* Select the power mode of accelerometer sensor */
+sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
+
+/* Select the Output data rate, range of Gyroscope sensor */
+sensor.gyro_cfg.odr = BMI160_GYRO_ODR_3200HZ;
+sensor.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
+sensor.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
+
+/* Select the power mode of Gyroscope sensor */
+sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; 
+
+/* Set the sensor configuration */
+rslt = bmi160_set_sens_conf(&sensor);
+```
+
+### Reading sensor data
+#### Example for reading sensor data
+``` c
+
+int8_t rslt = BMI160_OK;
+struct bmi160_sensor_data accel;
+struct bmi160_sensor_data gyro;
+
+/* To read only Accel data */
+rslt = bmi160_get_sensor_data(BMI160_ACCEL_SEL, &accel, NULL, &sensor);
+
+/* To read only Gyro data */
+rslt = bmi160_get_sensor_data(BMI160_GYRO_SEL, NULL, &gyro, &sensor);
+
+/* To read both Accel and Gyro data */
+bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL), &accel, &gyro, &sensor);
+
+/* To read Accel data along with time */
+rslt = bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_TIME_SEL) , &accel, NULL, &sensor);
+
+/* To read Gyro data along with time */
+rslt = bmi160_get_sensor_data((BMI160_GYRO_SEL | BMI160_TIME_SEL), NULL, &gyro, &sensor);
+
+/* To read both Accel and Gyro data along with time*/
+bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL | BMI160_TIME_SEL), &accel, &gyro, &sensor);
+```
+
+### Setting the power mode of sensors
+#### Example for setting power mode of accel and gyro
+``` c
+
+int8_t rslt = BMI160_OK;
+
+/* Select the power mode */
+sensor.accel_cfg.power = BMI160_ACCEL_SUSPEND_MODE; 
+sensor.gyro_cfg.power = BMI160_GYRO_FASTSTARTUP_MODE; 
+
+/*  Set the Power mode  */
+rslt = bmi160_set_power_mode(&sensor);
+
+/* Select the power mode */
+sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
+sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; 
+
+/*  Set the Power mode  */
+rslt = bmi160_set_power_mode(&sensor);
+
+```
+
+### Reading sensor data register
+#### Example for reading Chip Address
+``` c
+
+int8_t rslt = BMI160_OK;
+uint8_t reg_addr = BMI160_CHIP_ID_ADDR;
+uint8_t data;
+uint16_t len = 1;
+rslt = bmi160_get_regs(reg_addr, &data, len, &sensor);
+```
+
+
+### Writing to sensor data register
+#### Example for writing data to any motion threshold register
+``` c
+
+int8_t rslt = BMI160_OK;
+uint8_t reg_addr = BMI160_INT_MOTION_1_ADDR;
+uint8_t data = 20;
+uint16_t len = 1;
+rslt = bmi160_set_regs(reg_addr, &data, len, &sensor);
+```
+
+### Resetting the device using soft-reset
+#### Example for writing soft-reset command to command register
+``` c
+
+int8_t rslt = BMI160_OK;
+rslt = bmi160_soft_reset(&sensor);
+```
+
+
+### Configuring interrupts for sensors
+To configure the sensor interrupts, you will first need to create an interrupt 
+structure. You can do this by creating an instance of the structure bmi160_int_settg.
+Then go on to fill in the various parameters as shown below
+
+
+### Configuring Any-motion Interrupt
+#### Example for configuring Any-motion Interrupt
+Note:- User can check the currently active interrupt(any-motion or sig-motion) by checking the **any_sig_sel** of bmi160_dev structure.
+``` c
+
+struct bmi160_int_settg int_config;
+
+/* Select the Interrupt channel/pin */
+int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
+
+/* Select the Interrupt type */
+int_config.int_type = BMI160_ACC_ANY_MOTION_INT;// Choosing Any motion interrupt
+/* Select the interrupt channel/pin settings */
+int_config.int_pin_settg.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
+int_config.int_pin_settg.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
+int_config.int_pin_settg.output_type = BMI160_DISABLE;// Choosing active low output
+int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output
+int_config.int_pin_settg.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input
+int_config.int_pin_settg.latch_dur = BMI160_LATCH_DUR_NONE;// non-latched output
+
+/* Select the Any-motion interrupt parameters */
+int_config.int_type_cfg.acc_any_motion_int.anymotion_en = BMI160_ENABLE;// 1- Enable the any-motion, 0- disable any-motion 
+int_config.int_type_cfg.acc_any_motion_int.anymotion_x = BMI160_ENABLE;// Enabling x-axis for any motion interrupt
+int_config.int_type_cfg.acc_any_motion_int.anymotion_y = BMI160_ENABLE;// Enabling y-axis for any motion interrupt
+int_config.int_type_cfg.acc_any_motion_int.anymotion_z = BMI160_ENABLE;// Enabling z-axis for any motion interrupt
+int_config.int_type_cfg.acc_any_motion_int.anymotion_dur = 0;// any-motion duration
+int_config.int_type_cfg.acc_any_motion_int.anymotion_thr = 20;// (2-g range) -> (slope_thr) * 3.91 mg, (4-g range) -> (slope_thr) * 7.81 mg, (8-g range) ->(slope_thr) * 15.63 mg, (16-g range) -> (slope_thr) * 31.25 mg 
+
+/* Set the Any-motion interrupt */
+bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev  */
+
+```
+### Configuring Flat Interrupt
+#### Example for configuring Flat Interrupt
+``` c
+
+struct bmi160_int_settg int_config;
+
+/* Select the Interrupt channel/pin */
+int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
+
+/* Select the Interrupt type */
+int_config.int_type = BMI160_ACC_FLAT_INT;// Choosing flat interrupt
+/* Select the interrupt channel/pin settings */
+int_config.int_pin_settg.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
+int_config.int_pin_settg.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
+int_config.int_pin_settg.output_type = BMI160_DISABLE;// Choosing active low output
+int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output
+int_config.int_pin_settg.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input
+int_config.int_pin_settg.latch_dur = BMI160_LATCH_DUR_NONE;// non-latched output
+
+/* Select the Flat interrupt parameters */
+int_config.int_type_cfg.acc_flat_int.flat_en = BMI160_ENABLE;// 1-enable, 0-disable the flat interrupt
+int_config.int_type_cfg.acc_flat_int.flat_theta = 8;// threshold for detection of flat position in range from 0° to 44.8°.
+int_config.int_type_cfg.acc_flat_int.flat_hy = 1;// Flat hysteresis
+int_config.int_type_cfg.acc_flat_int.flat_hold_time = 1;// Flat hold time (0 -> 0 ms, 1 -> 640 ms, 2 -> 1280 ms, 3 -> 2560 ms)
+
+/* Set the Flat interrupt */
+bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */
+
+```
+
+
+### Configuring Step Detector Interrupt
+#### Example for configuring Step Detector Interrupt
+``` c
+
+struct bmi160_int_settg int_config;
+
+/* Select the Interrupt channel/pin */
+int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
+
+/* Select the Interrupt type */
+int_config.int_type = BMI160_STEP_DETECT_INT;// Choosing Step Detector interrupt
+/* Select the interrupt channel/pin settings */
+int_config.int_pin_settg.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
+int_config.int_pin_settg.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
+int_config.int_pin_settg.output_type = BMI160_ENABLE;// Choosing active High output
+int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output
+int_config.int_pin_settg.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input
+int_config.int_pin_settg.latch_dur =BMI160_LATCH_DUR_NONE;// non-latched output
+
+/* Select the Step Detector interrupt parameters, Kindly use the recommended settings for step detector */
+int_config.int_type_cfg.acc_step_detect_int.step_detector_mode = BMI160_STEP_DETECT_NORMAL;
+int_config.int_type_cfg.acc_step_detect_int.step_detector_en = BMI160_ENABLE;// 1-enable, 0-disable the step detector
+
+/* Set the Step Detector interrupt */
+bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */
+
+```
+
+### Configuring Step counter
+To configure the step counter, user need to configure the step detector interrupt as described in above section.
+After configuring step detector, see the below code snippet for user space & ISR
+
+### User space
+``` c
+int8_t rslt = BMI160_OK;
+uint8_t step_enable = 1;//enable the step counter
+
+rslt = bmi160_set_step_counter(step_enable,  &sensor);
+```
+
+### ISR
+``` c
+int8_t rslt = BMI160_OK;
+uint16_t step_count = 0;//stores the step counter value
+
+rslt = bmi160_read_step_counter(&step_count,  &sensor);
+```
+
+### Unmapping Interrupt
+#### Example for unmapping Step Detector Interrupt
+``` c
+struct bmi160_int_settg int_config;
+
+/* Deselect the Interrupt channel/pin */
+int_config.int_channel = BMI160_INT_CHANNEL_NONE;
+/* Select the Interrupt type */
+int_config.int_type = BMI160_STEP_DETECT_INT;// Choosing Step Detector interrupt
+/* Set the Step Detector interrupt */
+bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */
+```
+
+### Reading interrupt status
+#### Example for reading interrupt status for step detector
+``` c
+union bmi160_int_status interrupt;
+enum bmi160_int_status_sel int_status_sel;
+
+/* Interrupt status selection to read all interrupts */
+int_status_sel = BMI160_INT_STATUS_ALL;
+rslt = bmi160_get_int_status(int_status_sel, &interrupt, &sensor);
+if (interrupt.bit.step)
+	printf("Step detector interrupt occured\n");
+```
+
+### Configuring the auxiliary sensor BMM150
+It is assumed that secondary interface of bmi160 has external pull-up resistor in order to access the auxiliary sensor bmm150.
+
+### Accessing auxiliary BMM150 with BMM150 APIs via BMI160 secondary interface.
+
+## Integration details 
+* Integrate the souce codes of BMM150 and BMI160 in project.
+* Include the bmi160.h and bmm150.h file in your code like below.
+* It is mandatory to initialize the bmi160 device structure for primary interface and auxiliary sensor settings.
+* Create two wrapper functions , user_aux_read and user_aux_write in order to match the signature as mentioned below.
+* Invoke the "bmi160_aux_init" API to initialise the secondary interface in BMI160.
+* Invoke the "bmm150_init" API to initialise the BMM150 sensor.
+* Now we can use the BMM150 sensor APIs to access the BMM150 via BMI160.
+
+``` c
+/* main.c file */
+#include "bmi160.h"
+#include "bmm150.h"
+```
+### Initialization of auxiliary sensor BMM150
+```
+
+/* main.c file */
+struct bmm150_dev bmm150;
+
+/* function declaration */
+int8_t user_aux_read(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len);
+int8_t user_aux_write(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len);
+
+/* Configure device structure for auxiliary sensor parameter */
+sensor.aux_cfg.aux_sensor_enable = 1; // auxiliary sensor enable
+sensor.aux_cfg.aux_i2c_addr = BMI160_AUX_BMM150_I2C_ADDR; // auxiliary sensor address
+sensor.aux_cfg.manual_enable = 1; // setup mode enable
+sensor.aux_cfg.aux_rd_burst_len = 2;// burst read of 2 byte
+
+/* Configure the BMM150 device structure by 
+mapping user_aux_read and user_aux_write */
+bmm150.read = user_aux_read;
+bmm150.write = user_aux_write;
+bmm150.id = BMM150_DEFAULT_I2C_ADDRESS; 
+/* Ensure that sensor.aux_cfg.aux_i2c_addr = bmm150.id
+   for proper sensor operation */
+bmm150.delay_ms = delay_ms;
+bmm150.interface = BMM150_I2C_INTF;
+
+/* Initialize the auxiliary sensor interface */
+rslt = bmi160_aux_init(&sensor);
+
+/* Auxiliary sensor is enabled and can be accessed from this point */
+
+/* Configure the desired settings in auxiliary BMM150 sensor 
+ * using the bmm150 APIs */
+
+/* Initialising the bmm150 sensor */
+rslt = bmm150_init(&bmm150);
+
+/* Set the power mode and preset mode to enable Mag data sampling */
+bmm150.settings.pwr_mode = BMM150_NORMAL_MODE;
+rslt = bmm150_set_op_mode(&bmm150);
+
+bmm150.settings.preset_mode= BMM150_PRESETMODE_LOWPOWER;
+rslt = bmm150_set_presetmode(&bmm150);
+
+```
+### Wrapper functions
+```
+
+/*wrapper function to match the signature of bmm150.read */
+int8_t user_aux_read(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len)
+{
+	int8_t rslt;
+	
+	/* Discarding the parameter id as it is redundant*/
+        rslt = bmi160_aux_read(reg_addr, aux_data, len, &bmi160);
+
+	return rslt;
+}
+
+/*wrapper function to match the signature of bmm150.write */
+int8_t user_aux_write(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len)
+{
+	int8_t rslt;
+	
+	/* Discarding the parameter id as it is redundant */
+	rslt = bmi160_aux_write(reg_addr, aux_data, len, &bmi160);
+
+	return rslt;
+}
+
+```
+
+### Initialization of auxiliary BMM150 in auto mode
+Any sensor whose data bytes are less than or equal to 8 bytes can be synchronized with the BMI160 
+and read out of Accelerometer + Gyroscope + Auxiliary sensor data of that instance is possible
+which helps in creating less latency fusion data
+
+```
+/* Initialize the Auxiliary BMM150 following the above code 
+ * until setting the power mode (Set the power mode as forced mode)
+ * and preset mode */
+
+	/* In BMM150 Mag data starts from register address 0x42 */
+	uint8_t aux_addr = 0x42;
+	/* Buffer to store the Mag data from 0x42 to 0x48 */	
+	uint8_t mag_data[8] = {0};
+	
+	uint8_t index;
+		
+	/* Configure the Auxiliary sensor either in auto/manual modes and set the 
+	polling frequency for the Auxiliary interface */	
+	sensor.aux_cfg.aux_odr = 8; /* Represents polling rate in 100 Hz*/
+	rslt = bmi160_config_aux_mode(&sensor)
+	
+	/* Set the auxiliary sensor to auto mode */
+	rslt = bmi160_set_aux_auto_mode(&aux_addr, &sensor);
+
+	/* Reading data from BMI160 data registers */
+	rslt = bmi160_read_aux_data_auto_mode(mag_data, &sensor);
+
+	printf("\n RAW DATA ");
+	for(index = 0 ; index < 8 ; index++)
+	{
+		printf("\n MAG DATA[%d] : %d ", index, mag_data[index]);
+	}
+	
+	/* Compensating the raw mag data available from the BMM150 API */
+	rslt = bmm150_aux_mag_data(mag_data, &bmm150);
+	
+	printf("\n COMPENSATED DATA ");
+	printf("\n MAG DATA X : %d Y : %d Z : %d", bmm150.data.x, bmm150.data.y, bmm150.data.z);
+	
+
+```
+
+### Auxiliary FIFO data parsing
+The Auxiliary sensor data can be stored in FIFO , Here we demonstrate an example for 
+using the Bosch Magnetometer sensor BMM150 and storing its data in FIFO
+
+```
+/* Initialize the Aux BMM150 following the above 
+ * code and by creating the Wrapper functions */
+
+	int8_t rslt = 0;
+	uint8_t aux_instance = 0;
+	uint16_t fifo_cnt = 0;
+	uint8_t auto_mode_addr;
+	uint8_t i;
+
+	/* Setup and configure the FIFO buffer */
+	/* Declare memory to store the raw FIFO buffer information */
+	uint8_t fifo_buff[1000] = {0};
+
+	/* Modify the FIFO buffer instance and link to the device instance */
+	struct bmi160_fifo_frame fifo_frame;
+	fifo_frame.data = fifo_buff;
+	fifo_frame.length = 1000;
+	dev->fifo = &fifo_frame;
+
+	/* Declare instances of the sensor data structure to store the parsed FIFO data */
+	struct bmi160_aux_data aux_data[112]; //1000 / 9 bytes per frame ~ 111 data frames
+
+	rslt = bmi160_init(dev);
+	printf("\n BMI160 chip ID is : %d ",dev->chip_id);
+
+	rslt = bmi160_aux_init(dev);
+
+	rslt = bmm150_init(&bmm150);
+	printf("\n BMM150 CHIP ID : %d",bmm150.chip_id);
+
+	bmm150.settings.preset_mode = BMM150_PRESETMODE_LOWPOWER;
+	rslt = bmm150_set_presetmode(&bmm150);
+
+	bmm150.settings.pwr_mode = BMM150_FORCED_MODE;
+	rslt = bmm150_set_op_mode(&bmm150);
+
+	/* Enter the data register of BMM150 to "auto_mode_addr" here it is 0x42 */
+	auto_mode_addr = 0x42;
+	printf("\n ENTERING AUX. AUTO MODE ");
+	dev->aux_cfg.aux_odr = BMI160_AUX_ODR_25HZ;
+	rslt = bmi160_set_aux_auto_mode(&auto_mode_addr, dev);
+
+
+	/* Disable other FIFO settings */
+	rslt = bmi160_set_fifo_config(BMI160_FIFO_CONFIG_1_MASK , BMI160_DISABLE, dev);
+
+	/* Enable the required FIFO settings */
+	rslt = bmi160_set_fifo_config(BMI160_FIFO_AUX | BMI160_FIFO_HEADER, BMI160_ENABLE, dev);
+
+	/* Delay for the FIFO to get filled */
+	dev->delay_ms(400);
+
+
+	printf("\n FIFO DATA REQUESTED (in bytes): %d",dev->fifo->length);
+	rslt = bmi160_get_fifo_data(dev);
+	printf("\n FIFO DATA AVAILABLE (in bytes): %d",dev->fifo->length);
+
+	/* Print the raw FIFO data obtained */
+	for(fifo_cnt = 0; fifo_cnt < dev->fifo->length ; fifo_cnt++) {
+		printf("\n FIFO DATA [%d] IS : %x  ",fifo_cnt ,dev->fifo->data[fifo_cnt]);
+	}
+
+	printf("\n\n----------------------------------------------------\n");
+
+	/* Set the number of required sensor data instances */
+	aux_instance = 150;
+
+	/* Extract the aux data , 1frame = 8 data bytes */
+	printf("\n AUX DATA REQUESTED TO BE EXTRACTED (in frames): %d",aux_instance);
+	rslt = bmi160_extract_aux(aux_data, &aux_instance, dev);
+	printf("\n AUX DATA ACTUALLY EXTRACTED (in frames): %d",aux_instance);
+
+	/* Printing the raw aux data */
+	for (i = 0; i < aux_instance; i++) {
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[0]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[1]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[2]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[3]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[4]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[5]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[6]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[7]);
+	}
+
+	printf("\n\n----------------------------------------------------\n");
+
+	/* Compensate the raw mag data using BMM150 API */
+	for (i = 0; i < aux_instance; i++) {
+		printf("\n----------------------------------------------------");
+		printf("\n Aux data[%d] : %x , %x , %x , %x , %x , %x , %x , %x",i
+					,aux_data[i].data[0],aux_data[i].data[1]
+					,aux_data[i].data[2],aux_data[i].data[3]
+					,aux_data[i].data[4],aux_data[i].data[5]
+					,aux_data[i].data[6],aux_data[i].data[7]);
+
+		/* Compensated mag data using BMM150 API */
+		rslt = bmm150_aux_mag_data(&aux_data[i].data[0], &bmm150);
+
+		/* Printing the  Compensated mag data */
+		if (rslt == BMM150_OK) {
+			printf("\n MAG DATA COMPENSATION USING BMM150 APIs");
+			printf("\n COMPENSATED DATA ");
+			printf("\n MAG DATA X : %d	Y : %d      Z : %d"
+				, bmm150.data.x, bmm150.data.y, bmm150.data.z);
+
+		} else {
+			printf("\n MAG DATA COMPENSATION IN BMM150 API is FAILED ");
+		}
+		printf("\n----------------------------------------------------\n");
+	}
+
+```
+
+## Self-test  
+#### Example for performing accel self test
+```
+/* Call the "bmi160_init" API as a prerequisite before performing self test
+ * since invoking self-test will reset the sensor */
+
+	rslt = bmi160_perform_self_test(BMI160_ACCEL_ONLY, sen);
+	/* Utilize the enum BMI160_GYRO_ONLY instead of BMI160_ACCEL_ONLY
+	   to perform self test for gyro */
+	if (rslt == BMI160_OK) {
+		printf("\n ACCEL SELF TEST RESULT SUCCESS);
+	} else {
+		printf("\n ACCEL SELF TEST RESULT FAIL);
+	}
+```
+
+
+## FIFO 
+#### Example for reading FIFO and extracting Gyro data in Header mode
+```
+/* An example to read the Gyro data in header mode along with sensor time (if available)
+ * Configure the gyro sensor as prerequisite and follow the below example to read and
+ * obtain the gyro data from FIFO */
+int8_t fifo_gyro_header_time_data(struct bmi160_dev *dev)
+{
+	int8_t rslt = 0;
+
+	/* Declare memory to store the raw FIFO buffer information */
+	uint8_t fifo_buff[300];
+	
+	/* Modify the FIFO buffer instance and link to the device instance */
+	struct bmi160_fifo_frame fifo_frame;
+	fifo_frame.data = fifo_buff;
+	fifo_frame.length = 300;
+	dev->fifo = &fifo_frame;
+	uint16_t index = 0;
+	
+	/* Declare instances of the sensor data structure to store the parsed FIFO data */
+	struct bmi160_sensor_data gyro_data[42]; // 300 bytes / ~7bytes per frame ~ 42 data frames
+	uint8_t gyro_frames_req = 42; 
+	uint8_t gyro_index;
+	
+	/* Configure the sensor's FIFO settings */
+	rslt = bmi160_set_fifo_config(BMI160_FIFO_GYRO | BMI160_FIFO_HEADER | BMI160_FIFO_TIME,
+					BMI160_ENABLE, dev);
+					
+	if (rslt == BMI160_OK) {
+		/* At ODR of 100 Hz ,1 frame gets updated in 1/100 = 0.01s
+		i.e. for 42 frames we need 42 * 0.01 = 0.42s = 420ms delay */
+		dev->delay_ms(420); 
+	
+		/* Read data from the sensor's FIFO and store it the FIFO buffer,"fifo_buff" */
+		printf("\n USER REQUESTED FIFO LENGTH : %d\n",dev->fifo->length);
+		rslt = bmi160_get_fifo_data(dev);
+
+		if (rslt == BMI160_OK) {
+			printf("\n AVAILABLE FIFO LENGTH : %d\n",dev->fifo->length);
+			/* Print the raw FIFO data */
+			for (index = 0; index < dev->fifo->length; index++) {
+				printf("\n FIFO DATA INDEX[%d] = %d", index,
+					dev->fifo->data[index]);
+			}
+			/* Parse the FIFO data to extract gyro data from the FIFO buffer */
+			printf("\n REQUESTED GYRO DATA FRAMES : %d\n ",gyro_frames_req);
+			rslt = bmi160_extract_gyro(gyro_data, &gyro_frames_req, dev);
+
+			if (rslt == BMI160_OK) {
+				printf("\n AVAILABLE GYRO DATA FRAMES : %d\n ",gyro_frames_req);
+				
+				/* Print the parsed gyro data from the FIFO buffer */
+				for (gyro_index = 0; gyro_index < gyro_frames_req; gyro_index++) {
+					printf("\nFIFO GYRO FRAME[%d]",gyro_index);
+					printf("\nGYRO X-DATA : %d \t Y-DATA : %d \t Z-DATA : %d"
+						,gyro_data[gyro_index].x ,gyro_data[gyro_index].y
+						,gyro_data[gyro_index].z);
+				}
+				/* Print the special FIFO frame data like sensortime */
+				printf("\n SENSOR TIME DATA : %d \n",dev->fifo->sensor_time);
+				printf("SKIPPED FRAME COUNT : %d",dev->fifo->skipped_frame_count);
+			} else {
+				printf("\n Gyro data extraction failed");
+			}
+		} else {
+			printf("\n Reading FIFO data failed");
+		}
+	} else {
+		printf("\n Setting FIFO configuration failed");
+	}
+
+	return rslt;
+}
+```
+
+## FOC and offset compensation
+> FOC shouldnot be used in Low-power mode
+#### Example for configuring FOC for accel and gyro
+```
+/* An example for configuring FOC for accel and gyro data */
+int8_t start_foc(struct bmi160_dev *dev)
+{
+	int8_t rslt = 0;
+	/* FOC configuration structure */
+	struct bmi160_foc_conf foc_conf;
+	/* Structure to store the offsets */
+	struct bmi160_offsets offsets;
+	
+	/* Enable FOC for accel with target values of z = 1g ; x,y as 0g */
+	foc_conf.acc_off_en = BMI160_ENABLE;
+	foc_conf.foc_acc_x  = BMI160_FOC_ACCEL_0G;
+	foc_conf.foc_acc_y  = BMI160_FOC_ACCEL_0G;
+	foc_conf.foc_acc_z  = BMI160_FOC_ACCEL_POSITIVE_G;
+	
+	/* Enable FOC for gyro */
+	foc_conf.foc_gyr_en = BMI160_ENABLE;
+	foc_conf.gyro_off_en = BMI160_ENABLE;
+
+	rslt = bmi160_start_foc(&foc_conf, &offsets, sen);
+	
+	if (rslt == BMI160_OK) {
+		printf("\n FOC DONE SUCCESSFULLY ");
+		printf("\n OFFSET VALUES AFTER FOC : ");
+		printf("\n OFFSET VALUES ACCEL X : %d ",offsets.off_acc_x);
+		printf("\n OFFSET VALUES ACCEL Y : %d ",offsets.off_acc_y);
+		printf("\n OFFSET VALUES ACCEL Z : %d ",offsets.off_acc_z);
+		printf("\n OFFSET VALUES GYRO  X : %d ",offsets.off_gyro_x);
+		printf("\n OFFSET VALUES GYRO  Y : %d ",offsets.off_gyro_y);
+		printf("\n OFFSET VALUES GYRO  Z : %d ",offsets.off_gyro_z);	
+	}
+	
+	/* After start of FOC offsets will be updated automatically and 
+	 * the data will be very much close to the target values of measurement */
+
+	return rslt;
+}
+```
+
+#### Example for updating the offsets manually
+> The offsets set by this method will be reset on soft-reset/POR 
+```
+/* An example for updating manual offsets to sensor */
+int8_t write_offsets(struct bmi160_dev *dev)
+{
+	int8_t rslt = 0;
+	/* FOC configuration structure */
+	struct bmi160_foc_conf foc_conf;
+	/* Structure to store the offsets */
+	struct bmi160_offsets offsets;
+	
+	/* Enable offset update for accel */
+	foc_conf.acc_off_en = BMI160_ENABLE;
+
+	/* Enable offset update for gyro */
+	foc_conf.gyro_off_en = BMI160_ENABLE;
+	
+	/* offset values set by user */
+	offsets.off_acc_x = 0x10;
+	offsets.off_acc_y = 0x10;
+	offsets.off_acc_z = 0x10;
+	offsets.off_gyro_x = 0x10;
+	offsets.off_gyro_y = 0x10;
+	offsets.off_gyro_z = 0x10;
+
+	rslt = bmi160_set_offsets(&foc_conf, &offsets, sen);
+	
+	/* After offset setting the data read from the 
+	 * sensor will have the corresponding offset */
+	
+	return rslt;
+}
+```
+
+#### Example for updating the offsets into NVM
+> The offsets set by this method will be present in NVM and will be 
+> restored on POR/soft-reset
+```
+/* An example for updating manual offsets to sensor */
+int8_t write_offsets_nvm(struct bmi160_dev *dev)
+{
+	int8_t rslt = 0;
+	/* FOC configuration structure */
+	struct bmi160_foc_conf foc_conf;
+	/* Structure to store the offsets */
+	struct bmi160_offsets offsets;
+	
+	/* Enable offset update for accel */
+	foc_conf.acc_off_en = BMI160_ENABLE;
+
+	/* Enable offset update for gyro */
+	foc_conf.gyro_off_en = BMI160_ENABLE;
+	
+	/* offset values set by user as per their reference 
+	 * Resolution of accel = 3.9mg/LSB 
+	 * Resolution of gyro  = (0.061degrees/second)/LSB */
+	offsets.off_acc_x = 10;
+	offsets.off_acc_y = -15;
+	offsets.off_acc_z = 20;
+	offsets.off_gyro_x = 30;
+	offsets.off_gyro_y = -35;
+	offsets.off_gyro_z = -40;
+
+	rslt = bmi160_set_offsets(&foc_conf, &offsets, sen);
+	 
+	if (rslt == BMI160_OK) {
+		/* Update the NVM */
+		rslt = bmi160_update_nvm(dev);
+	}
+	
+	/* After this procedure the offsets are written to 
+	 * NVM and restored on POR/soft-reset 
+	 * The set values can be removed to ideal case by 
+	 * invoking the following APIs
+	 *     - bmi160_start_foc()	 
+	 *     - bmi160_update_nvm()
+	 */
+
+	return rslt;
+}
+```
+
+
+
+## Copyright (C) 2016 - 2017 Bosch Sensortec GmbH
diff --git a/robosom_psoc_ws/Library/BMI160/bmi160.c b/robosom_psoc_ws/Library/BMI160/bmi160.c
new file mode 100644
index 0000000..ecd20fd
--- /dev/null
+++ b/robosom_psoc_ws/Library/BMI160/bmi160.c
@@ -0,0 +1,6360 @@
+/**
+* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+*
+* BSD-3-Clause
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+*
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in the
+*    documentation and/or other materials provided with the distribution.
+*
+* 3. Neither the name of the copyright holder nor the names of its
+*    contributors may be used to endorse or promote products derived from
+*    this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+* @file bmi160.c
+* @date 10/01/2020
+* @version  3.8.1
+*
+*/
+
+/*!
+ * @defgroup bmi160
+ * @brief
+ * @{*/
+
+#include "bmi160.h"
+
+/* Below look up table follows the enum bmi160_int_types.
+ * Hence any change should match to the enum bmi160_int_types
+ */
+const uint8_t int_mask_lookup_table[13] = {
+    BMI160_INT1_SLOPE_MASK, BMI160_INT1_SLOPE_MASK, BMI160_INT2_LOW_STEP_DETECT_MASK, BMI160_INT1_DOUBLE_TAP_MASK,
+    BMI160_INT1_SINGLE_TAP_MASK, BMI160_INT1_ORIENT_MASK, BMI160_INT1_FLAT_MASK, BMI160_INT1_HIGH_G_MASK,
+    BMI160_INT1_LOW_G_MASK, BMI160_INT1_NO_MOTION_MASK, BMI160_INT2_DATA_READY_MASK, BMI160_INT2_FIFO_FULL_MASK,
+    BMI160_INT2_FIFO_WM_MASK
+};
+
+/*********************************************************************/
+/* Static function declarations */
+
+/*!
+ * @brief This API configures the pins to fire the
+ * interrupt signal when it occurs
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_intr_pin_config(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the any-motion interrupt of the sensor.
+ * This interrupt occurs when accel values exceeds preset threshold
+ * for a certain period of time.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_any_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets tap interrupts.Interrupt is fired when
+ * tap movements happen.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_tap_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the data ready interrupt for both accel and gyro.
+ * This interrupt occurs when new accel and gyro data come.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_gyro_data_ready_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the significant motion interrupt of the sensor.This
+ * interrupt occurs when there is change in user location.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_sig_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the no motion/slow motion interrupt of the sensor.
+ * Slow motion is similar to any motion interrupt.No motion interrupt
+ * occurs when slope bet. two accel values falls below preset threshold
+ * for preset duration.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_no_motion_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the step detection interrupt.This interrupt
+ * occurs when the single step causes accel values to go above
+ * preset threshold.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_step_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the orientation interrupt of the sensor.This
+ * interrupt occurs when there is orientation change in the sensor
+ * with respect to gravitational field vector g.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_orientation_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the flat interrupt of the sensor.This interrupt
+ * occurs in case of flat orientation
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_flat_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the low-g interrupt of the sensor.This interrupt
+ * occurs during free-fall.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_low_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the high-g interrupt of the sensor.The interrupt
+ * occurs if the absolute value of acceleration data of any enabled axis
+ * exceeds the programmed threshold and the sign of the value does not
+ * change for a preset duration.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_high_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the default configuration parameters of accel & gyro.
+ * Also maintain the previous state of configurations.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static void default_param_settg(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API is used to validate the device structure pointer for
+ * null conditions.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t null_ptr_check(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API set the accel configuration.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_conf(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API check the accel configuration.
+ *
+ * @param[in] data        : Pointer to store the updated accel config.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t check_accel_config(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API process the accel odr.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_accel_odr(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API process the accel bandwidth.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_accel_bw(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API process the accel range.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_accel_range(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API checks the invalid settings for ODR & Bw for Accel and Gyro.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t check_invalid_settg(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API set the gyro configuration.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_gyro_conf(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API check the gyro configuration.
+ *
+ * @param[in] data        : Pointer to store the updated gyro config.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t check_gyro_config(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API process the gyro odr.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_gyro_odr(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API process the gyro bandwidth.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_gyro_bw(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API process the gyro range.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_gyro_range(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the accel power mode.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_accel_pwr(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API process the undersampling setting of Accel.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t process_under_sampling(uint8_t *data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the gyro power mode.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t set_gyro_pwr(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API reads accel data along with sensor time if time is requested
+ * by user. Kindly refer the user guide(README.md) for more info.
+ *
+ * @param[in] len    : len to read no of bytes
+ * @param[out] accel    : Structure pointer to store accel data
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t get_accel_data(uint8_t len, struct bmi160_sensor_data *accel, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API reads accel data along with sensor time if time is requested
+ * by user. Kindly refer the user guide(README.md) for more info.
+ *
+ * @param[in] len    : len to read no of bytes
+ * @param[out] gyro    : Structure pointer to store accel data
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t get_gyro_data(uint8_t len, struct bmi160_sensor_data *gyro, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API reads accel and gyro data along with sensor time
+ * if time is requested by user.
+ * Kindly refer the user guide(README.md) for more info.
+ *
+ * @param[in] len    : len to read no of bytes
+ * @param[out] accel    : Structure pointer to store accel data
+ * @param[out] gyro    : Structure pointer to store accel data
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t get_accel_gyro_data(uint8_t len,
+                                  struct bmi160_sensor_data *accel,
+                                  struct bmi160_sensor_data *gyro,
+                                  const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the any-motion interrupt for accel.
+ *
+ * @param[in] any_motion_int_cfg   : Structure instance of
+ *                   bmi160_acc_any_mot_int_cfg.
+ * @param[in] dev          : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_accel_any_motion_int(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                          struct bmi160_dev *dev);
+
+/*!
+ * @brief This API disable the sig-motion interrupt.
+ *
+ * @param[in] dev   : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t disable_sig_motion_int(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for any-motion interrupt.
+ *
+ * @param[in] any_motion_int_cfg  : Structure instance of
+ *                  bmi160_acc_any_mot_int_cfg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_any_motion_src(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                    const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the duration and threshold of
+ * any-motion interrupt.
+ *
+ * @param[in] any_motion_int_cfg  : Structure instance of
+ *                  bmi160_acc_any_mot_int_cfg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_any_dur_threshold(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                       const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure necessary setting of any-motion interrupt.
+ *
+ * @param[in] int_config       : Structure instance of bmi160_int_settg.
+ * @param[in] any_motion_int_cfg   : Structure instance of
+ *                   bmi160_acc_any_mot_int_cfg.
+ * @param[in] dev          : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_any_motion_int_settg(const struct bmi160_int_settg *int_config,
+                                          const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                          const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enable the data ready interrupt.
+ *
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_data_ready_int(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the no motion/slow motion interrupt.
+ *
+ * @param[in] no_mot_int_cfg    : Structure instance of
+ *                bmi160_acc_no_motion_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_no_motion_int(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                   const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * no motion/slow motion interrupt.
+ *
+ * @param[in] int_config    : structure instance of bmi160_int_settg.
+ * @param[in] no_mot_int_cfg    : Structure instance of
+ *                bmi160_acc_no_motion_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_no_motion_int_settg(const struct bmi160_int_settg *int_config,
+                                         const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                         const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the source of interrupt for no motion.
+ *
+ * @param[in] no_mot_int_cfg    : Structure instance of
+ *                bmi160_acc_no_motion_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_no_motion_data_src(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                        const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the duration and threshold of
+ * no motion/slow motion interrupt along with selection of no/slow motion.
+ *
+ * @param[in] no_mot_int_cfg    : Structure instance of
+ *                bmi160_acc_no_motion_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_no_motion_dur_thr(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                       const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the sig-motion motion interrupt.
+ *
+ * @param[in] sig_mot_int_cfg   : Structure instance of
+ *                bmi160_acc_sig_mot_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_sig_motion_int(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg, struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * significant motion interrupt.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] sig_mot_int_cfg   : Structure instance of
+ *                bmi160_acc_sig_mot_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_sig_motion_int_settg(const struct bmi160_int_settg *int_config,
+                                          const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
+                                          const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for sig motion interrupt.
+ *
+ * @param[in] sig_mot_int_cfg   : Structure instance of
+ *                bmi160_acc_sig_mot_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_sig_motion_data_src(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
+                                         const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the threshold, skip and proof time of
+ * sig motion interrupt.
+ *
+ * @param[in] sig_mot_int_cfg   : Structure instance of
+ *                bmi160_acc_sig_mot_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_sig_dur_threshold(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
+                                       const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the step detector interrupt.
+ *
+ * @param[in] step_detect_int_cfg   : Structure instance of
+ *                    bmi160_acc_step_detect_int_cfg.
+ * @param[in] dev           : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_step_detect_int(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg,
+                                     const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the step detector parameter.
+ *
+ * @param[in] step_detect_int_cfg   : Structure instance of
+ *                    bmi160_acc_step_detect_int_cfg.
+ * @param[in] dev           : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_step_detect(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg,
+                                 const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the single/double tap interrupt.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_tap_int(const struct bmi160_int_settg *int_config,
+                             const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
+                             const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * tap interrupt.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_tap_int_settg(const struct bmi160_int_settg *int_config,
+                                   const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
+                                   const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for tap interrupt.
+ *
+ * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_tap_data_src(const struct bmi160_acc_tap_int_cfg *tap_int_cfg, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the  parameters of tap interrupt.
+ * Threshold, quite, shock, and duration.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] tap_int_cfg   : Structure instance of bmi160_acc_tap_int_cfg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_tap_param(const struct bmi160_int_settg *int_config,
+                               const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
+                               const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enable the external mode configuration.
+ *
+ * @param[in] dev   : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_sec_if(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the ODR of the auxiliary sensor.
+ *
+ * @param[in] dev   : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_aux_odr(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API maps the actual burst read length set by user.
+ *
+ * @param[in] len   : Pointer to store the read length.
+ * @param[in] dev   : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t map_read_len(uint16_t *len, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the settings of auxiliary sensor.
+ *
+ * @param[in] dev   : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_aux_settg(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API extract the read data from auxiliary sensor.
+ *
+ * @param[in] map_len     : burst read value.
+ * @param[in] reg_addr    : Address of register to read.
+ * @param[in] aux_data    : Pointer to store the read data.
+ * @param[in] len     : length to read the data.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+static int8_t extract_aux_read(uint16_t map_len,
+                               uint8_t reg_addr,
+                               uint8_t *aux_data,
+                               uint16_t len,
+                               const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the orient interrupt.
+ *
+ * @param[in] orient_int_cfg : Structure instance of bmi160_acc_orient_int_cfg.
+ * @param[in] dev        : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_orient_int(const struct bmi160_acc_orient_int_cfg *orient_int_cfg, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the necessary setting of orientation interrupt.
+ *
+ * @param[in] orient_int_cfg : Structure instance of bmi160_acc_orient_int_cfg.
+ * @param[in] dev        : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_orient_int_settg(const struct bmi160_acc_orient_int_cfg *orient_int_cfg,
+                                      const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the flat interrupt.
+ *
+ * @param[in] flat_int  : Structure instance of bmi160_acc_flat_detect_int_cfg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_flat_int(const struct bmi160_acc_flat_detect_int_cfg *flat_int, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the necessary setting of flat interrupt.
+ *
+ * @param[in] flat_int  : Structure instance of bmi160_acc_flat_detect_int_cfg.
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_flat_int_settg(const struct bmi160_acc_flat_detect_int_cfg *flat_int,
+                                    const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the Low-g interrupt.
+ *
+ * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_low_g_int(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter) for low-g interrupt.
+ *
+ * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_low_g_data_src(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the necessary setting of low-g interrupt.
+ *
+ * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg.
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_low_g_int_settg(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the high-g interrupt.
+ *
+ * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
+ * @param[in] dev        : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_high_g_int(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for high-g interrupt.
+ *
+ * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
+ * @param[in] dev        : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_high_g_data_src(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg,
+                                     const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the necessary setting of high-g interrupt.
+ *
+ * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg.
+ * @param[in] dev        : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_high_g_int_settg(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg,
+                                      const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the behavioural setting of interrupt pin.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_int_out_ctrl(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configure the mode(input enable, latch or non-latch) of interrupt pin.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t config_int_latch(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API performs the self test for accelerometer of BMI160
+ *
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t perform_accel_self_test(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables to perform the accel self test by setting proper
+ * configurations to facilitate accel self test
+ *
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_accel_self_test(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API performs accel self test with positive excitation
+ *
+ * @param[in] accel_pos : Structure pointer to store accel data
+ *                        for positive excitation
+ * @param[in] dev   : structure instance of bmi160_dev
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t accel_self_test_positive_excitation(struct bmi160_sensor_data *accel_pos, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API performs accel self test with negative excitation
+ *
+ * @param[in] accel_neg : Structure pointer to store accel data
+ *                        for negative excitation
+ * @param[in] dev   : structure instance of bmi160_dev
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t accel_self_test_negative_excitation(struct bmi160_sensor_data *accel_neg, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API validates the accel self test results
+ *
+ * @param[in] accel_pos : Structure pointer to store accel data
+ *                        for positive excitation
+ * @param[in] accel_neg : Structure pointer to store accel data
+ *                        for negative excitation
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error / +ve value -> Self test fail
+ */
+static int8_t validate_accel_self_test(const struct bmi160_sensor_data *accel_pos,
+                                       const struct bmi160_sensor_data *accel_neg);
+
+/*!
+ * @brief This API performs the self test for gyroscope of BMI160
+ *
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t perform_gyro_self_test(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the self test bit to trigger self test for gyro
+ *
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_gyro_self_test(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API validates the self test results of gyro
+ *
+ * @param[in] dev   : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t validate_gyro_self_test(const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API sets FIFO full interrupt of the sensor.This interrupt
+ *  occurs when the FIFO is full and the next full data sample would cause
+ *  a FIFO overflow, which may delete the old samples.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t set_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This enable the FIFO full interrupt engine.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API sets FIFO watermark interrupt of the sensor.The FIFO
+ *  watermark interrupt is fired, when the FIFO fill level is above a fifo
+ *  watermark.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t set_fifo_watermark_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This enable the FIFO watermark interrupt engine.
+ *
+ * @param[in] int_config    : Structure instance of bmi160_int_settg.
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t enable_fifo_wtm_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API is used to reset the FIFO related configurations
+ *  in the fifo_frame structure.
+ *
+ * @param[in] dev       : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static void reset_fifo_data_structure(const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to read number of bytes filled
+ *  currently in FIFO buffer.
+ *
+ *  @param[in] bytes_to_read  : Number of bytes available in FIFO at the
+ *                              instant which is obtained from FIFO counter.
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success / -ve value -> Error.
+ *  @retval Any non zero value -> Fail
+ *
+ */
+static int8_t get_fifo_byte_counter(uint16_t *bytes_to_read, struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API is used to compute the number of bytes of accel FIFO data
+ *  which is to be parsed in header-less mode
+ *
+ *  @param[out] data_index        : The start index for parsing data
+ *  @param[out] data_read_length  : Number of bytes to be parsed
+ *  @param[in]  acc_frame_count   : Number of accelerometer frames to be read
+ *  @param[in]  dev               : Structure instance of bmi160_dev.
+ *
+ */
+static void get_accel_len_to_parse(uint16_t *data_index,
+                                   uint16_t *data_read_length,
+                                   const uint8_t *acc_frame_count,
+                                   const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed.
+ *
+ *  @param[in,out] acc      : structure instance of sensor data
+ *  @param[in,out] idx      : Index value of number of bytes parsed
+ *  @param[in,out] acc_idx  : Index value of accelerometer data
+ *                                (x,y,z axes) frames parsed
+ *  @param[in] frame_info       : It consists of either fifo_data_enable
+ *                                parameter in header-less mode or
+ *                                frame header data in header mode
+ *  @param[in] dev      : structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_accel_frame(struct bmi160_sensor_data *acc,
+                               uint16_t *idx,
+                               uint8_t *acc_idx,
+                               uint8_t frame_info,
+                               const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
+ *
+ * @param[in,out] accel_data        : structure instance of sensor data
+ * @param[in,out] data_start_index  : Index value of number of bytes parsed
+ * @param[in] dev           : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_accel_data(struct bmi160_sensor_data *accel_data,
+                              uint16_t data_start_index,
+                              const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data in header mode.
+ *
+ *  @param[in,out] accel_data    : Structure instance of sensor data
+ *  @param[in,out] accel_length  : Number of accelerometer frames
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void extract_accel_header_mode(struct bmi160_sensor_data *accel_data,
+                                      uint8_t *accel_length,
+                                      const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API computes the number of bytes of gyro FIFO data
+ *  which is to be parsed in header-less mode
+ *
+ *  @param[out] data_index       : The start index for parsing data
+ *  @param[out] data_read_length : No of bytes to be parsed from FIFO buffer
+ *  @param[in] gyro_frame_count  : Number of Gyro data frames to be read
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ */
+static void get_gyro_len_to_parse(uint16_t *data_index,
+                                  uint16_t *data_read_length,
+                                  const uint8_t *gyro_frame_count,
+                                  const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the gyroscope's data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed.
+ *
+ *  @param[in,out] gyro     : structure instance of sensor data
+ *  @param[in,out] idx      : Index value of number of bytes parsed
+ *  @param[in,out] gyro_idx : Index value of gyro data
+ *                                (x,y,z axes) frames parsed
+ *  @param[in] frame_info       : It consists of either fifo_data_enable
+ *                                parameter in header-less mode or
+ *                                frame header data in header mode
+ *  @param[in] dev      : structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_gyro_frame(struct bmi160_sensor_data *gyro,
+                              uint16_t *idx,
+                              uint8_t *gyro_idx,
+                              uint8_t frame_info,
+                              const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the gyro data from the
+ *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
+ *
+ *  @param[in,out] gyro_data         : structure instance of sensor data
+ *  @param[in,out] data_start_index  : Index value of number of bytes parsed
+ *  @param[in] dev           : structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_gyro_data(struct bmi160_sensor_data *gyro_data,
+                             uint16_t data_start_index,
+                             const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the gyro data from the
+ *  FIFO data in header mode.
+ *
+ *  @param[in,out] gyro_data     : Structure instance of sensor data
+ *  @param[in,out] gyro_length   : Number of gyro frames
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void extract_gyro_header_mode(struct bmi160_sensor_data *gyro_data,
+                                     uint8_t *gyro_length,
+                                     const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API computes the number of bytes of aux FIFO data
+ *  which is to be parsed in header-less mode
+ *
+ *  @param[out] data_index       : The start index for parsing data
+ *  @param[out] data_read_length : No of bytes to be parsed from FIFO buffer
+ *  @param[in] aux_frame_count   : Number of Aux data frames to be read
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ */
+static void get_aux_len_to_parse(uint16_t *data_index,
+                                 uint16_t *data_read_length,
+                                 const uint8_t *aux_frame_count,
+                                 const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the aux's data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed
+ *
+ *  @param[in,out] aux_data : structure instance of sensor data
+ *  @param[in,out] idx      : Index value of number of bytes parsed
+ *  @param[in,out] aux_index    : Index value of gyro data
+ *                                (x,y,z axes) frames parsed
+ *  @param[in] frame_info       : It consists of either fifo_data_enable
+ *                                parameter in header-less mode or
+ *                                frame header data in header mode
+ *  @param[in] dev      : structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_aux_frame(struct bmi160_aux_data *aux_data,
+                             uint16_t *idx,
+                             uint8_t *aux_index,
+                             uint8_t frame_info,
+                             const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data and store it in the instance of the structure bmi160_aux_data.
+ *
+ * @param[in,out] aux_data      : structure instance of sensor data
+ * @param[in,out] data_start_index  : Index value of number of bytes parsed
+ * @param[in] dev           : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_aux_data(struct bmi160_aux_data *aux_data, uint16_t data_start_index, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data in header mode.
+ *
+ *  @param[in,out] aux_data     : Structure instance of sensor data
+ *  @param[in,out] aux_length   : Number of aux frames
+ *  @param[in] dev              : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void extract_aux_header_mode(struct bmi160_aux_data *aux_data, uint8_t *aux_length,
+                                    const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API checks the presence of non-valid frames in the read fifo data.
+ *
+ *  @param[in,out] data_index    : The index of the current data to
+ *                                be parsed from fifo data
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void check_frame_validity(uint16_t *data_index, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to move the data index ahead of the
+ *  current_frame_length parameter when unnecessary FIFO data appears while
+ *  extracting the user specified data.
+ *
+ *  @param[in,out] data_index       : Index of the FIFO data which
+ *                                  is to be moved ahead of the
+ *                                  current_frame_length
+ *  @param[in] current_frame_length : Number of bytes in a particular frame
+ *  @param[in] dev                  : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse and store the sensor time from the
+ *  FIFO data in the structure instance dev.
+ *
+ *  @param[in,out] data_index : Index of the FIFO data which
+ *                              has the sensor time.
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_sensortime_frame(uint16_t *data_index, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse and store the skipped_frame_count from
+ *  the FIFO data in the structure instance dev.
+ *
+ *  @param[in,out] data_index   : Index of the FIFO data which
+ *                                    has the skipped frame count.
+ *  @param[in] dev              : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_skipped_frame(uint16_t *data_index, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to get the FOC status from the sensor
+ *
+ *  @param[in,out] foc_status   : Result of FOC status.
+ *  @param[in] dev              : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t get_foc_status(uint8_t *foc_status, struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API is used to configure the offset enable bits in the sensor
+ *
+ *  @param[in,out] foc_conf   : Structure instance of bmi160_foc_conf which
+ *                                   has the FOC and offset configurations
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t configure_offset_enable(const struct bmi160_foc_conf *foc_conf, struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API is used to trigger the FOC in the sensor
+ *
+ *  @param[in,out] offset     : Structure instance of bmi160_offsets which
+ *                              reads and stores the offset values after FOC
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t trigger_foc(struct bmi160_offsets *offset, struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full
+ *  and FIFO watermark interrupt
+ *
+ *  @param[in] int_config     : Structure instance of bmi160_int_settg which
+ *                              stores the interrupt type and interrupt channel
+ *              configurations to map/unmap the interrupt pins
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t map_hardware_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g,
+ *  Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins.
+ *
+ *  @param[in] int_config     : Structure instance of bmi160_int_settg which
+ *                              stores the interrupt type and interrupt channel
+ *              configurations to map/unmap the interrupt pins
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t map_feature_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+
+/*********************** User function definitions ****************************/
+
+/*!
+ * @brief This API reads the data from the given register address
+ * of sensor.
+ */
+int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+
+    /* Variable to define temporary length */
+    uint16_t temp_len = len + dev->dummy_byte;
+
+    /* Variable to define temporary buffer */
+    uint8_t temp_buf[temp_len];
+
+    /* Variable to define loop */
+    uint16_t indx = 0;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->read == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else if (len == 0)
+    {
+        rslt = BMI160_READ_WRITE_LENGHT_INVALID;
+    }
+    else
+    {
+        /* Configuring reg_addr for SPI Interface */
+        if (dev->interface == BMI160_SPI_INTF)
+        {
+            reg_addr = (reg_addr | BMI160_SPI_RD_MASK);
+        }
+        rslt = dev->read(dev->id, reg_addr, temp_buf, temp_len);
+
+        if (rslt == BMI160_OK)
+        {
+            /* Read the data from the position next to dummy byte */
+            while (indx < len)
+            {
+                data[indx] = temp_buf[indx];
+                indx++;
+            }
+        }
+        else
+        {
+            rslt = BMI160_E_COM_FAIL;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes the given data to the register address
+ * of sensor.
+ */
+int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+    uint8_t count = 0;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->write == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else if (len == 0)
+    {
+        rslt = BMI160_READ_WRITE_LENGHT_INVALID;
+    }
+    else
+    {
+        /* Configuring reg_addr for SPI Interface */
+        if (dev->interface == BMI160_SPI_INTF)
+        {
+            reg_addr = (reg_addr & BMI160_SPI_WR_MASK);
+        }
+        if ((dev->prev_accel_cfg.power == BMI160_ACCEL_NORMAL_MODE) ||
+            (dev->prev_gyro_cfg.power == BMI160_GYRO_NORMAL_MODE))
+        {
+            rslt = dev->write(dev->id, reg_addr, data, len);
+
+            /* Kindly refer bmi160 data sheet section 3.2.4 */
+            dev->delay_ms(1);
+
+        }
+        else
+        {
+            /*Burst write is not allowed in
+             * suspend & low power mode */
+            for (; count < len; count++)
+            {
+                rslt = dev->write(dev->id, reg_addr, &data[count], 1);
+                reg_addr++;
+
+                /* Kindly refer bmi160 data sheet section 3.2.4 */
+                dev->delay_ms(1);
+
+            }
+        }
+        if (rslt != BMI160_OK)
+        {
+            rslt = BMI160_E_COM_FAIL;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is the entry point for sensor.It performs
+ *  the selection of I2C/SPI read mechanism according to the
+ *  selected interface and reads the chip-id of bmi160 sensor.
+ */
+int8_t bmi160_init(struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data;
+    uint8_t try = 3;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+
+    /* An extra dummy byte is read during SPI read */
+    if (dev->interface == BMI160_SPI_INTF)
+    {
+        dev->dummy_byte = 1;
+    }
+    else
+    {
+        dev->dummy_byte = 0;
+    }
+
+    /* Dummy read of 0x7F register to enable SPI Interface
+     * if SPI is used */
+    if ((rslt == BMI160_OK) && (dev->interface == BMI160_SPI_INTF))
+    {
+        rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
+    }
+
+    if (rslt == BMI160_OK)
+    {
+        /* Assign chip id as zero */
+        dev->chip_id = 0;
+
+        while ((try--) && (dev->chip_id != BMI160_CHIP_ID))
+        {
+            /* Read chip_id */
+            rslt = bmi160_get_regs(BMI160_CHIP_ID_ADDR, &dev->chip_id, 1, dev);
+        }
+        if ((rslt == BMI160_OK) && (dev->chip_id == BMI160_CHIP_ID))
+        {
+            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
+
+            /* Soft reset */
+            rslt = bmi160_soft_reset(dev);
+        }
+        else
+        {
+            rslt = BMI160_E_DEV_NOT_FOUND;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API resets and restarts the device.
+ * All register values are overwritten with default parameters.
+ */
+int8_t bmi160_soft_reset(struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = BMI160_SOFT_RESET_CMD;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->delay_ms == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Reset the device */
+        rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &data, 1, dev);
+        dev->delay_ms(BMI160_SOFT_RESET_DELAY_MS);
+        if ((rslt == BMI160_OK) && (dev->interface == BMI160_SPI_INTF))
+        {
+            /* Dummy read of 0x7F register to enable SPI Interface
+             * if SPI is used */
+            rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
+        }
+        if (rslt == BMI160_OK)
+        {
+            /* Update the default parameters */
+            default_param_settg(dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configures the power mode, range and bandwidth
+ * of sensor.
+ */
+int8_t bmi160_set_sens_conf(struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->delay_ms == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = set_accel_conf(dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = set_gyro_conf(dev);
+            if (rslt == BMI160_OK)
+            {
+                /* write power mode for accel and gyro */
+                rslt = bmi160_set_power_mode(dev);
+                if (rslt == BMI160_OK)
+                {
+                    rslt = check_invalid_settg(dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the power mode of the sensor.
+ */
+int8_t bmi160_set_power_mode(struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->delay_ms == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = set_accel_pwr(dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = set_gyro_pwr(dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the power mode of the sensor.
+ */
+int8_t bmi160_get_power_mode(struct bmi160_pmu_status *pmu_status, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t power_mode = 0;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->delay_ms == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = bmi160_get_regs(BMI160_PMU_STATUS_ADDR, &power_mode, 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Power mode of the accel,gyro,aux sensor is obtained */
+            pmu_status->aux_pmu_status = BMI160_GET_BITS_POS_0(power_mode, BMI160_MAG_POWER_MODE);
+            pmu_status->gyro_pmu_status = BMI160_GET_BITS(power_mode, BMI160_GYRO_POWER_MODE);
+            pmu_status->accel_pmu_status = BMI160_GET_BITS(power_mode, BMI160_ACCEL_POWER_MODE);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads sensor data, stores it in
+ * the bmi160_sensor_data structure pointer passed by the user.
+ */
+int8_t bmi160_get_sensor_data(uint8_t select_sensor,
+                              struct bmi160_sensor_data *accel,
+                              struct bmi160_sensor_data *gyro,
+                              const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+    uint8_t time_sel;
+    uint8_t sen_sel;
+    uint8_t len = 0;
+
+    /*Extract the sensor  and time select information*/
+    sen_sel = select_sensor & BMI160_SEN_SEL_MASK;
+    time_sel = ((sen_sel & BMI160_TIME_SEL) >> 2);
+    sen_sel = sen_sel & (BMI160_ACCEL_SEL | BMI160_GYRO_SEL);
+    if (time_sel == 1)
+    {
+        len = 3;
+    }
+
+    /* Null-pointer check */
+    if (dev != NULL)
+    {
+        switch (sen_sel)
+        {
+            case BMI160_ACCEL_ONLY:
+
+                /* Null-pointer check */
+                if (accel == NULL)
+                {
+                    rslt = BMI160_E_NULL_PTR;
+                }
+                else
+                {
+                    rslt = get_accel_data(len, accel, dev);
+                }
+                break;
+            case BMI160_GYRO_ONLY:
+
+                /* Null-pointer check */
+                if (gyro == NULL)
+                {
+                    rslt = BMI160_E_NULL_PTR;
+                }
+                else
+                {
+                    rslt = get_gyro_data(len, gyro, dev);
+                }
+                break;
+            case BMI160_BOTH_ACCEL_AND_GYRO:
+
+                /* Null-pointer check */
+                if ((gyro == NULL) || (accel == NULL))
+                {
+                    rslt = BMI160_E_NULL_PTR;
+                }
+                else
+                {
+                    rslt = get_accel_gyro_data(len, accel, gyro, dev);
+                }
+                break;
+            default:
+                rslt = BMI160_E_INVALID_INPUT;
+                break;
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configures the necessary interrupt based on
+ *  the user settings in the bmi160_int_settg structure instance.
+ */
+int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+
+    switch (int_config->int_type)
+    {
+        case BMI160_ACC_ANY_MOTION_INT:
+
+            /*Any-motion  interrupt*/
+            rslt = set_accel_any_motion_int(int_config, dev);
+            break;
+        case BMI160_ACC_SIG_MOTION_INT:
+
+            /* Significant motion interrupt */
+            rslt = set_accel_sig_motion_int(int_config, dev);
+            break;
+        case BMI160_ACC_SLOW_NO_MOTION_INT:
+
+            /* Slow or no motion interrupt */
+            rslt = set_accel_no_motion_int(int_config, dev);
+            break;
+        case BMI160_ACC_DOUBLE_TAP_INT:
+        case BMI160_ACC_SINGLE_TAP_INT:
+
+            /* Double tap and single tap Interrupt */
+            rslt = set_accel_tap_int(int_config, dev);
+            break;
+        case BMI160_STEP_DETECT_INT:
+
+            /* Step detector interrupt */
+            rslt = set_accel_step_detect_int(int_config, dev);
+            break;
+        case BMI160_ACC_ORIENT_INT:
+
+            /* Orientation interrupt */
+            rslt = set_accel_orientation_int(int_config, dev);
+            break;
+        case BMI160_ACC_FLAT_INT:
+
+            /* Flat detection interrupt */
+            rslt = set_accel_flat_detect_int(int_config, dev);
+            break;
+        case BMI160_ACC_LOW_G_INT:
+
+            /* Low-g interrupt */
+            rslt = set_accel_low_g_int(int_config, dev);
+            break;
+        case BMI160_ACC_HIGH_G_INT:
+
+            /* High-g interrupt */
+            rslt = set_accel_high_g_int(int_config, dev);
+            break;
+        case BMI160_ACC_GYRO_DATA_RDY_INT:
+
+            /* Data ready interrupt */
+            rslt = set_accel_gyro_data_ready_int(int_config, dev);
+            break;
+        case BMI160_ACC_GYRO_FIFO_FULL_INT:
+
+            /* Fifo full interrupt */
+            rslt = set_fifo_full_int(int_config, dev);
+            break;
+        case BMI160_ACC_GYRO_FIFO_WATERMARK_INT:
+
+            /* Fifo water-mark interrupt */
+            rslt = set_fifo_watermark_int(int_config, dev);
+            break;
+        case BMI160_FIFO_TAG_INT_PIN:
+
+            /* Fifo tagging feature support */
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            break;
+        default:
+            break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables or disable the step counter feature.
+ * 1 - enable step counter (0 - disable)
+ */
+int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = bmi160_get_regs(BMI160_INT_STEP_CONFIG_1_ADDR, &data, 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            if (step_cnt_enable == BMI160_ENABLE)
+            {
+                data |= (uint8_t)(step_cnt_enable << 3);
+            }
+            else
+            {
+                data &= ~BMI160_STEP_COUNT_EN_BIT_MASK;
+            }
+            rslt = bmi160_set_regs(BMI160_INT_STEP_CONFIG_1_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the step counter value.
+ */
+int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data[2] = { 0, 0 };
+    uint16_t msb = 0;
+    uint8_t lsb = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = bmi160_get_regs(BMI160_INT_STEP_CNT_0_ADDR, data, 2, dev);
+        if (rslt == BMI160_OK)
+        {
+            lsb = data[0];
+            msb = data[1] << 8;
+            *step_val = msb | lsb;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the mention no of byte of data from the given
+ * register address of auxiliary sensor.
+ */
+int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+    uint16_t map_len = 0;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->read == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        if (dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE)
+        {
+            rslt = map_read_len(&map_len, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = extract_aux_read(map_len, reg_addr, aux_data, len, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI160_E_INVALID_INPUT;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes the mention no of byte of data to the given
+ * register address of auxiliary sensor.
+ */
+int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+    uint8_t count = 0;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->write == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        for (; count < len; count++)
+        {
+            /* set data to write */
+            rslt = bmi160_set_regs(BMI160_AUX_IF_4_ADDR, aux_data, 1, dev);
+            dev->delay_ms(BMI160_AUX_COM_DELAY);
+            if (rslt == BMI160_OK)
+            {
+                /* set address to write */
+                rslt = bmi160_set_regs(BMI160_AUX_IF_3_ADDR, &reg_addr, 1, dev);
+                dev->delay_ms(BMI160_AUX_COM_DELAY);
+                if (rslt == BMI160_OK && (count < len - 1))
+                {
+                    aux_data++;
+                    reg_addr++;
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API initialize the auxiliary sensor
+ * in order to access it.
+ */
+int8_t bmi160_aux_init(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        if (dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE)
+        {
+            /* Configures the auxiliary sensor interface settings */
+            rslt = config_aux_settg(dev);
+        }
+        else
+        {
+            rslt = BMI160_E_INVALID_INPUT;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to setup the auxiliary sensor of bmi160 in auto mode
+ * Thus enabling the auto update of 8 bytes of data from auxiliary sensor
+ * to BMI160 register address 0x04 to 0x0B
+ */
+int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        if (dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE)
+        {
+            /* Write the aux. address to read in 0x4D of BMI160*/
+            rslt = bmi160_set_regs(BMI160_AUX_IF_2_ADDR, data_addr, 1, dev);
+            dev->delay_ms(BMI160_AUX_COM_DELAY);
+            if (rslt == BMI160_OK)
+            {
+                /* Configure the polling ODR for
+                 * auxiliary sensor */
+                rslt = config_aux_odr(dev);
+                if (rslt == BMI160_OK)
+                {
+                    /* Disable the aux. manual mode, i.e aux.
+                     * sensor is in auto-mode (data-mode) */
+                    dev->aux_cfg.manual_enable = BMI160_DISABLE;
+                    rslt = bmi160_config_aux_mode(dev);
+
+                    /*  Auxiliary sensor data is obtained
+                     * in auto mode from this point */
+                }
+            }
+        }
+        else
+        {
+            rslt = BMI160_E_INVALID_INPUT;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configures the 0x4C register and settings like
+ * Auxiliary sensor manual enable/ disable and aux burst read length.
+ */
+int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t aux_if[2] = { (uint8_t)(dev->aux_cfg.aux_i2c_addr * 2), 0 };
+
+    rslt = bmi160_get_regs(BMI160_AUX_IF_1_ADDR, &aux_if[1], 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* update the Auxiliary interface to manual/auto mode */
+        aux_if[1] = BMI160_SET_BITS(aux_if[1], BMI160_MANUAL_MODE_EN, dev->aux_cfg.manual_enable);
+
+        /* update the burst read length defined by user */
+        aux_if[1] = BMI160_SET_BITS_POS_0(aux_if[1], BMI160_AUX_READ_BURST, dev->aux_cfg.aux_rd_burst_len);
+
+        /* Set the secondary interface address and manual mode
+         * along with burst read length */
+        rslt = bmi160_set_regs(BMI160_AUX_IF_0_ADDR, &aux_if[0], 2, dev);
+        dev->delay_ms(BMI160_AUX_COM_DELAY);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to read the raw uncompensated auxiliary sensor
+ * data of 8 bytes from BMI160 register address 0x04 to 0x0B
+ */
+int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        if ((dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) && (dev->aux_cfg.manual_enable == BMI160_DISABLE))
+        {
+            /* Read the aux. sensor's raw data */
+            rslt = bmi160_get_regs(BMI160_AUX_DATA_ADDR, aux_data, 8, dev);
+        }
+        else
+        {
+            rslt = BMI160_E_INVALID_INPUT;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This is used to perform self test of accel/gyro of the BMI160 sensor
+ */
+int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    int8_t self_test_rslt = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+
+        /* Proceed if null check is fine */
+        switch (select_sensor)
+        {
+            case BMI160_ACCEL_ONLY:
+                rslt = perform_accel_self_test(dev);
+                break;
+            case BMI160_GYRO_ONLY:
+
+                /* Set the power mode as normal mode */
+                dev->gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
+                rslt = bmi160_set_power_mode(dev);
+
+                /* Perform gyro self test */
+                if (rslt == BMI160_OK)
+                {
+                    /* Perform gyro self test */
+                    rslt = perform_gyro_self_test(dev);
+                }
+
+                break;
+            default:
+                rslt = BMI160_E_INVALID_INPUT;
+                break;
+        }
+
+        /* Check to ensure bus error does not occur */
+        if (rslt >= BMI160_OK)
+        {
+            /* Store the status of self test result */
+            self_test_rslt = rslt;
+
+            /* Perform soft reset */
+            rslt = bmi160_soft_reset(dev);
+
+        }
+
+        /* Check to ensure bus operations are success */
+        if (rslt == BMI160_OK)
+        {
+            /* Restore self_test_rslt as return value */
+            rslt = self_test_rslt;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the data from fifo buffer.
+ */
+int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev)
+{
+    int8_t rslt = 0;
+    uint16_t bytes_to_read = 0;
+    uint16_t user_fifo_len = 0;
+
+    /* check the bmi160 structure as NULL*/
+    if ((dev == NULL) || (dev->fifo->data == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        reset_fifo_data_structure(dev);
+
+        /* get current FIFO fill-level*/
+        rslt = get_fifo_byte_counter(&bytes_to_read, dev);
+        if (rslt == BMI160_OK)
+        {
+            user_fifo_len = dev->fifo->length;
+            if ((dev->fifo->length > bytes_to_read))
+            {
+                /* Handling the case where user requests
+                 * more data than available in FIFO */
+                dev->fifo->length = bytes_to_read;
+            }
+            if ((dev->fifo->fifo_time_enable == BMI160_FIFO_TIME_ENABLE) &&
+                (bytes_to_read + BMI160_FIFO_BYTES_OVERREAD <= user_fifo_len))
+            {
+                /* Handling case of sensor time availability*/
+                dev->fifo->length = dev->fifo->length + BMI160_FIFO_BYTES_OVERREAD;
+            }
+
+            /* read only the filled bytes in the FIFO Buffer */
+            rslt = bmi160_get_regs(BMI160_FIFO_DATA_ADDR, dev->fifo->data, dev->fifo->length, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API writes fifo_flush command to command register.This
+ *  action clears all data in the Fifo without changing fifo configuration
+ *  settings
+ */
+int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t data = BMI160_FIFO_FLUSH_VALUE;
+    uint8_t reg_addr = BMI160_COMMAND_REG_ADDR;
+
+    /* Check the bmi160_dev structure for NULL address*/
+    if (dev == NULL)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the FIFO configuration in the sensor.
+ */
+int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev)
+{
+    int8_t rslt = 0;
+    uint8_t data = 0;
+    uint8_t reg_addr = BMI160_FIFO_CONFIG_1_ADDR;
+    uint8_t fifo_config = config & BMI160_FIFO_CONFIG_1_MASK;
+
+    /* Check the bmi160_dev structure for NULL address*/
+    if (dev == NULL)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
+        if (rslt == BMI160_OK)
+        {
+            if (fifo_config > 0)
+            {
+                if (enable == BMI160_ENABLE)
+                {
+                    data = data | fifo_config;
+                }
+                else
+                {
+                    data = data & (~fifo_config);
+                }
+            }
+
+            /* write fifo frame content configuration*/
+            rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* read fifo frame content configuration*/
+                rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
+                if (rslt == BMI160_OK)
+                {
+                    /* extract fifo header enabled status */
+                    dev->fifo->fifo_header_enable = data & BMI160_FIFO_HEAD_ENABLE;
+
+                    /* extract accel/gyr/aux. data enabled status */
+                    dev->fifo->fifo_data_enable = data & BMI160_FIFO_M_G_A_ENABLE;
+
+                    /* extract fifo sensor time enabled status */
+                    dev->fifo->fifo_time_enable = data & BMI160_FIFO_TIME_ENABLE;
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*! @brief This API is used to configure the down sampling ratios of
+ *  the accel and gyro data for FIFO.Also, it configures filtered or
+ *  pre-filtered data for accel and gyro.
+ *
+ */
+int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t data = 0;
+    uint8_t reg_addr = BMI160_FIFO_DOWN_ADDR;
+
+    /* Check the bmi160_dev structure for NULL address*/
+    if (dev == NULL)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev);
+        if (rslt == BMI160_OK)
+        {
+            data = data | fifo_down;
+            rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API sets the FIFO watermark level in the sensor.
+ *
+ */
+int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t data = fifo_wm;
+    uint8_t reg_addr = BMI160_FIFO_CONFIG_0_ADDR;
+
+    /* Check the bmi160_dev structure for NULL address*/
+    if (dev == NULL)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API parses and extracts the accelerometer frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "accel_data" structure instance.
+ */
+int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const *dev)
+{
+    int8_t rslt = 0;
+    uint16_t data_index = 0;
+    uint16_t data_read_length = 0;
+    uint8_t accel_index = 0;
+    uint8_t fifo_data_enable = 0;
+
+    if (dev == NULL || dev->fifo == NULL || dev->fifo->data == NULL)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Parsing the FIFO data in header-less mode */
+        if (dev->fifo->fifo_header_enable == 0)
+        {
+            /* Number of bytes to be parsed from FIFO */
+            get_accel_len_to_parse(&data_index, &data_read_length, accel_length, dev);
+            for (; data_index < data_read_length;)
+            {
+                /*Check for the availability of next two bytes of FIFO data */
+                check_frame_validity(&data_index, dev);
+                fifo_data_enable = dev->fifo->fifo_data_enable;
+                unpack_accel_frame(accel_data, &data_index, &accel_index, fifo_data_enable, dev);
+            }
+
+            /* update number of accel data read*/
+            *accel_length = accel_index;
+
+            /*update the accel byte index*/
+            dev->fifo->accel_byte_start_idx = data_index;
+        }
+        else
+        {
+            /* Parsing the FIFO data in header mode */
+            extract_accel_header_mode(accel_data, accel_length, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API parses and extracts the gyro frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "gyro_data" structure instance.
+ */
+int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev)
+{
+    int8_t rslt = 0;
+    uint16_t data_index = 0;
+    uint16_t data_read_length = 0;
+    uint8_t gyro_index = 0;
+    uint8_t fifo_data_enable = 0;
+
+    if (dev == NULL || dev->fifo->data == NULL)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Parsing the FIFO data in header-less mode */
+        if (dev->fifo->fifo_header_enable == 0)
+        {
+            /* Number of bytes to be parsed from FIFO */
+            get_gyro_len_to_parse(&data_index, &data_read_length, gyro_length, dev);
+            for (; data_index < data_read_length;)
+            {
+                /*Check for the availability of next two bytes of FIFO data */
+                check_frame_validity(&data_index, dev);
+                fifo_data_enable = dev->fifo->fifo_data_enable;
+                unpack_gyro_frame(gyro_data, &data_index, &gyro_index, fifo_data_enable, dev);
+            }
+
+            /* update number of gyro data read */
+            *gyro_length = gyro_index;
+
+            /* update the gyro byte index */
+            dev->fifo->gyro_byte_start_idx = data_index;
+        }
+        else
+        {
+            /* Parsing the FIFO data in header mode */
+            extract_gyro_header_mode(gyro_data, gyro_length, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API parses and extracts the aux frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "aux_data" structure instance.
+ */
+int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev)
+{
+    int8_t rslt = 0;
+    uint16_t data_index = 0;
+    uint16_t data_read_length = 0;
+    uint8_t aux_index = 0;
+    uint8_t fifo_data_enable = 0;
+
+    if ((dev == NULL) || (dev->fifo->data == NULL) || (aux_data == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Parsing the FIFO data in header-less mode */
+        if (dev->fifo->fifo_header_enable == 0)
+        {
+            /* Number of bytes to be parsed from FIFO */
+            get_aux_len_to_parse(&data_index, &data_read_length, aux_len, dev);
+            for (; data_index < data_read_length;)
+            {
+                /* Check for the availability of next two
+                 * bytes of FIFO data */
+                check_frame_validity(&data_index, dev);
+                fifo_data_enable = dev->fifo->fifo_data_enable;
+                unpack_aux_frame(aux_data, &data_index, &aux_index, fifo_data_enable, dev);
+            }
+
+            /* update number of aux data read */
+            *aux_len = aux_index;
+
+            /* update the aux byte index */
+            dev->fifo->aux_byte_start_idx = data_index;
+        }
+        else
+        {
+            /* Parsing the FIFO data in header mode */
+            extract_aux_header_mode(aux_data, aux_len, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API starts the FOC of accel and gyro
+ *
+ *  @note FOC should not be used in low-power mode of sensor
+ *
+ *  @note Accel FOC targets values of +1g , 0g , -1g
+ *  Gyro FOC always targets value of 0 dps
+ */
+int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf,
+                        struct bmi160_offsets *offset,
+                        struct bmi160_dev const *dev)
+{
+    int8_t rslt;
+    uint8_t data;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Set the offset enable bits */
+        rslt = configure_offset_enable(foc_conf, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Read the FOC config from the sensor */
+            rslt = bmi160_get_regs(BMI160_FOC_CONF_ADDR, &data, 1, dev);
+
+            /* Set the FOC config for gyro */
+            data = BMI160_SET_BITS(data, BMI160_GYRO_FOC_EN, foc_conf->foc_gyr_en);
+
+            /* Set the FOC config for accel xyz axes */
+            data = BMI160_SET_BITS(data, BMI160_ACCEL_FOC_X_CONF, foc_conf->foc_acc_x);
+            data = BMI160_SET_BITS(data, BMI160_ACCEL_FOC_Y_CONF, foc_conf->foc_acc_y);
+            data = BMI160_SET_BITS_POS_0(data, BMI160_ACCEL_FOC_Z_CONF, foc_conf->foc_acc_z);
+            if (rslt == BMI160_OK)
+            {
+                /* Set the FOC config in the sensor */
+                rslt = bmi160_set_regs(BMI160_FOC_CONF_ADDR, &data, 1, dev);
+                if (rslt == BMI160_OK)
+                {
+                    /* Procedure to trigger
+                     * FOC and check status */
+                    rslt = trigger_foc(offset, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API reads and stores the offset values of accel and gyro
+ */
+int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data[7];
+    uint8_t lsb, msb;
+    int16_t offset_msb, offset_lsb;
+    int16_t offset_data;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Read the FOC config from the sensor */
+        rslt = bmi160_get_regs(BMI160_OFFSET_ADDR, data, 7, dev);
+
+        /* Accel offsets */
+        offset->off_acc_x = (int8_t)data[0];
+        offset->off_acc_y = (int8_t)data[1];
+        offset->off_acc_z = (int8_t)data[2];
+
+        /* Gyro x-axis offset */
+        lsb = data[3];
+        msb = BMI160_GET_BITS_POS_0(data[6], BMI160_GYRO_OFFSET_X);
+        offset_msb = (int16_t)(msb << 14);
+        offset_lsb = lsb << 6;
+        offset_data = offset_msb | offset_lsb;
+
+        /* Divide by 64 to get the Right shift by 6 value */
+        offset->off_gyro_x = (int16_t)(offset_data / 64);
+
+        /* Gyro y-axis offset */
+        lsb = data[4];
+        msb = BMI160_GET_BITS(data[6], BMI160_GYRO_OFFSET_Y);
+        offset_msb = (int16_t)(msb << 14);
+        offset_lsb = lsb << 6;
+        offset_data = offset_msb | offset_lsb;
+
+        /* Divide by 64 to get the Right shift by 6 value */
+        offset->off_gyro_y = (int16_t)(offset_data / 64);
+
+        /* Gyro z-axis offset */
+        lsb = data[5];
+        msb = BMI160_GET_BITS(data[6], BMI160_GYRO_OFFSET_Z);
+        offset_msb = (int16_t)(msb << 14);
+        offset_lsb = lsb << 6;
+        offset_data = offset_msb | offset_lsb;
+
+        /* Divide by 64 to get the Right shift by 6 value */
+        offset->off_gyro_z = (int16_t)(offset_data / 64);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API writes the offset values of accel and gyro to
+ *  the sensor but these values will be reset on POR or soft reset.
+ */
+int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf,
+                          const struct bmi160_offsets *offset,
+                          struct bmi160_dev const *dev)
+{
+    int8_t rslt;
+    uint8_t data[7];
+    uint8_t x_msb, y_msb, z_msb;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Update the accel offset */
+        data[0] = (uint8_t)offset->off_acc_x;
+        data[1] = (uint8_t)offset->off_acc_y;
+        data[2] = (uint8_t)offset->off_acc_z;
+
+        /* Update the LSB of gyro offset */
+        data[3] = BMI160_GET_LSB(offset->off_gyro_x);
+        data[4] = BMI160_GET_LSB(offset->off_gyro_y);
+        data[5] = BMI160_GET_LSB(offset->off_gyro_z);
+
+        /* Update the MSB of gyro offset */
+        x_msb = BMI160_GET_BITS(offset->off_gyro_x, BMI160_GYRO_OFFSET);
+        y_msb = BMI160_GET_BITS(offset->off_gyro_y, BMI160_GYRO_OFFSET);
+        z_msb = BMI160_GET_BITS(offset->off_gyro_z, BMI160_GYRO_OFFSET);
+        data[6] = (uint8_t)(z_msb << 4 | y_msb << 2 | x_msb);
+
+        /* Set the offset enable/disable for gyro and accel */
+        data[6] = BMI160_SET_BITS(data[6], BMI160_GYRO_OFFSET_EN, foc_conf->gyro_off_en);
+        data[6] = BMI160_SET_BITS(data[6], BMI160_ACCEL_OFFSET_EN, foc_conf->acc_off_en);
+
+        /* Set the offset config and values in the sensor */
+        rslt = bmi160_set_regs(BMI160_OFFSET_ADDR, data, 7, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API writes the image registers values to NVM which is
+ *  stored even after POR or soft reset
+ */
+int8_t bmi160_update_nvm(struct bmi160_dev const *dev)
+{
+    int8_t rslt;
+    uint8_t data;
+    uint8_t cmd = BMI160_NVM_BACKUP_EN;
+
+    /* Read the nvm_prog_en configuration */
+    rslt = bmi160_get_regs(BMI160_CONF_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        data = BMI160_SET_BITS(data, BMI160_NVM_UPDATE, 1);
+
+        /* Set the nvm_prog_en bit in the sensor */
+        rslt = bmi160_set_regs(BMI160_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Update NVM */
+            rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* Check for NVM ready status */
+                rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &data, 1, dev);
+                if (rslt == BMI160_OK)
+                {
+                    data = BMI160_GET_BITS(data, BMI160_NVM_STATUS);
+                    if (data != BMI160_ENABLE)
+                    {
+                        /* Delay to update NVM */
+                        dev->delay_ms(25);
+                    }
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API gets the interrupt status from the sensor.
+ */
+int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
+                             union bmi160_int_status *int_status,
+                             struct bmi160_dev const *dev)
+{
+    int8_t rslt = 0;
+
+    /* To get the status of all interrupts */
+    if (int_status_sel == BMI160_INT_STATUS_ALL)
+    {
+        rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 4, dev);
+    }
+    else
+    {
+        if (int_status_sel & BMI160_INT_STATUS_0)
+        {
+            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 1, dev);
+        }
+        if (int_status_sel & BMI160_INT_STATUS_1)
+        {
+            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 1, &int_status->data[1], 1, dev);
+        }
+        if (int_status_sel & BMI160_INT_STATUS_2)
+        {
+            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 2, &int_status->data[2], 1, dev);
+        }
+        if (int_status_sel & BMI160_INT_STATUS_3)
+        {
+            rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 3, &int_status->data[3], 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*********************** Local function definitions ***************************/
+
+/*!
+ * @brief This API sets the any-motion interrupt of the sensor.
+ * This interrupt occurs when accel values exceeds preset threshold
+ * for a certain period of time.
+ */
+static int8_t set_accel_any_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg = &(int_config->int_type_cfg.acc_any_motion_int);
+        rslt = enable_accel_any_motion_int(any_motion_int_cfg, dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = config_any_motion_int_settg(int_config, any_motion_int_cfg, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets tap interrupts.Interrupt is fired when
+ * tap movements happen.
+ */
+static int8_t set_accel_tap_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_tap_int_cfg *tap_int_cfg = &(int_config->int_type_cfg.acc_tap_int);
+        rslt = enable_tap_int(int_config, tap_int_cfg, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = config_tap_int_settg(int_config, tap_int_cfg, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the data ready interrupt for both accel and gyro.
+ * This interrupt occurs when new accel and gyro data comes.
+ */
+static int8_t set_accel_gyro_data_ready_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = enable_data_ready_int(dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = map_hardware_interrupt(int_config, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the significant motion interrupt of the sensor.This
+ * interrupt occurs when there is change in user location.
+ */
+static int8_t set_accel_sig_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg = &(int_config->int_type_cfg.acc_sig_motion_int);
+        rslt = enable_sig_motion_int(sig_mot_int_cfg, dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = config_sig_motion_int_settg(int_config, sig_mot_int_cfg, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the no motion/slow motion interrupt of the sensor.
+ * Slow motion is similar to any motion interrupt.No motion interrupt
+ * occurs when slope bet. two accel values falls below preset threshold
+ * for preset duration.
+ */
+static int8_t set_accel_no_motion_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg = &(int_config->int_type_cfg.acc_no_motion_int);
+        rslt = enable_no_motion_int(no_mot_int_cfg, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure the INT PIN settings*/
+            rslt = config_no_motion_int_settg(int_config, no_mot_int_cfg, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the step detection interrupt.This interrupt
+ * occurs when the single step causes accel values to go above
+ * preset threshold.
+ */
+static int8_t set_accel_step_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg = &(int_config->int_type_cfg.acc_step_detect_int);
+        rslt = enable_step_detect_int(step_detect_int_cfg, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = map_feature_interrupt(int_config, dev);
+                if (rslt == BMI160_OK)
+                {
+                    rslt = config_step_detect(step_detect_int_cfg, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the orientation interrupt of the sensor.This
+ * interrupt occurs when there is orientation change in the sensor
+ * with respect to gravitational field vector g.
+ */
+static int8_t set_accel_orientation_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_orient_int_cfg *orient_int_cfg = &(int_config->int_type_cfg.acc_orient_int);
+        rslt = enable_orient_int(orient_int_cfg, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* map INT pin to orient interrupt */
+                rslt = map_feature_interrupt(int_config, dev);
+                if (rslt == BMI160_OK)
+                {
+                    /* configure the
+                     * orientation setting*/
+                    rslt = config_orient_int_settg(orient_int_cfg, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the flat interrupt of the sensor.This interrupt
+ * occurs in case of flat orientation
+ */
+static int8_t set_accel_flat_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_flat_detect_int_cfg *flat_detect_int = &(int_config->int_type_cfg.acc_flat_int);
+
+        /* enable the flat interrupt */
+        rslt = enable_flat_int(flat_detect_int, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* map INT pin to flat interrupt */
+                rslt = map_feature_interrupt(int_config, dev);
+                if (rslt == BMI160_OK)
+                {
+                    /* configure the flat setting*/
+                    rslt = config_flat_int_settg(flat_detect_int, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the low-g interrupt of the sensor.This interrupt
+ * occurs during free-fall.
+ */
+static int8_t set_accel_low_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_low_g_int_cfg *low_g_int = &(int_config->int_type_cfg.acc_low_g_int);
+
+        /* Enable the low-g interrupt*/
+        rslt = enable_low_g_int(low_g_int, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* Map INT pin to low-g interrupt */
+                rslt = map_feature_interrupt(int_config, dev);
+                if (rslt == BMI160_OK)
+                {
+                    /* configure the data source
+                     * for low-g interrupt*/
+                    rslt = config_low_g_data_src(low_g_int, dev);
+                    if (rslt == BMI160_OK)
+                    {
+                        rslt = config_low_g_int_settg(low_g_int, dev);
+                    }
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the high-g interrupt of the sensor.The interrupt
+ * occurs if the absolute value of acceleration data of any enabled axis
+ * exceeds the programmed threshold and the sign of the value does not
+ * change for a preset duration.
+ */
+static int8_t set_accel_high_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt != BMI160_OK) || (int_config == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* updating the interrupt structure to local structure */
+        struct bmi160_acc_high_g_int_cfg *high_g_int_cfg = &(int_config->int_type_cfg.acc_high_g_int);
+
+        /* Enable the high-g interrupt */
+        rslt = enable_high_g_int(high_g_int_cfg, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* Map INT pin to high-g interrupt */
+                rslt = map_feature_interrupt(int_config, dev);
+                if (rslt == BMI160_OK)
+                {
+                    /* configure the data source
+                     * for high-g interrupt*/
+                    rslt = config_high_g_data_src(high_g_int_cfg, dev);
+                    if (rslt == BMI160_OK)
+                    {
+                        rslt = config_high_g_int_settg(high_g_int_cfg, dev);
+                    }
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configures the pins to fire the
+ * interrupt signal when it occurs.
+ */
+static int8_t set_intr_pin_config(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* configure the behavioural settings of interrupt pin */
+    rslt = config_int_out_ctrl(int_config, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = config_int_latch(int_config, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to validate the device structure pointer for
+ * null conditions.
+ */
+static int8_t null_ptr_check(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_ms == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Device structure is fine */
+        rslt = BMI160_OK;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the default configuration parameters of accel & gyro.
+ * Also maintain the previous state of configurations.
+ */
+static void default_param_settg(struct bmi160_dev *dev)
+{
+    /* Initializing accel and gyro params with
+     * default values */
+    dev->accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
+    dev->accel_cfg.odr = BMI160_ACCEL_ODR_100HZ;
+    dev->accel_cfg.power = BMI160_ACCEL_SUSPEND_MODE;
+    dev->accel_cfg.range = BMI160_ACCEL_RANGE_2G;
+    dev->gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
+    dev->gyro_cfg.odr = BMI160_GYRO_ODR_100HZ;
+    dev->gyro_cfg.power = BMI160_GYRO_SUSPEND_MODE;
+    dev->gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
+
+    /* To maintain the previous state of accel configuration */
+    dev->prev_accel_cfg = dev->accel_cfg;
+
+    /* To maintain the previous state of gyro configuration */
+    dev->prev_gyro_cfg = dev->gyro_cfg;
+}
+
+/*!
+ * @brief This API set the accel configuration.
+ */
+static int8_t set_accel_conf(struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data[2] = { 0 };
+
+    rslt = check_accel_config(data, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Write output data rate and bandwidth */
+        rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, &data[0], 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            dev->prev_accel_cfg.odr = dev->accel_cfg.odr;
+            dev->prev_accel_cfg.bw = dev->accel_cfg.bw;
+
+            /* write accel range */
+            rslt = bmi160_set_regs(BMI160_ACCEL_RANGE_ADDR, &data[1], 1, dev);
+            if (rslt == BMI160_OK)
+            {
+                dev->prev_accel_cfg.range = dev->accel_cfg.range;
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API check the accel configuration.
+ */
+static int8_t check_accel_config(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* read accel Output data rate and bandwidth */
+    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 2, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = process_accel_odr(&data[0], dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = process_accel_bw(&data[0], dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = process_accel_range(&data[1], dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the accel odr.
+ */
+static int8_t process_accel_odr(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t odr = 0;
+
+    if (dev->accel_cfg.odr <= BMI160_ACCEL_ODR_MAX)
+    {
+        if (dev->accel_cfg.odr != dev->prev_accel_cfg.odr)
+        {
+            odr = (uint8_t)dev->accel_cfg.odr;
+            temp = *data & ~BMI160_ACCEL_ODR_MASK;
+
+            /* Adding output data rate */
+            *data = temp | (odr & BMI160_ACCEL_ODR_MASK);
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the accel bandwidth.
+ */
+static int8_t process_accel_bw(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t bw = 0;
+
+    if (dev->accel_cfg.bw <= BMI160_ACCEL_BW_MAX)
+    {
+        if (dev->accel_cfg.bw != dev->prev_accel_cfg.bw)
+        {
+            bw = (uint8_t)dev->accel_cfg.bw;
+            temp = *data & ~BMI160_ACCEL_BW_MASK;
+
+            /* Adding bandwidth */
+            *data = temp | ((bw << 4) & BMI160_ACCEL_ODR_MASK);
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the accel range.
+ */
+static int8_t process_accel_range(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t range = 0;
+
+    if (dev->accel_cfg.range <= BMI160_ACCEL_RANGE_MAX)
+    {
+        if (dev->accel_cfg.range != dev->prev_accel_cfg.range)
+        {
+            range = (uint8_t)dev->accel_cfg.range;
+            temp = *data & ~BMI160_ACCEL_RANGE_MASK;
+
+            /* Adding range */
+            *data = temp | (range & BMI160_ACCEL_RANGE_MASK);
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API checks the invalid settings for ODR & Bw for
+ * Accel and Gyro.
+ */
+static int8_t check_invalid_settg(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+
+    /* read the error reg */
+    rslt = bmi160_get_regs(BMI160_ERROR_REG_ADDR, &data, 1, dev);
+    data = data >> 1;
+    data = data & BMI160_ERR_REG_MASK;
+    if (data == 1)
+    {
+        rslt = BMI160_E_ACCEL_ODR_BW_INVALID;
+    }
+    else if (data == 2)
+    {
+        rslt = BMI160_E_GYRO_ODR_BW_INVALID;
+    }
+    else if (data == 3)
+    {
+        rslt = BMI160_E_LWP_PRE_FLTR_INT_INVALID;
+    }
+    else if (data == 7)
+    {
+        rslt = BMI160_E_LWP_PRE_FLTR_INVALID;
+    }
+
+    return rslt;
+}
+static int8_t set_gyro_conf(struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data[2] = { 0 };
+
+    rslt = check_gyro_config(data, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Write output data rate and bandwidth */
+        rslt = bmi160_set_regs(BMI160_GYRO_CONFIG_ADDR, &data[0], 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            dev->prev_gyro_cfg.odr = dev->gyro_cfg.odr;
+            dev->prev_gyro_cfg.bw = dev->gyro_cfg.bw;
+
+            /* Write gyro range */
+            rslt = bmi160_set_regs(BMI160_GYRO_RANGE_ADDR, &data[1], 1, dev);
+            if (rslt == BMI160_OK)
+            {
+                dev->prev_gyro_cfg.range = dev->gyro_cfg.range;
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API check the gyro configuration.
+ */
+static int8_t check_gyro_config(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* read gyro Output data rate and bandwidth */
+    rslt = bmi160_get_regs(BMI160_GYRO_CONFIG_ADDR, data, 2, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = process_gyro_odr(&data[0], dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = process_gyro_bw(&data[0], dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = process_gyro_range(&data[1], dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the gyro odr.
+ */
+static int8_t process_gyro_odr(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t odr = 0;
+
+    if (dev->gyro_cfg.odr <= BMI160_GYRO_ODR_MAX)
+    {
+        if (dev->gyro_cfg.odr != dev->prev_gyro_cfg.odr)
+        {
+            odr = (uint8_t)dev->gyro_cfg.odr;
+            temp = (*data & ~BMI160_GYRO_ODR_MASK);
+
+            /* Adding output data rate */
+            *data = temp | (odr & BMI160_GYRO_ODR_MASK);
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the gyro bandwidth.
+ */
+static int8_t process_gyro_bw(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t bw = 0;
+
+    if (dev->gyro_cfg.bw <= BMI160_GYRO_BW_MAX)
+    {
+        bw = (uint8_t)dev->gyro_cfg.bw;
+        temp = *data & ~BMI160_GYRO_BW_MASK;
+
+        /* Adding bandwidth */
+        *data = temp | ((bw << 4) & BMI160_GYRO_BW_MASK);
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the gyro range.
+ */
+static int8_t process_gyro_range(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t temp = 0;
+    uint8_t range = 0;
+
+    if (dev->gyro_cfg.range <= BMI160_GYRO_RANGE_MAX)
+    {
+        if (dev->gyro_cfg.range != dev->prev_gyro_cfg.range)
+        {
+            range = (uint8_t)dev->gyro_cfg.range;
+            temp = *data & ~BMI160_GYRO_RANGE_MSK;
+
+            /* Adding range */
+            *data = temp | (range & BMI160_GYRO_RANGE_MSK);
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the accel power.
+ */
+static int8_t set_accel_pwr(struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t data = 0;
+
+    if ((dev->accel_cfg.power >= BMI160_ACCEL_SUSPEND_MODE) && (dev->accel_cfg.power <= BMI160_ACCEL_LOWPOWER_MODE))
+    {
+        if (dev->accel_cfg.power != dev->prev_accel_cfg.power)
+        {
+            rslt = process_under_sampling(&data, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* Write accel power */
+                rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &dev->accel_cfg.power, 1, dev);
+
+                /* Add delay of 3.8 ms - refer data sheet table 24*/
+                if (dev->prev_accel_cfg.power == BMI160_ACCEL_SUSPEND_MODE)
+                {
+                    dev->delay_ms(BMI160_ACCEL_DELAY_MS);
+                }
+                dev->prev_accel_cfg.power = dev->accel_cfg.power;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API process the undersampling setting of Accel.
+ */
+static int8_t process_under_sampling(uint8_t *data, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t pre_filter = 0;
+
+    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        if (dev->accel_cfg.power == BMI160_ACCEL_LOWPOWER_MODE)
+        {
+            temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK;
+
+            /* Set under-sampling parameter */
+            *data = temp | ((1 << 7) & BMI160_ACCEL_UNDERSAMPLING_MASK);
+
+            /* Write data */
+            rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
+
+            /* disable the pre-filter data in
+             * low power mode */
+            if (rslt == BMI160_OK)
+            {
+                /* Disable the Pre-filter data*/
+                rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &pre_filter, 2, dev);
+            }
+        }
+        else if (*data & BMI160_ACCEL_UNDERSAMPLING_MASK)
+        {
+            temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK;
+
+            /* disable under-sampling parameter
+             * if already enabled */
+            *data = temp;
+
+            /* Write data */
+            rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the gyro power mode.
+ */
+static int8_t set_gyro_pwr(struct bmi160_dev *dev)
+{
+    int8_t rslt = 0;
+
+    if ((dev->gyro_cfg.power == BMI160_GYRO_SUSPEND_MODE) || (dev->gyro_cfg.power == BMI160_GYRO_NORMAL_MODE) ||
+        (dev->gyro_cfg.power == BMI160_GYRO_FASTSTARTUP_MODE))
+    {
+        if (dev->gyro_cfg.power != dev->prev_gyro_cfg.power)
+        {
+            /* Write gyro power */
+            rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &dev->gyro_cfg.power, 1, dev);
+            if (dev->prev_gyro_cfg.power == BMI160_GYRO_SUSPEND_MODE)
+            {
+                /* Delay of 80 ms - datasheet Table 24 */
+                dev->delay_ms(BMI160_GYRO_DELAY_MS);
+            }
+            else if ((dev->prev_gyro_cfg.power == BMI160_GYRO_FASTSTARTUP_MODE) &&
+                     (dev->gyro_cfg.power == BMI160_GYRO_NORMAL_MODE))
+            {
+                /* This delay is required for transition from
+                 * fast-startup mode to normal mode - datasheet Table 3 */
+                dev->delay_ms(10);
+            }
+            else
+            {
+                /* do nothing */
+            }
+            dev->prev_gyro_cfg.power = dev->gyro_cfg.power;
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_OUT_OF_RANGE;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads accel data along with sensor time if time is requested
+ * by user. Kindly refer the user guide(README.md) for more info.
+ */
+static int8_t get_accel_data(uint8_t len, struct bmi160_sensor_data *accel, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t idx = 0;
+    uint8_t data_array[9] = { 0 };
+    uint8_t time_0 = 0;
+    uint16_t time_1 = 0;
+    uint32_t time_2 = 0;
+    uint8_t lsb;
+    uint8_t msb;
+    int16_t msblsb;
+
+    /* read accel sensor data along with time if requested */
+    rslt = bmi160_get_regs(BMI160_ACCEL_DATA_ADDR, data_array, 6 + len, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Accel Data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->x = msblsb; /* Data in X axis */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->y = msblsb; /* Data in Y axis */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->z = msblsb; /* Data in Z axis */
+        if (len == 3)
+        {
+            time_0 = data_array[idx++];
+            time_1 = (uint16_t)(data_array[idx++] << 8);
+            time_2 = (uint32_t)(data_array[idx++] << 16);
+            accel->sensortime = (uint32_t)(time_2 | time_1 | time_0);
+        }
+        else
+        {
+            accel->sensortime = 0;
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_COM_FAIL;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads accel data along with sensor time if time is requested
+ * by user. Kindly refer the user guide(README.md) for more info.
+ */
+static int8_t get_gyro_data(uint8_t len, struct bmi160_sensor_data *gyro, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t idx = 0;
+    uint8_t data_array[15] = { 0 };
+    uint8_t time_0 = 0;
+    uint16_t time_1 = 0;
+    uint32_t time_2 = 0;
+    uint8_t lsb;
+    uint8_t msb;
+    int16_t msblsb;
+
+    if (len == 0)
+    {
+        /* read gyro data only */
+        rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 6, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Gyro Data */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->x = msblsb; /* Data in X axis */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->y = msblsb; /* Data in Y axis */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->z = msblsb; /* Data in Z axis */
+            gyro->sensortime = 0;
+        }
+        else
+        {
+            rslt = BMI160_E_COM_FAIL;
+        }
+    }
+    else
+    {
+        /* read gyro sensor data along with time */
+        rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Gyro Data */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->x = msblsb; /* gyro X axis data */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->y = msblsb; /* gyro Y axis data */
+            lsb = data_array[idx++];
+            msb = data_array[idx++];
+            msblsb = (int16_t)((msb << 8) | lsb);
+            gyro->z = msblsb; /* gyro Z axis data */
+            idx = idx + 6;
+            time_0 = data_array[idx++];
+            time_1 = (uint16_t)(data_array[idx++] << 8);
+            time_2 = (uint32_t)(data_array[idx++] << 16);
+            gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0);
+        }
+        else
+        {
+            rslt = BMI160_E_COM_FAIL;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads accel and gyro data along with sensor time
+ * if time is requested by user.
+ *  Kindly refer the user guide(README.md) for more info.
+ */
+static int8_t get_accel_gyro_data(uint8_t len,
+                                  struct bmi160_sensor_data *accel,
+                                  struct bmi160_sensor_data *gyro,
+                                  const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t idx = 0;
+    uint8_t data_array[15] = { 0 };
+    uint8_t time_0 = 0;
+    uint16_t time_1 = 0;
+    uint32_t time_2 = 0;
+    uint8_t lsb;
+    uint8_t msb;
+    int16_t msblsb;
+
+    /* read both accel and gyro sensor data
+     * along with time if requested */
+    rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Gyro Data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        gyro->x = msblsb; /* gyro X axis data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        gyro->y = msblsb; /* gyro Y axis data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        gyro->z = msblsb; /* gyro Z axis data */
+        /* Accel Data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->x = (int16_t)msblsb; /* accel X axis data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->y = (int16_t)msblsb; /* accel Y axis data */
+        lsb = data_array[idx++];
+        msb = data_array[idx++];
+        msblsb = (int16_t)((msb << 8) | lsb);
+        accel->z = (int16_t)msblsb; /* accel Z axis data */
+        if (len == 3)
+        {
+            time_0 = data_array[idx++];
+            time_1 = (uint16_t)(data_array[idx++] << 8);
+            time_2 = (uint32_t)(data_array[idx++] << 16);
+            accel->sensortime = (uint32_t)(time_2 | time_1 | time_0);
+            gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0);
+        }
+        else
+        {
+            accel->sensortime = 0;
+            gyro->sensortime = 0;
+        }
+    }
+    else
+    {
+        rslt = BMI160_E_COM_FAIL;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the any-motion interrupt for accel.
+ */
+static int8_t enable_accel_any_motion_int(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                          struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable any motion x, any motion y, any motion z
+     * in Int Enable 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        if (any_motion_int_cfg->anymotion_en == BMI160_ENABLE)
+        {
+            temp = data & ~BMI160_ANY_MOTION_X_INT_EN_MASK;
+
+            /* Adding Any_motion x axis */
+            data = temp | (any_motion_int_cfg->anymotion_x & BMI160_ANY_MOTION_X_INT_EN_MASK);
+            temp = data & ~BMI160_ANY_MOTION_Y_INT_EN_MASK;
+
+            /* Adding Any_motion y axis */
+            data = temp | ((any_motion_int_cfg->anymotion_y << 1) & BMI160_ANY_MOTION_Y_INT_EN_MASK);
+            temp = data & ~BMI160_ANY_MOTION_Z_INT_EN_MASK;
+
+            /* Adding Any_motion z axis */
+            data = temp | ((any_motion_int_cfg->anymotion_z << 2) & BMI160_ANY_MOTION_Z_INT_EN_MASK);
+
+            /* any-motion feature selected*/
+            dev->any_sig_sel = BMI160_ANY_MOTION_ENABLED;
+        }
+        else
+        {
+            data = data & ~BMI160_ANY_MOTION_ALL_INT_EN_MASK;
+
+            /* neither any-motion feature nor sig-motion selected */
+            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
+        }
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API disable the sig-motion interrupt.
+ */
+static int8_t disable_sig_motion_int(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Disabling Significant motion interrupt if enabled */
+    rslt = bmi160_get_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = (data & BMI160_SIG_MOTION_SEL_MASK);
+        if (temp)
+        {
+            temp = data & ~BMI160_SIG_MOTION_SEL_MASK;
+            data = temp;
+
+            /* Write data to register */
+            rslt = bmi160_set_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g,
+ *  Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins.
+ */
+static int8_t map_feature_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data[3] = { 0, 0, 0 };
+    uint8_t temp[3] = { 0, 0, 0 };
+
+    rslt = bmi160_get_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp[0] = data[0] & ~int_mask_lookup_table[int_config->int_type];
+        temp[2] = data[2] & ~int_mask_lookup_table[int_config->int_type];
+        switch (int_config->int_channel)
+        {
+            case BMI160_INT_CHANNEL_NONE:
+                data[0] = temp[0];
+                data[2] = temp[2];
+                break;
+            case BMI160_INT_CHANNEL_1:
+                data[0] = temp[0] | int_mask_lookup_table[int_config->int_type];
+                data[2] = temp[2];
+                break;
+            case BMI160_INT_CHANNEL_2:
+                data[2] = temp[2] | int_mask_lookup_table[int_config->int_type];
+                data[0] = temp[0];
+                break;
+            case BMI160_INT_CHANNEL_BOTH:
+                data[0] = temp[0] | int_mask_lookup_table[int_config->int_type];
+                data[2] = temp[2] | int_mask_lookup_table[int_config->int_type];
+                break;
+            default:
+                rslt = BMI160_E_OUT_OF_RANGE;
+        }
+        if (rslt == BMI160_OK)
+        {
+            rslt = bmi160_set_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full
+ *  and FIFO watermark interrupt.
+ */
+static int8_t map_hardware_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    rslt = bmi160_get_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~int_mask_lookup_table[int_config->int_type];
+        temp = temp & ~((uint8_t)(int_mask_lookup_table[int_config->int_type] << 4));
+        switch (int_config->int_channel)
+        {
+            case BMI160_INT_CHANNEL_NONE:
+                data = temp;
+                break;
+            case BMI160_INT_CHANNEL_1:
+                data = temp | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4);
+                break;
+            case BMI160_INT_CHANNEL_2:
+                data = temp | int_mask_lookup_table[int_config->int_type];
+                break;
+            case BMI160_INT_CHANNEL_BOTH:
+                data = temp | int_mask_lookup_table[int_config->int_type];
+                data = data | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4);
+                break;
+            default:
+                rslt = BMI160_E_OUT_OF_RANGE;
+        }
+        if (rslt == BMI160_OK)
+        {
+            rslt = bmi160_set_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for any-motion interrupt.
+ */
+static int8_t config_any_motion_src(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                    const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 1 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
+        data = temp | ((any_motion_int_cfg->anymotion_data_src << 7) & BMI160_MOTION_SRC_INT_MASK);
+
+        /* Write data to DATA 1 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the duration and threshold of
+ * any-motion interrupt.
+ */
+static int8_t config_any_dur_threshold(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                       const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+    uint8_t data_array[2] = { 0 };
+    uint8_t dur;
+
+    /* Configure Int Motion 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_MOTION_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* slope duration */
+        dur = (uint8_t)any_motion_int_cfg->anymotion_dur;
+        temp = data & ~BMI160_SLOPE_INT_DUR_MASK;
+        data = temp | (dur & BMI160_MOTION_SRC_INT_MASK);
+        data_array[0] = data;
+
+        /* add slope threshold */
+        data_array[1] = any_motion_int_cfg->anymotion_thr;
+
+        /* INT MOTION 0 and INT MOTION 1 address lie consecutively,
+         * hence writing data to respective registers at one go */
+
+        /* Writing to Int_motion 0 and
+         * Int_motion 1 Address simultaneously */
+        rslt = bmi160_set_regs(BMI160_INT_MOTION_0_ADDR, data_array, 2, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure necessary setting of any-motion interrupt.
+ */
+static int8_t config_any_motion_int_settg(const struct bmi160_int_settg *int_config,
+                                          const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg,
+                                          const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Configure Interrupt pins */
+    rslt = set_intr_pin_config(int_config, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = disable_sig_motion_int(dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = map_feature_interrupt(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = config_any_motion_src(any_motion_int_cfg, dev);
+                if (rslt == BMI160_OK)
+                {
+                    rslt = config_any_dur_threshold(any_motion_int_cfg, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enable the data ready interrupt.
+ */
+static int8_t enable_data_ready_int(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable data ready interrupt in Int Enable 1 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_DATA_RDY_INT_EN_MASK;
+        data = temp | ((1 << 4) & BMI160_DATA_RDY_INT_EN_MASK);
+
+        /* Writing data to INT ENABLE 1 Address */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the no motion/slow motion interrupt.
+ */
+static int8_t enable_no_motion_int(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                   const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable no motion x, no motion y, no motion z
+     * in Int Enable 2 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        if (no_mot_int_cfg->no_motion_x == 1)
+        {
+            temp = data & ~BMI160_NO_MOTION_X_INT_EN_MASK;
+
+            /* Adding No_motion x axis */
+            data = temp | (1 & BMI160_NO_MOTION_X_INT_EN_MASK);
+        }
+        if (no_mot_int_cfg->no_motion_y == 1)
+        {
+            temp = data & ~BMI160_NO_MOTION_Y_INT_EN_MASK;
+
+            /* Adding No_motion x axis */
+            data = temp | ((1 << 1) & BMI160_NO_MOTION_Y_INT_EN_MASK);
+        }
+        if (no_mot_int_cfg->no_motion_z == 1)
+        {
+            temp = data & ~BMI160_NO_MOTION_Z_INT_EN_MASK;
+
+            /* Adding No_motion x axis */
+            data = temp | ((1 << 2) & BMI160_NO_MOTION_Z_INT_EN_MASK);
+        }
+
+        /* write data to Int Enable 2 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * no motion/slow motion interrupt.
+ */
+static int8_t config_no_motion_int_settg(const struct bmi160_int_settg *int_config,
+                                         const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                         const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Configure Interrupt pins */
+    rslt = set_intr_pin_config(int_config, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = map_feature_interrupt(int_config, dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = config_no_motion_data_src(no_mot_int_cfg, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = config_no_motion_dur_thr(no_mot_int_cfg, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of interrupt for no motion.
+ */
+static int8_t config_no_motion_data_src(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                        const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 1 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
+        data = temp | ((no_mot_int_cfg->no_motion_src << 7) & BMI160_MOTION_SRC_INT_MASK);
+
+        /* Write data to DATA 1 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the duration and threshold of
+ * no motion/slow motion interrupt along with selection of no/slow motion.
+ */
+static int8_t config_no_motion_dur_thr(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
+                                       const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+    uint8_t temp_1 = 0;
+    uint8_t reg_addr;
+    uint8_t data_array[2] = { 0 };
+
+    /* Configuring INT_MOTION register */
+    reg_addr = BMI160_INT_MOTION_0_ADDR;
+    rslt = bmi160_get_regs(reg_addr, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_NO_MOTION_INT_DUR_MASK;
+
+        /* Adding no_motion duration */
+        data = temp | ((no_mot_int_cfg->no_motion_dur << 2) & BMI160_NO_MOTION_INT_DUR_MASK);
+
+        /* Write data to NO_MOTION 0 address */
+        rslt = bmi160_set_regs(reg_addr, &data, 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            reg_addr = BMI160_INT_MOTION_3_ADDR;
+            rslt = bmi160_get_regs(reg_addr, &data, 1, dev);
+            if (rslt == BMI160_OK)
+            {
+                temp = data & ~BMI160_NO_MOTION_SEL_BIT_MASK;
+
+                /* Adding no_motion_sel bit */
+                temp_1 = (no_mot_int_cfg->no_motion_sel & BMI160_NO_MOTION_SEL_BIT_MASK);
+                data = (temp | temp_1);
+                data_array[1] = data;
+
+                /* Adding no motion threshold */
+                data_array[0] = no_mot_int_cfg->no_motion_thres;
+                reg_addr = BMI160_INT_MOTION_2_ADDR;
+
+                /* writing data to INT_MOTION 2 and INT_MOTION 3
+                 * address simultaneously */
+                rslt = bmi160_set_regs(reg_addr, data_array, 2, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the sig-motion motion interrupt.
+ */
+static int8_t enable_sig_motion_int(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg, struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* For significant motion,enable any motion x,any motion y,
+     * any motion z in Int Enable 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        if (sig_mot_int_cfg->sig_en == BMI160_ENABLE)
+        {
+            temp = data & ~BMI160_SIG_MOTION_INT_EN_MASK;
+            data = temp | (7 & BMI160_SIG_MOTION_INT_EN_MASK);
+
+            /* sig-motion feature selected*/
+            dev->any_sig_sel = BMI160_SIG_MOTION_ENABLED;
+        }
+        else
+        {
+            data = data & ~BMI160_SIG_MOTION_INT_EN_MASK;
+
+            /* neither any-motion feature nor sig-motion selected */
+            dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
+        }
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * significant motion interrupt.
+ */
+static int8_t config_sig_motion_int_settg(const struct bmi160_int_settg *int_config,
+                                          const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
+                                          const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Configure Interrupt pins */
+    rslt = set_intr_pin_config(int_config, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = map_feature_interrupt(int_config, dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = config_sig_motion_data_src(sig_mot_int_cfg, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = config_sig_dur_threshold(sig_mot_int_cfg, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for sig motion interrupt.
+ */
+static int8_t config_sig_motion_data_src(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
+                                         const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 1 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_MOTION_SRC_INT_MASK;
+        data = temp | ((sig_mot_int_cfg->sig_data_src << 7) & BMI160_MOTION_SRC_INT_MASK);
+
+        /* Write data to DATA 1 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the threshold, skip and proof time of
+ * sig motion interrupt.
+ */
+static int8_t config_sig_dur_threshold(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg,
+                                       const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data;
+    uint8_t temp = 0;
+
+    /* Configuring INT_MOTION registers */
+
+    /* Write significant motion threshold.
+     * This threshold is same as any motion threshold */
+    data = sig_mot_int_cfg->sig_mot_thres;
+
+    /* Write data to INT_MOTION 1 address */
+    rslt = bmi160_set_regs(BMI160_INT_MOTION_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = bmi160_get_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            temp = data & ~BMI160_SIG_MOTION_SKIP_MASK;
+
+            /* adding skip time of sig_motion interrupt*/
+            data = temp | ((sig_mot_int_cfg->sig_mot_skip << 2) & BMI160_SIG_MOTION_SKIP_MASK);
+            temp = data & ~BMI160_SIG_MOTION_PROOF_MASK;
+
+            /* adding proof time of sig_motion interrupt */
+            data = temp | ((sig_mot_int_cfg->sig_mot_proof << 4) & BMI160_SIG_MOTION_PROOF_MASK);
+
+            /* configure the int_sig_mot_sel bit to select
+             * significant motion interrupt */
+            temp = data & ~BMI160_SIG_MOTION_SEL_MASK;
+            data = temp | ((sig_mot_int_cfg->sig_en << 1) & BMI160_SIG_MOTION_SEL_MASK);
+            rslt = bmi160_set_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the step detector interrupt.
+ */
+static int8_t enable_step_detect_int(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg,
+                                     const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable data ready interrupt in Int Enable 2 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_STEP_DETECT_INT_EN_MASK;
+        data = temp | ((step_detect_int_cfg->step_detector_en << 3) & BMI160_STEP_DETECT_INT_EN_MASK);
+
+        /* Writing data to INT ENABLE 2 Address */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the step detector parameter.
+ */
+static int8_t config_step_detect(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg,
+                                 const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data_array[2] = { 0 };
+
+    if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_NORMAL)
+    {
+        /* Normal mode setting */
+        data_array[0] = 0x15;
+        data_array[1] = 0x03;
+    }
+    else if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_SENSITIVE)
+    {
+        /* Sensitive mode setting */
+        data_array[0] = 0x2D;
+        data_array[1] = 0x00;
+    }
+    else if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_ROBUST)
+    {
+        /* Robust mode setting */
+        data_array[0] = 0x1D;
+        data_array[1] = 0x07;
+    }
+    else if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_USER_DEFINE)
+    {
+        /* Non recommended User defined setting */
+        /* Configuring STEP_CONFIG register */
+        rslt = bmi160_get_regs(BMI160_INT_STEP_CONFIG_0_ADDR, &data_array[0], 2, dev);
+        if (rslt == BMI160_OK)
+        {
+            temp = data_array[0] & ~BMI160_STEP_DETECT_MIN_THRES_MASK;
+
+            /* Adding min_threshold */
+            data_array[0] = temp | ((step_detect_int_cfg->min_threshold << 3) & BMI160_STEP_DETECT_MIN_THRES_MASK);
+            temp = data_array[0] & ~BMI160_STEP_DETECT_STEPTIME_MIN_MASK;
+
+            /* Adding steptime_min */
+            data_array[0] = temp | ((step_detect_int_cfg->steptime_min) & BMI160_STEP_DETECT_STEPTIME_MIN_MASK);
+            temp = data_array[1] & ~BMI160_STEP_MIN_BUF_MASK;
+
+            /* Adding steptime_min */
+            data_array[1] = temp | ((step_detect_int_cfg->step_min_buf) & BMI160_STEP_MIN_BUF_MASK);
+        }
+    }
+
+    /* Write data to STEP_CONFIG register */
+    rslt = bmi160_set_regs(BMI160_INT_STEP_CONFIG_0_ADDR, data_array, 2, dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the single/double tap interrupt.
+ */
+static int8_t enable_tap_int(const struct bmi160_int_settg *int_config,
+                             const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
+                             const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable single tap or double tap interrupt in Int Enable 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        if (int_config->int_type == BMI160_ACC_SINGLE_TAP_INT)
+        {
+            temp = data & ~BMI160_SINGLE_TAP_INT_EN_MASK;
+            data = temp | ((tap_int_cfg->tap_en << 5) & BMI160_SINGLE_TAP_INT_EN_MASK);
+        }
+        else
+        {
+            temp = data & ~BMI160_DOUBLE_TAP_INT_EN_MASK;
+            data = temp | ((tap_int_cfg->tap_en << 4) & BMI160_DOUBLE_TAP_INT_EN_MASK);
+        }
+
+        /* Write to Enable 0 Address */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the interrupt PIN setting for
+ * tap interrupt.
+ */
+static int8_t config_tap_int_settg(const struct bmi160_int_settg *int_config,
+                                   const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
+                                   const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Configure Interrupt pins */
+    rslt = set_intr_pin_config(int_config, dev);
+    if (rslt == BMI160_OK)
+    {
+        rslt = map_feature_interrupt(int_config, dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = config_tap_data_src(tap_int_cfg, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = config_tap_param(int_config, tap_int_cfg, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for tap interrupt.
+ */
+static int8_t config_tap_data_src(const struct bmi160_acc_tap_int_cfg *tap_int_cfg, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 0 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_TAP_SRC_INT_MASK;
+        data = temp | ((tap_int_cfg->tap_data_src << 3) & BMI160_TAP_SRC_INT_MASK);
+
+        /* Write data to Data 0 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the  parameters of tap interrupt.
+ * Threshold, quite, shock, and duration.
+ */
+static int8_t config_tap_param(const struct bmi160_int_settg *int_config,
+                               const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
+                               const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data = 0;
+    uint8_t data_array[2] = { 0 };
+    uint8_t count = 0;
+    uint8_t dur, shock, quiet, thres;
+
+    /* Configure tap 0 register for tap shock,tap quiet duration
+     * in case of single tap interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_TAP_0_ADDR, data_array, 2, dev);
+    if (rslt == BMI160_OK)
+    {
+        data = data_array[count];
+        if (int_config->int_type == BMI160_ACC_DOUBLE_TAP_INT)
+        {
+            dur = (uint8_t)tap_int_cfg->tap_dur;
+            temp = (data & ~BMI160_TAP_DUR_MASK);
+
+            /* Add tap duration data in case of
+             * double tap interrupt */
+            data = temp | (dur & BMI160_TAP_DUR_MASK);
+        }
+        shock = (uint8_t)tap_int_cfg->tap_shock;
+        temp = data & ~BMI160_TAP_SHOCK_DUR_MASK;
+        data = temp | ((shock << 6) & BMI160_TAP_SHOCK_DUR_MASK);
+        quiet = (uint8_t)tap_int_cfg->tap_quiet;
+        temp = data & ~BMI160_TAP_QUIET_DUR_MASK;
+        data = temp | ((quiet << 7) & BMI160_TAP_QUIET_DUR_MASK);
+        data_array[count++] = data;
+        data = data_array[count];
+        thres = (uint8_t)tap_int_cfg->tap_thr;
+        temp = data & ~BMI160_TAP_THRES_MASK;
+        data = temp | (thres & BMI160_TAP_THRES_MASK);
+        data_array[count++] = data;
+
+        /* TAP 0 and TAP 1 address lie consecutively,
+         * hence writing data to respective registers at one go */
+
+        /* Writing to Tap 0 and Tap 1 Address simultaneously */
+        rslt = bmi160_set_regs(BMI160_INT_TAP_0_ADDR, data_array, count, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the secondary interface.
+ */
+static int8_t config_sec_if(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t if_conf = 0;
+    uint8_t cmd = BMI160_AUX_NORMAL_MODE;
+
+    /* set the aux power mode to normal*/
+    rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* 0.5ms delay - refer datasheet table 24*/
+        dev->delay_ms(1);
+        rslt = bmi160_get_regs(BMI160_IF_CONF_ADDR, &if_conf, 1, dev);
+        if_conf |= (uint8_t)(1 << 5);
+        if (rslt == BMI160_OK)
+        {
+            /*enable the secondary interface also*/
+            rslt = bmi160_set_regs(BMI160_IF_CONF_ADDR, &if_conf, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the ODR of the auxiliary sensor.
+ */
+static int8_t config_aux_odr(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t aux_odr;
+
+    rslt = bmi160_get_regs(BMI160_AUX_ODR_ADDR, &aux_odr, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        aux_odr = (uint8_t)(dev->aux_cfg.aux_odr);
+
+        /* Set the secondary interface ODR
+         * i.e polling rate of secondary sensor */
+        rslt = bmi160_set_regs(BMI160_AUX_ODR_ADDR, &aux_odr, 1, dev);
+        dev->delay_ms(BMI160_AUX_COM_DELAY);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API maps the actual burst read length set by user.
+ */
+static int8_t map_read_len(uint16_t *len, const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+
+    switch (dev->aux_cfg.aux_rd_burst_len)
+    {
+        case BMI160_AUX_READ_LEN_0:
+            *len = 1;
+            break;
+        case BMI160_AUX_READ_LEN_1:
+            *len = 2;
+            break;
+        case BMI160_AUX_READ_LEN_2:
+            *len = 6;
+            break;
+        case BMI160_AUX_READ_LEN_3:
+            *len = 8;
+            break;
+        default:
+            rslt = BMI160_E_INVALID_INPUT;
+            break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the settings of auxiliary sensor.
+ */
+static int8_t config_aux_settg(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    rslt = config_sec_if(dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Configures the auxiliary interface settings */
+        rslt = bmi160_config_aux_mode(dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API extract the read data from auxiliary sensor.
+ */
+static int8_t extract_aux_read(uint16_t map_len,
+                               uint8_t reg_addr,
+                               uint8_t *aux_data,
+                               uint16_t len,
+                               const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+    uint8_t data[8] = { 0, };
+    uint8_t read_addr = BMI160_AUX_DATA_ADDR;
+    uint8_t count = 0;
+    uint8_t read_count;
+    uint8_t read_len = (uint8_t)map_len;
+
+    for (; count < len;)
+    {
+        /* set address to read */
+        rslt = bmi160_set_regs(BMI160_AUX_IF_2_ADDR, &reg_addr, 1, dev);
+        dev->delay_ms(BMI160_AUX_COM_DELAY);
+        if (rslt == BMI160_OK)
+        {
+            rslt = bmi160_get_regs(read_addr, data, map_len, dev);
+            if (rslt == BMI160_OK)
+            {
+                read_count = 0;
+
+                /* if read len is less the burst read len
+                 * mention by user*/
+                if (len < map_len)
+                {
+                    read_len = (uint8_t)len;
+                }
+                else if ((len - count) < map_len)
+                {
+                    read_len = (uint8_t)(len - count);
+                }
+
+                for (; read_count < read_len; read_count++)
+                {
+                    aux_data[count + read_count] = data[read_count];
+                }
+                reg_addr += (uint8_t)map_len;
+                count += (uint8_t)map_len;
+            }
+            else
+            {
+                rslt = BMI160_E_COM_FAIL;
+                break;
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the orient interrupt.
+ */
+static int8_t enable_orient_int(const struct bmi160_acc_orient_int_cfg *orient_int_cfg, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable data ready interrupt in Int Enable 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_ORIENT_INT_EN_MASK;
+        data = temp | ((orient_int_cfg->orient_en << 6) & BMI160_ORIENT_INT_EN_MASK);
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the necessary setting of orientation interrupt.
+ */
+static int8_t config_orient_int_settg(const struct bmi160_acc_orient_int_cfg *orient_int_cfg,
+                                      const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+    uint8_t data_array[2] = { 0, 0 };
+
+    /* Configuring INT_ORIENT registers */
+    rslt = bmi160_get_regs(BMI160_INT_ORIENT_0_ADDR, data_array, 2, dev);
+    if (rslt == BMI160_OK)
+    {
+        data = data_array[0];
+        temp = data & ~BMI160_ORIENT_MODE_MASK;
+
+        /* Adding Orientation mode */
+        data = temp | ((orient_int_cfg->orient_mode) & BMI160_ORIENT_MODE_MASK);
+        temp = data & ~BMI160_ORIENT_BLOCK_MASK;
+
+        /* Adding Orientation blocking */
+        data = temp | ((orient_int_cfg->orient_blocking << 2) & BMI160_ORIENT_BLOCK_MASK);
+        temp = data & ~BMI160_ORIENT_HYST_MASK;
+
+        /* Adding Orientation hysteresis */
+        data = temp | ((orient_int_cfg->orient_hyst << 4) & BMI160_ORIENT_HYST_MASK);
+        data_array[0] = data;
+        data = data_array[1];
+        temp = data & ~BMI160_ORIENT_THETA_MASK;
+
+        /* Adding Orientation threshold */
+        data = temp | ((orient_int_cfg->orient_theta) & BMI160_ORIENT_THETA_MASK);
+        temp = data & ~BMI160_ORIENT_UD_ENABLE;
+
+        /* Adding Orient_ud_en */
+        data = temp | ((orient_int_cfg->orient_ud_en << 6) & BMI160_ORIENT_UD_ENABLE);
+        temp = data & ~BMI160_AXES_EN_MASK;
+
+        /* Adding axes_en */
+        data = temp | ((orient_int_cfg->axes_ex << 7) & BMI160_AXES_EN_MASK);
+        data_array[1] = data;
+
+        /* Writing data to INT_ORIENT 0 and INT_ORIENT 1
+         * registers simultaneously */
+        rslt = bmi160_set_regs(BMI160_INT_ORIENT_0_ADDR, data_array, 2, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the flat interrupt.
+ */
+static int8_t enable_flat_int(const struct bmi160_acc_flat_detect_int_cfg *flat_int, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable flat interrupt in Int Enable 0 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_FLAT_INT_EN_MASK;
+        data = temp | ((flat_int->flat_en << 7) & BMI160_FLAT_INT_EN_MASK);
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the necessary setting of flat interrupt.
+ */
+static int8_t config_flat_int_settg(const struct bmi160_acc_flat_detect_int_cfg *flat_int, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+    uint8_t data_array[2] = { 0, 0 };
+
+    /* Configuring INT_FLAT register */
+    rslt = bmi160_get_regs(BMI160_INT_FLAT_0_ADDR, data_array, 2, dev);
+    if (rslt == BMI160_OK)
+    {
+        data = data_array[0];
+        temp = data & ~BMI160_FLAT_THRES_MASK;
+
+        /* Adding flat theta */
+        data = temp | ((flat_int->flat_theta) & BMI160_FLAT_THRES_MASK);
+        data_array[0] = data;
+        data = data_array[1];
+        temp = data & ~BMI160_FLAT_HOLD_TIME_MASK;
+
+        /* Adding flat hold time */
+        data = temp | ((flat_int->flat_hold_time << 4) & BMI160_FLAT_HOLD_TIME_MASK);
+        temp = data & ~BMI160_FLAT_HYST_MASK;
+
+        /* Adding flat hysteresis */
+        data = temp | ((flat_int->flat_hy) & BMI160_FLAT_HYST_MASK);
+        data_array[1] = data;
+
+        /* Writing data to INT_FLAT 0 and INT_FLAT 1
+         * registers simultaneously */
+        rslt = bmi160_set_regs(BMI160_INT_FLAT_0_ADDR, data_array, 2, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the Low-g interrupt.
+ */
+static int8_t enable_low_g_int(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable low-g interrupt in Int Enable 1 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_LOW_G_INT_EN_MASK;
+        data = temp | ((low_g_int->low_en << 3) & BMI160_LOW_G_INT_EN_MASK);
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for low-g interrupt.
+ */
+static int8_t config_low_g_data_src(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 0 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_LOW_HIGH_SRC_INT_MASK;
+        data = temp | ((low_g_int->low_data_src << 7) & BMI160_LOW_HIGH_SRC_INT_MASK);
+
+        /* Write data to Data 0 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the necessary setting of low-g interrupt.
+ */
+static int8_t config_low_g_int_settg(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data_array[3] = { 0, 0, 0 };
+
+    /* Configuring INT_LOWHIGH register for low-g interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_LOWHIGH_2_ADDR, &data_array[2], 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data_array[2] & ~BMI160_LOW_G_HYST_MASK;
+
+        /* Adding low-g hysteresis */
+        data_array[2] = temp | (low_g_int->low_hyst & BMI160_LOW_G_HYST_MASK);
+        temp = data_array[2] & ~BMI160_LOW_G_LOW_MODE_MASK;
+
+        /* Adding low-mode */
+        data_array[2] = temp | ((low_g_int->low_mode << 2) & BMI160_LOW_G_LOW_MODE_MASK);
+
+        /* Adding low-g threshold */
+        data_array[1] = low_g_int->low_thres;
+
+        /* Adding low-g interrupt delay */
+        data_array[0] = low_g_int->low_dur;
+
+        /* Writing data to INT_LOWHIGH 0,1,2 registers simultaneously*/
+        rslt = bmi160_set_regs(BMI160_INT_LOWHIGH_0_ADDR, data_array, 3, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the high-g interrupt.
+ */
+static int8_t enable_high_g_int(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Enable low-g interrupt in Int Enable 1 register */
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Adding high-g X-axis */
+        temp = data & ~BMI160_HIGH_G_X_INT_EN_MASK;
+        data = temp | (high_g_int_cfg->high_g_x & BMI160_HIGH_G_X_INT_EN_MASK);
+
+        /* Adding high-g Y-axis */
+        temp = data & ~BMI160_HIGH_G_Y_INT_EN_MASK;
+        data = temp | ((high_g_int_cfg->high_g_y << 1) & BMI160_HIGH_G_Y_INT_EN_MASK);
+
+        /* Adding high-g Z-axis */
+        temp = data & ~BMI160_HIGH_G_Z_INT_EN_MASK;
+        data = temp | ((high_g_int_cfg->high_g_z << 2) & BMI160_HIGH_G_Z_INT_EN_MASK);
+
+        /* write data to Int Enable 0 register */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the source of data(filter & pre-filter)
+ * for high-g interrupt.
+ */
+static int8_t config_high_g_data_src(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg,
+                                     const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+    uint8_t temp = 0;
+
+    /* Configure Int data 0 register to add source of interrupt */
+    rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data & ~BMI160_LOW_HIGH_SRC_INT_MASK;
+        data = temp | ((high_g_int_cfg->high_data_src << 7) & BMI160_LOW_HIGH_SRC_INT_MASK);
+
+        /* Write data to Data 0 address */
+        rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the necessary setting of high-g interrupt.
+ */
+static int8_t config_high_g_int_settg(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg,
+                                      const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data_array[3] = { 0, 0, 0 };
+
+    rslt = bmi160_get_regs(BMI160_INT_LOWHIGH_2_ADDR, &data_array[0], 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        temp = data_array[0] & ~BMI160_HIGH_G_HYST_MASK;
+
+        /* Adding high-g hysteresis */
+        data_array[0] = temp | ((high_g_int_cfg->high_hy << 6) & BMI160_HIGH_G_HYST_MASK);
+
+        /* Adding high-g duration */
+        data_array[1] = high_g_int_cfg->high_dur;
+
+        /* Adding high-g threshold */
+        data_array[2] = high_g_int_cfg->high_thres;
+        rslt = bmi160_set_regs(BMI160_INT_LOWHIGH_2_ADDR, data_array, 3, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the behavioural setting of interrupt pin.
+ */
+static int8_t config_int_out_ctrl(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data = 0;
+
+    /* Configuration of output interrupt signals on pins INT1 and INT2 are
+     * done in BMI160_INT_OUT_CTRL_ADDR register*/
+    rslt = bmi160_get_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* updating the interrupt pin structure to local structure */
+        const struct bmi160_int_pin_settg *intr_pin_sett = &(int_config->int_pin_settg);
+
+        /* Configuring channel 1 */
+        if (int_config->int_channel == BMI160_INT_CHANNEL_1)
+        {
+            /* Output enable */
+            temp = data & ~BMI160_INT1_OUTPUT_EN_MASK;
+            data = temp | ((intr_pin_sett->output_en << 3) & BMI160_INT1_OUTPUT_EN_MASK);
+
+            /* Output mode */
+            temp = data & ~BMI160_INT1_OUTPUT_MODE_MASK;
+            data = temp | ((intr_pin_sett->output_mode << 2) & BMI160_INT1_OUTPUT_MODE_MASK);
+
+            /* Output type */
+            temp = data & ~BMI160_INT1_OUTPUT_TYPE_MASK;
+            data = temp | ((intr_pin_sett->output_type << 1) & BMI160_INT1_OUTPUT_TYPE_MASK);
+
+            /* edge control */
+            temp = data & ~BMI160_INT1_EDGE_CTRL_MASK;
+            data = temp | ((intr_pin_sett->edge_ctrl) & BMI160_INT1_EDGE_CTRL_MASK);
+        }
+        else
+        {
+            /* Configuring channel 2 */
+            /* Output enable */
+            temp = data & ~BMI160_INT2_OUTPUT_EN_MASK;
+            data = temp | ((intr_pin_sett->output_en << 7) & BMI160_INT2_OUTPUT_EN_MASK);
+
+            /* Output mode */
+            temp = data & ~BMI160_INT2_OUTPUT_MODE_MASK;
+            data = temp | ((intr_pin_sett->output_mode << 6) & BMI160_INT2_OUTPUT_MODE_MASK);
+
+            /* Output type */
+            temp = data & ~BMI160_INT2_OUTPUT_TYPE_MASK;
+            data = temp | ((intr_pin_sett->output_type << 5) & BMI160_INT2_OUTPUT_TYPE_MASK);
+
+            /* edge control */
+            temp = data & ~BMI160_INT2_EDGE_CTRL_MASK;
+            data = temp | ((intr_pin_sett->edge_ctrl << 4) & BMI160_INT2_EDGE_CTRL_MASK);
+        }
+        rslt = bmi160_set_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API configure the mode(input enable, latch or non-latch) of interrupt pin.
+ */
+static int8_t config_int_latch(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t temp = 0;
+    uint8_t data = 0;
+
+    /* Configuration of latch on pins INT1 and INT2 are done in
+     * BMI160_INT_LATCH_ADDR register*/
+    rslt = bmi160_get_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* updating the interrupt pin structure to local structure */
+        const struct bmi160_int_pin_settg *intr_pin_sett = &(int_config->int_pin_settg);
+        if (int_config->int_channel == BMI160_INT_CHANNEL_1)
+        {
+            /* Configuring channel 1 */
+            /* Input enable */
+            temp = data & ~BMI160_INT1_INPUT_EN_MASK;
+            data = temp | ((intr_pin_sett->input_en << 4) & BMI160_INT1_INPUT_EN_MASK);
+        }
+        else
+        {
+            /* Configuring channel 2 */
+            /* Input enable */
+            temp = data & ~BMI160_INT2_INPUT_EN_MASK;
+            data = temp | ((intr_pin_sett->input_en << 5) & BMI160_INT2_INPUT_EN_MASK);
+        }
+
+        /* In case of latch interrupt,update the latch duration */
+
+        /* Latching holds the interrupt for the amount of latch
+         * duration time */
+        temp = data & ~BMI160_INT_LATCH_MASK;
+        data = temp | (intr_pin_sett->latch_dur & BMI160_INT_LATCH_MASK);
+
+        /* OUT_CTRL_INT and LATCH_INT address lie consecutively,
+         * hence writing data to respective registers at one go */
+        rslt = bmi160_set_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs the self test for accelerometer of BMI160
+ */
+static int8_t perform_accel_self_test(struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    struct bmi160_sensor_data accel_pos, accel_neg;
+
+    /* Enable Gyro self test bit */
+    rslt = enable_accel_self_test(dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Perform accel self test with positive excitation */
+        rslt = accel_self_test_positive_excitation(&accel_pos, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Perform accel self test with negative excitation */
+            rslt = accel_self_test_negative_excitation(&accel_neg, dev);
+            if (rslt == BMI160_OK)
+            {
+                /* Validate the self test result */
+                rslt = validate_accel_self_test(&accel_pos, &accel_neg);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables to perform the accel self test by setting proper
+ * configurations to facilitate accel self test
+ */
+static int8_t enable_accel_self_test(struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Set the Accel power mode as normal mode */
+    dev->accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
+
+    /* Set the sensor range configuration as 8G */
+    dev->accel_cfg.range = BMI160_ACCEL_RANGE_8G;
+    rslt = bmi160_set_sens_conf(dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Accel configurations are set to facilitate self test
+         * acc_odr - 1600Hz ; acc_bwp = 2 ; acc_us = 0 */
+        reg_data = BMI160_ACCEL_SELF_TEST_CONFIG;
+        rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, &reg_data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs accel self test with positive excitation
+ */
+static int8_t accel_self_test_positive_excitation(struct bmi160_sensor_data *accel_pos, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Enable accel self test with positive self-test excitation
+     * and with amplitude of deflection set as high */
+    reg_data = BMI160_ACCEL_SELF_TEST_POSITIVE_EN;
+    rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Read the data after a delay of 50ms - refer datasheet  2.8.1 accel self test*/
+        dev->delay_ms(BMI160_ACCEL_SELF_TEST_DELAY);
+        rslt = bmi160_get_sensor_data(BMI160_ACCEL_ONLY, accel_pos, NULL, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs accel self test with negative excitation
+ */
+static int8_t accel_self_test_negative_excitation(struct bmi160_sensor_data *accel_neg, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Enable accel self test with negative self-test excitation
+     * and with amplitude of deflection set as high */
+    reg_data = BMI160_ACCEL_SELF_TEST_NEGATIVE_EN;
+    rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Read the data after a delay of 50ms */
+        dev->delay_ms(BMI160_ACCEL_SELF_TEST_DELAY);
+        rslt = bmi160_get_sensor_data(BMI160_ACCEL_ONLY, accel_neg, NULL, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API validates the accel self test results
+ */
+static int8_t validate_accel_self_test(const struct bmi160_sensor_data *accel_pos,
+                                       const struct bmi160_sensor_data *accel_neg)
+{
+    int8_t rslt;
+
+    /* Validate the results of self test */
+    if (((accel_neg->x - accel_pos->x) > BMI160_ACCEL_SELF_TEST_LIMIT) &&
+        ((accel_neg->y - accel_pos->y) > BMI160_ACCEL_SELF_TEST_LIMIT) &&
+        ((accel_neg->z - accel_pos->z) > BMI160_ACCEL_SELF_TEST_LIMIT))
+    {
+        /* Self test pass condition */
+        rslt = BMI160_OK;
+    }
+    else
+    {
+        rslt = BMI160_W_ACCEl_SELF_TEST_FAIL;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs the self test for gyroscope of BMI160
+ */
+static int8_t perform_gyro_self_test(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+
+    /* Enable Gyro self test bit */
+    rslt = enable_gyro_self_test(dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Validate the gyro self test a delay of 50ms */
+        dev->delay_ms(50);
+
+        /* Validate the gyro self test results */
+        rslt = validate_gyro_self_test(dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables the self test bit to trigger self test for Gyro
+ */
+static int8_t enable_gyro_self_test(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Enable the Gyro self test bit to trigger the self test */
+    rslt = bmi160_get_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        reg_data = BMI160_SET_BITS(reg_data, BMI160_GYRO_SELF_TEST, 1);
+        rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Delay to enable gyro self test */
+            dev->delay_ms(15);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API validates the self test results of Gyro
+ */
+static int8_t validate_gyro_self_test(const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Validate the Gyro self test result */
+    rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+
+        reg_data = BMI160_GET_BITS(reg_data, BMI160_GYRO_SELF_TEST_STATUS);
+        if (reg_data == BMI160_ENABLE)
+        {
+            /* Gyro self test success case */
+            rslt = BMI160_OK;
+        }
+        else
+        {
+            rslt = BMI160_W_GYRO_SELF_TEST_FAIL;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API sets FIFO full interrupt of the sensor.This interrupt
+ *  occurs when the FIFO is full and the next full data sample would cause
+ *  a FIFO overflow, which may delete the old samples.
+ */
+static int8_t set_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->delay_ms == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /*enable the fifo full interrupt */
+        rslt = enable_fifo_full_int(int_config, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = map_hardware_interrupt(int_config, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This enable the FIFO full interrupt engine.
+ */
+static int8_t enable_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        data = BMI160_SET_BITS(data, BMI160_FIFO_FULL_INT, int_config->fifo_full_int_en);
+
+        /* Writing data to INT ENABLE 1 Address */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API sets FIFO watermark interrupt of the sensor.The FIFO
+ *  watermark interrupt is fired, when the FIFO fill level is above a fifo
+ *  watermark.
+ */
+static int8_t set_fifo_watermark_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+
+    if ((dev == NULL) || (dev->delay_ms == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Enable fifo-watermark interrupt in Int Enable 1 register */
+        rslt = enable_fifo_wtm_int(int_config, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Configure Interrupt pins */
+            rslt = set_intr_pin_config(int_config, dev);
+            if (rslt == BMI160_OK)
+            {
+                rslt = map_hardware_interrupt(int_config, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This enable the FIFO watermark interrupt engine.
+ */
+static int8_t enable_fifo_wtm_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data = 0;
+
+    rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        data = BMI160_SET_BITS(data, BMI160_FIFO_WTM_INT, int_config->fifo_wtm_int_en);
+
+        /* Writing data to INT ENABLE 1 Address */
+        rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to reset the FIFO related configurations
+ *  in the fifo_frame structure.
+ */
+static void reset_fifo_data_structure(const struct bmi160_dev *dev)
+{
+    /*Prepare for next FIFO read by resetting FIFO's
+     * internal data structures*/
+    dev->fifo->accel_byte_start_idx = 0;
+    dev->fifo->gyro_byte_start_idx = 0;
+    dev->fifo->aux_byte_start_idx = 0;
+    dev->fifo->sensor_time = 0;
+    dev->fifo->skipped_frame_count = 0;
+}
+
+/*!
+ *  @brief This API is used to read fifo_byte_counter value (i.e)
+ *  current fill-level in Fifo buffer.
+ */
+static int8_t get_fifo_byte_counter(uint16_t *bytes_to_read, struct bmi160_dev const *dev)
+{
+    int8_t rslt = 0;
+    uint8_t data[2];
+    uint8_t addr = BMI160_FIFO_LENGTH_ADDR;
+
+    rslt |= bmi160_get_regs(addr, data, 2, dev);
+    data[1] = data[1] & BMI160_FIFO_BYTE_COUNTER_MASK;
+
+    /* Available data in FIFO is stored in bytes_to_read*/
+    *bytes_to_read = (((uint16_t)data[1] << 8) | ((uint16_t)data[0]));
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to compute the number of bytes of accel FIFO data
+ *  which is to be parsed in header-less mode
+ */
+static void get_accel_len_to_parse(uint16_t *data_index,
+                                   uint16_t *data_read_length,
+                                   const uint8_t *acc_frame_count,
+                                   const struct bmi160_dev *dev)
+{
+    /* Data start index */
+    *data_index = dev->fifo->accel_byte_start_idx;
+    if (dev->fifo->fifo_data_enable == BMI160_FIFO_A_ENABLE)
+    {
+        *data_read_length = (*acc_frame_count) * BMI160_FIFO_A_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_G_A_ENABLE)
+    {
+        *data_read_length = (*acc_frame_count) * BMI160_FIFO_GA_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_A_ENABLE)
+    {
+        *data_read_length = (*acc_frame_count) * BMI160_FIFO_MA_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE)
+    {
+        *data_read_length = (*acc_frame_count) * BMI160_FIFO_MGA_LENGTH;
+    }
+    else
+    {
+        /* When accel is not enabled ,there will be no accel data.
+         * so we update the data index as complete */
+        *data_index = dev->fifo->length;
+    }
+    if (*data_read_length > dev->fifo->length)
+    {
+        /* Handling the case where more data is requested
+         * than that is available*/
+        *data_read_length = dev->fifo->length;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed.
+ */
+static void unpack_accel_frame(struct bmi160_sensor_data *acc,
+                               uint16_t *idx,
+                               uint8_t *acc_idx,
+                               uint8_t frame_info,
+                               const struct bmi160_dev *dev)
+{
+    switch (frame_info)
+    {
+        case BMI160_FIFO_HEAD_A:
+        case BMI160_FIFO_A_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_A_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /*Unpack the data array into the structure instance "acc" */
+            unpack_accel_data(&acc[*acc_idx], *idx, dev);
+
+            /*Move the data index*/
+            *idx = *idx + BMI160_FIFO_A_LENGTH;
+            (*acc_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_G_A:
+        case BMI160_FIFO_G_A_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_GA_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /*Unpack the data array into structure instance "acc"*/
+            unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_G_LENGTH, dev);
+
+            /*Move the data index*/
+            *idx = *idx + BMI160_FIFO_GA_LENGTH;
+            (*acc_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_M_A:
+        case BMI160_FIFO_M_A_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_MA_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /*Unpack the data array into structure instance "acc"*/
+            unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
+
+            /*Move the data index*/
+            *idx = *idx + BMI160_FIFO_MA_LENGTH;
+            (*acc_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_M_G_A:
+        case BMI160_FIFO_M_G_A_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /*Unpack the data array into structure instance "acc"*/
+            unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_MG_LENGTH, dev);
+
+            /*Move the data index*/
+            *idx = *idx + BMI160_FIFO_MGA_LENGTH;
+            (*acc_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_M:
+        case BMI160_FIFO_M_ENABLE:
+            (*idx) = (*idx) + BMI160_FIFO_M_LENGTH;
+            break;
+        case BMI160_FIFO_HEAD_G:
+        case BMI160_FIFO_G_ENABLE:
+            (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
+            break;
+        case BMI160_FIFO_HEAD_M_G:
+        case BMI160_FIFO_M_G_ENABLE:
+            (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
+            break;
+        default:
+            break;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
+ */
+static void unpack_accel_data(struct bmi160_sensor_data *accel_data,
+                              uint16_t data_start_index,
+                              const struct bmi160_dev *dev)
+{
+    uint16_t data_lsb;
+    uint16_t data_msb;
+
+    /* Accel raw x data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    accel_data->x = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Accel raw y data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    accel_data->y = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Accel raw z data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    accel_data->z = (int16_t)((data_msb << 8) | data_lsb);
+}
+
+/*!
+ *  @brief This API is used to parse the accelerometer data from the
+ *  FIFO data in header mode.
+ */
+static void extract_accel_header_mode(struct bmi160_sensor_data *accel_data,
+                                      uint8_t *accel_length,
+                                      const struct bmi160_dev *dev)
+{
+    uint8_t frame_header = 0;
+    uint16_t data_index;
+    uint8_t accel_index = 0;
+
+    for (data_index = dev->fifo->accel_byte_start_idx; data_index < dev->fifo->length;)
+    {
+        /* extracting Frame header */
+        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
+
+        /*Index is moved to next byte where the data is starting*/
+        data_index++;
+        switch (frame_header)
+        {
+            /* Accel frame */
+            case BMI160_FIFO_HEAD_A:
+            case BMI160_FIFO_HEAD_M_A:
+            case BMI160_FIFO_HEAD_G_A:
+            case BMI160_FIFO_HEAD_M_G_A:
+                unpack_accel_frame(accel_data, &data_index, &accel_index, frame_header, dev);
+                break;
+            case BMI160_FIFO_HEAD_M:
+                move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
+                break;
+            case BMI160_FIFO_HEAD_G:
+                move_next_frame(&data_index, BMI160_FIFO_G_LENGTH, dev);
+                break;
+            case BMI160_FIFO_HEAD_M_G:
+                move_next_frame(&data_index, BMI160_FIFO_MG_LENGTH, dev);
+                break;
+
+            /* Sensor time frame */
+            case BMI160_FIFO_HEAD_SENSOR_TIME:
+                unpack_sensortime_frame(&data_index, dev);
+                break;
+
+            /* Skip frame */
+            case BMI160_FIFO_HEAD_SKIP_FRAME:
+                unpack_skipped_frame(&data_index, dev);
+                break;
+
+            /* Input config frame */
+            case BMI160_FIFO_HEAD_INPUT_CONFIG:
+                move_next_frame(&data_index, 1, dev);
+                break;
+            case BMI160_FIFO_HEAD_OVER_READ:
+
+                /* Update the data index as complete in case of Over read */
+                data_index = dev->fifo->length;
+                break;
+            default:
+                break;
+        }
+        if (*accel_length == accel_index)
+        {
+            /* Number of frames to read completed */
+            break;
+        }
+    }
+
+    /*Update number of accel data read*/
+    *accel_length = accel_index;
+
+    /*Update the accel frame index*/
+    dev->fifo->accel_byte_start_idx = data_index;
+}
+
+/*!
+ *  @brief This API computes the number of bytes of gyro FIFO data
+ *  which is to be parsed in header-less mode
+ */
+static void get_gyro_len_to_parse(uint16_t *data_index,
+                                  uint16_t *data_read_length,
+                                  const uint8_t *gyro_frame_count,
+                                  const struct bmi160_dev *dev)
+{
+    /* Data start index */
+    *data_index = dev->fifo->gyro_byte_start_idx;
+    if (dev->fifo->fifo_data_enable == BMI160_FIFO_G_ENABLE)
+    {
+        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_G_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_G_A_ENABLE)
+    {
+        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_GA_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_ENABLE)
+    {
+        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_MG_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE)
+    {
+        *data_read_length = (*gyro_frame_count) * BMI160_FIFO_MGA_LENGTH;
+    }
+    else
+    {
+        /* When gyro is not enabled ,there will be no gyro data.
+         * so we update the data index as complete */
+        *data_index = dev->fifo->length;
+    }
+    if (*data_read_length > dev->fifo->length)
+    {
+        /* Handling the case where more data is requested
+         * than that is available*/
+        *data_read_length = dev->fifo->length;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the gyroscope's data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed.
+ */
+static void unpack_gyro_frame(struct bmi160_sensor_data *gyro,
+                              uint16_t *idx,
+                              uint8_t *gyro_idx,
+                              uint8_t frame_info,
+                              const struct bmi160_dev *dev)
+{
+    switch (frame_info)
+    {
+        case BMI160_FIFO_HEAD_G:
+        case BMI160_FIFO_G_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_G_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /*Unpack the data array into structure instance "gyro"*/
+            unpack_gyro_data(&gyro[*gyro_idx], *idx, dev);
+
+            /*Move the data index*/
+            (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
+            (*gyro_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_G_A:
+        case BMI160_FIFO_G_A_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_GA_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /* Unpack the data array into structure instance "gyro" */
+            unpack_gyro_data(&gyro[*gyro_idx], *idx, dev);
+
+            /* Move the data index */
+            *idx = *idx + BMI160_FIFO_GA_LENGTH;
+            (*gyro_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_M_G_A:
+        case BMI160_FIFO_M_G_A_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /*Unpack the data array into structure instance "gyro"*/
+            unpack_gyro_data(&gyro[*gyro_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
+
+            /*Move the data index*/
+            *idx = *idx + BMI160_FIFO_MGA_LENGTH;
+            (*gyro_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_M_A:
+        case BMI160_FIFO_M_A_ENABLE:
+
+            /* Move the data index */
+            *idx = *idx + BMI160_FIFO_MA_LENGTH;
+            break;
+        case BMI160_FIFO_HEAD_M:
+        case BMI160_FIFO_M_ENABLE:
+            (*idx) = (*idx) + BMI160_FIFO_M_LENGTH;
+            break;
+        case BMI160_FIFO_HEAD_M_G:
+        case BMI160_FIFO_M_G_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_MG_LENGTH) > dev->fifo->length)
+            {
+                /*Update the data index as complete*/
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /*Unpack the data array into structure instance "gyro"*/
+            unpack_gyro_data(&gyro[*gyro_idx], *idx + BMI160_FIFO_M_LENGTH, dev);
+
+            /*Move the data index*/
+            (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
+            (*gyro_idx)++;
+            break;
+        case BMI160_FIFO_HEAD_A:
+        case BMI160_FIFO_A_ENABLE:
+
+            /*Move the data index*/
+            *idx = *idx + BMI160_FIFO_A_LENGTH;
+            break;
+        default:
+            break;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the gyro data from the
+ *  FIFO data and store it in the instance of the structure bmi160_sensor_data.
+ */
+static void unpack_gyro_data(struct bmi160_sensor_data *gyro_data,
+                             uint16_t data_start_index,
+                             const struct bmi160_dev *dev)
+{
+    uint16_t data_lsb;
+    uint16_t data_msb;
+
+    /* Gyro raw x data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    gyro_data->x = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Gyro raw y data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    gyro_data->y = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Gyro raw z data */
+    data_lsb = dev->fifo->data[data_start_index++];
+    data_msb = dev->fifo->data[data_start_index++];
+    gyro_data->z = (int16_t)((data_msb << 8) | data_lsb);
+}
+
+/*!
+ *  @brief This API is used to parse the gyro data from the
+ *  FIFO data in header mode.
+ */
+static void extract_gyro_header_mode(struct bmi160_sensor_data *gyro_data,
+                                     uint8_t *gyro_length,
+                                     const struct bmi160_dev *dev)
+{
+    uint8_t frame_header = 0;
+    uint16_t data_index;
+    uint8_t gyro_index = 0;
+
+    for (data_index = dev->fifo->gyro_byte_start_idx; data_index < dev->fifo->length;)
+    {
+        /* extracting Frame header */
+        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
+
+        /*Index is moved to next byte where the data is starting*/
+        data_index++;
+        switch (frame_header)
+        {
+            /* GYRO frame */
+            case BMI160_FIFO_HEAD_G:
+            case BMI160_FIFO_HEAD_G_A:
+            case BMI160_FIFO_HEAD_M_G:
+            case BMI160_FIFO_HEAD_M_G_A:
+                unpack_gyro_frame(gyro_data, &data_index, &gyro_index, frame_header, dev);
+                break;
+            case BMI160_FIFO_HEAD_A:
+                move_next_frame(&data_index, BMI160_FIFO_A_LENGTH, dev);
+                break;
+            case BMI160_FIFO_HEAD_M:
+                move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
+                break;
+            case BMI160_FIFO_HEAD_M_A:
+                move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev);
+                break;
+
+            /* Sensor time frame */
+            case BMI160_FIFO_HEAD_SENSOR_TIME:
+                unpack_sensortime_frame(&data_index, dev);
+                break;
+
+            /* Skip frame */
+            case BMI160_FIFO_HEAD_SKIP_FRAME:
+                unpack_skipped_frame(&data_index, dev);
+                break;
+
+            /* Input config frame */
+            case BMI160_FIFO_HEAD_INPUT_CONFIG:
+                move_next_frame(&data_index, 1, dev);
+                break;
+            case BMI160_FIFO_HEAD_OVER_READ:
+
+                /* Update the data index as complete in case of over read */
+                data_index = dev->fifo->length;
+                break;
+            default:
+                break;
+        }
+        if (*gyro_length == gyro_index)
+        {
+            /*Number of frames to read completed*/
+            break;
+        }
+    }
+
+    /*Update number of gyro data read*/
+    *gyro_length = gyro_index;
+
+    /*Update the gyro frame index*/
+    dev->fifo->gyro_byte_start_idx = data_index;
+}
+
+/*!
+ *  @brief This API computes the number of bytes of aux FIFO data
+ *  which is to be parsed in header-less mode
+ */
+static void get_aux_len_to_parse(uint16_t *data_index,
+                                 uint16_t *data_read_length,
+                                 const uint8_t *aux_frame_count,
+                                 const struct bmi160_dev *dev)
+{
+    /* Data start index */
+    *data_index = dev->fifo->gyro_byte_start_idx;
+    if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_ENABLE)
+    {
+        *data_read_length = (*aux_frame_count) * BMI160_FIFO_M_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_A_ENABLE)
+    {
+        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MA_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_ENABLE)
+    {
+        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MG_LENGTH;
+    }
+    else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE)
+    {
+        *data_read_length = (*aux_frame_count) * BMI160_FIFO_MGA_LENGTH;
+    }
+    else
+    {
+        /* When aux is not enabled ,there will be no aux data.
+         * so we update the data index as complete */
+        *data_index = dev->fifo->length;
+    }
+    if (*data_read_length > dev->fifo->length)
+    {
+        /* Handling the case where more data is requested
+         * than that is available */
+        *data_read_length = dev->fifo->length;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the aux's data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed
+ */
+static void unpack_aux_frame(struct bmi160_aux_data *aux_data,
+                             uint16_t *idx,
+                             uint8_t *aux_index,
+                             uint8_t frame_info,
+                             const struct bmi160_dev *dev)
+{
+    switch (frame_info)
+    {
+        case BMI160_FIFO_HEAD_M:
+        case BMI160_FIFO_M_ENABLE:
+
+            /* Partial read, then skip the data */
+            if ((*idx + BMI160_FIFO_M_LENGTH) > dev->fifo->length)
+            {
+                /* Update the data index as complete */
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /* Unpack the data array into structure instance */
+            unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+
+            /* Move the data index */
+            *idx = *idx + BMI160_FIFO_M_LENGTH;
+            (*aux_index)++;
+            break;
+        case BMI160_FIFO_HEAD_M_A:
+        case BMI160_FIFO_M_A_ENABLE:
+
+            /* Partial read, then skip the data */
+            if ((*idx + BMI160_FIFO_MA_LENGTH) > dev->fifo->length)
+            {
+                /* Update the data index as complete */
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /* Unpack the data array into structure instance */
+            unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+
+            /* Move the data index */
+            *idx = *idx + BMI160_FIFO_MA_LENGTH;
+            (*aux_index)++;
+            break;
+        case BMI160_FIFO_HEAD_M_G:
+        case BMI160_FIFO_M_G_ENABLE:
+
+            /* Partial read, then skip the data */
+            if ((*idx + BMI160_FIFO_MG_LENGTH) > dev->fifo->length)
+            {
+                /* Update the data index as complete */
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /* Unpack the data array into structure instance */
+            unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+
+            /* Move the data index */
+            (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
+            (*aux_index)++;
+            break;
+        case BMI160_FIFO_HEAD_M_G_A:
+        case BMI160_FIFO_M_G_A_ENABLE:
+
+            /*Partial read, then skip the data*/
+            if ((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length)
+            {
+                /* Update the data index as complete */
+                *idx = dev->fifo->length;
+                break;
+            }
+
+            /* Unpack the data array into structure instance */
+            unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+
+            /*Move the data index*/
+            *idx = *idx + BMI160_FIFO_MGA_LENGTH;
+            (*aux_index)++;
+            break;
+        case BMI160_FIFO_HEAD_G:
+        case BMI160_FIFO_G_ENABLE:
+
+            /* Move the data index */
+            (*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
+            break;
+        case BMI160_FIFO_HEAD_G_A:
+        case BMI160_FIFO_G_A_ENABLE:
+
+            /* Move the data index */
+            *idx = *idx + BMI160_FIFO_GA_LENGTH;
+            break;
+        case BMI160_FIFO_HEAD_A:
+        case BMI160_FIFO_A_ENABLE:
+
+            /* Move the data index */
+            *idx = *idx + BMI160_FIFO_A_LENGTH;
+            break;
+        default:
+            break;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data and store it in the instance of the structure bmi160_aux_data.
+ */
+static void unpack_aux_data(struct bmi160_aux_data *aux_data, uint16_t data_start_index, const struct bmi160_dev *dev)
+{
+    /* Aux data bytes */
+    aux_data->data[0] = dev->fifo->data[data_start_index++];
+    aux_data->data[1] = dev->fifo->data[data_start_index++];
+    aux_data->data[2] = dev->fifo->data[data_start_index++];
+    aux_data->data[3] = dev->fifo->data[data_start_index++];
+    aux_data->data[4] = dev->fifo->data[data_start_index++];
+    aux_data->data[5] = dev->fifo->data[data_start_index++];
+    aux_data->data[6] = dev->fifo->data[data_start_index++];
+    aux_data->data[7] = dev->fifo->data[data_start_index++];
+}
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data in header mode.
+ */
+static void extract_aux_header_mode(struct bmi160_aux_data *aux_data, uint8_t *aux_length, const struct bmi160_dev *dev)
+{
+    uint8_t frame_header = 0;
+    uint16_t data_index;
+    uint8_t aux_index = 0;
+
+    for (data_index = dev->fifo->aux_byte_start_idx; data_index < dev->fifo->length;)
+    {
+        /* extracting Frame header */
+        frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
+
+        /*Index is moved to next byte where the data is starting*/
+        data_index++;
+        switch (frame_header)
+        {
+            /* Aux frame */
+            case BMI160_FIFO_HEAD_M:
+            case BMI160_FIFO_HEAD_M_A:
+            case BMI160_FIFO_HEAD_M_G:
+            case BMI160_FIFO_HEAD_M_G_A:
+                unpack_aux_frame(aux_data, &data_index, &aux_index, frame_header, dev);
+                break;
+            case BMI160_FIFO_HEAD_G:
+                move_next_frame(&data_index, BMI160_FIFO_G_LENGTH, dev);
+                break;
+            case BMI160_FIFO_HEAD_G_A:
+                move_next_frame(&data_index, BMI160_FIFO_GA_LENGTH, dev);
+                break;
+            case BMI160_FIFO_HEAD_A:
+                move_next_frame(&data_index, BMI160_FIFO_A_LENGTH, dev);
+                break;
+
+            /* Sensor time frame */
+            case BMI160_FIFO_HEAD_SENSOR_TIME:
+                unpack_sensortime_frame(&data_index, dev);
+                break;
+
+            /* Skip frame */
+            case BMI160_FIFO_HEAD_SKIP_FRAME:
+                unpack_skipped_frame(&data_index, dev);
+                break;
+
+            /* Input config frame */
+            case BMI160_FIFO_HEAD_INPUT_CONFIG:
+                move_next_frame(&data_index, 1, dev);
+                break;
+            case BMI160_FIFO_HEAD_OVER_READ:
+
+                /* Update the data index as complete in case
+                 * of over read */
+                data_index = dev->fifo->length;
+                break;
+            default:
+
+                /* Update the data index as complete in case of
+                 * getting other headers like 0x00 */
+                data_index = dev->fifo->length;
+                break;
+        }
+        if (*aux_length == aux_index)
+        {
+            /*Number of frames to read completed*/
+            break;
+        }
+    }
+
+    /* Update number of aux data read */
+    *aux_length = aux_index;
+
+    /* Update the aux frame index */
+    dev->fifo->aux_byte_start_idx = data_index;
+}
+
+/*!
+ *  @brief This API checks the presence of non-valid frames in the read fifo data.
+ */
+static void check_frame_validity(uint16_t *data_index, const struct bmi160_dev *dev)
+{
+    if ((*data_index + 2) < dev->fifo->length)
+    {
+        /* Check if FIFO is empty */
+        if ((dev->fifo->data[*data_index] == FIFO_CONFIG_MSB_CHECK) &&
+            (dev->fifo->data[*data_index + 1] == FIFO_CONFIG_LSB_CHECK))
+        {
+            /*Update the data index as complete*/
+            *data_index = dev->fifo->length;
+        }
+    }
+}
+
+/*!
+ *  @brief This API is used to move the data index ahead of the
+ *  current_frame_length parameter when unnecessary FIFO data appears while
+ *  extracting the user specified data.
+ */
+static void move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi160_dev *dev)
+{
+    /*Partial read, then move the data index to last data*/
+    if ((*data_index + current_frame_length) > dev->fifo->length)
+    {
+        /*Update the data index as complete*/
+        *data_index = dev->fifo->length;
+    }
+    else
+    {
+        /*Move the data index to next frame*/
+        *data_index = *data_index + current_frame_length;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse and store the sensor time from the
+ *  FIFO data in the structure instance dev.
+ */
+static void unpack_sensortime_frame(uint16_t *data_index, const struct bmi160_dev *dev)
+{
+    uint32_t sensor_time_byte3 = 0;
+    uint16_t sensor_time_byte2 = 0;
+    uint8_t sensor_time_byte1 = 0;
+
+    /*Partial read, then move the data index to last data*/
+    if ((*data_index + BMI160_SENSOR_TIME_LENGTH) > dev->fifo->length)
+    {
+        /*Update the data index as complete*/
+        *data_index = dev->fifo->length;
+    }
+    else
+    {
+        sensor_time_byte3 = dev->fifo->data[(*data_index) + BMI160_SENSOR_TIME_MSB_BYTE] << 16;
+        sensor_time_byte2 = dev->fifo->data[(*data_index) + BMI160_SENSOR_TIME_XLSB_BYTE] << 8;
+        sensor_time_byte1 = dev->fifo->data[(*data_index)];
+
+        /* Sensor time */
+        dev->fifo->sensor_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
+        *data_index = (*data_index) + BMI160_SENSOR_TIME_LENGTH;
+    }
+}
+
+/*!
+ *  @brief This API is used to parse and store the skipped_frame_count from
+ *  the FIFO data in the structure instance dev.
+ */
+static void unpack_skipped_frame(uint16_t *data_index, const struct bmi160_dev *dev)
+{
+    /*Partial read, then move the data index to last data*/
+    if (*data_index >= dev->fifo->length)
+    {
+        /*Update the data index as complete*/
+        *data_index = dev->fifo->length;
+    }
+    else
+    {
+        dev->fifo->skipped_frame_count = dev->fifo->data[*data_index];
+
+        /*Move the data index*/
+        *data_index = (*data_index) + 1;
+    }
+}
+
+/*!
+ *  @brief This API is used to get the FOC status from the sensor
+ */
+static int8_t get_foc_status(uint8_t *foc_status, struct bmi160_dev const *dev)
+{
+    int8_t rslt;
+    uint8_t data;
+
+    /* Read the FOC status from sensor */
+    rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &data, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Get the foc_status bit */
+        *foc_status = BMI160_GET_BITS(data, BMI160_FOC_STATUS);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to configure the offset enable bits in the sensor
+ */
+static int8_t configure_offset_enable(const struct bmi160_foc_conf *foc_conf, struct bmi160_dev const *dev)
+{
+    int8_t rslt;
+    uint8_t data;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt != BMI160_OK)
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        /* Read the FOC config from the sensor */
+        rslt = bmi160_get_regs(BMI160_OFFSET_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI160_OK)
+        {
+            /* Set the offset enable/disable for gyro */
+            data = BMI160_SET_BITS(data, BMI160_GYRO_OFFSET_EN, foc_conf->gyro_off_en);
+
+            /* Set the offset enable/disable for accel */
+            data = BMI160_SET_BITS(data, BMI160_ACCEL_OFFSET_EN, foc_conf->acc_off_en);
+
+            /* Set the offset config in the sensor */
+            rslt = bmi160_set_regs(BMI160_OFFSET_CONF_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+static int8_t trigger_foc(struct bmi160_offsets *offset, struct bmi160_dev const *dev)
+{
+    int8_t rslt;
+    uint8_t foc_status;
+    uint8_t cmd = BMI160_START_FOC_CMD;
+    uint8_t timeout = 0;
+    uint8_t data_array[20];
+
+    /* Start the FOC process */
+    rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
+    if (rslt == BMI160_OK)
+    {
+        /* Check the FOC status*/
+        rslt = get_foc_status(&foc_status, dev);
+        if ((rslt != BMI160_OK) || (foc_status != BMI160_ENABLE))
+        {
+            while ((foc_status != BMI160_ENABLE) && (timeout < 11))
+            {
+                /* Maximum time of 250ms is given in 10
+                 * steps of 25ms each - 250ms refer datasheet 2.9.1 */
+                dev->delay_ms(25);
+
+                /* Check the FOC status*/
+                rslt = get_foc_status(&foc_status, dev);
+                timeout++;
+            }
+            if ((rslt == BMI160_OK) && (foc_status == BMI160_ENABLE))
+            {
+                /* Get offset values from sensor */
+                rslt = bmi160_get_offsets(offset, dev);
+            }
+            else
+            {
+                /* FOC failure case */
+                rslt = BMI160_FOC_FAILURE;
+            }
+        }
+        if (rslt == BMI160_OK)
+        {
+            /* Read registers 0x04-0x17 */
+            rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 20, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/** @}*/
diff --git a/robosom_psoc_ws/Library/BMI160/bmi160.h b/robosom_psoc_ws/Library/BMI160/bmi160.h
new file mode 100644
index 0000000..44d9ab0
--- /dev/null
+++ b/robosom_psoc_ws/Library/BMI160/bmi160.h
@@ -0,0 +1,683 @@
+/**
+* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+*
+* BSD-3-Clause
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+*
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in the
+*    documentation and/or other materials provided with the distribution.
+*
+* 3. Neither the name of the copyright holder nor the names of its
+*    contributors may be used to endorse or promote products derived from
+*    this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+* @file bmi160.h
+* @date 10/01/2020
+* @version  3.8.1
+*
+*/
+
+/*!
+ * @defgroup bmi160
+ * @brief
+ * @{*/
+
+#ifndef BMI160_H_
+#define BMI160_H_
+
+/*************************** C++ guard macro *****************************/
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "bmi160_defs.h"
+#ifdef __KERNEL__
+#include <bmi160_math.h>
+#else
+#include <math.h>
+#include <string.h>
+#include <stdlib.h>
+#endif
+
+/*********************** User function prototypes ************************/
+
+/*!
+ *  @brief This API is the entry point for sensor.It performs
+ *  the selection of I2C/SPI read mechanism according to the
+ *  selected interface and reads the chip-id of bmi160 sensor.
+ *
+ *  @param[in,out] dev : Structure instance of bmi160_dev
+ *  @note : Refer user guide for detailed info.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_init(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API reads the data from the given register address of sensor.
+ *
+ * @param[in] reg_addr  : Register address from where the data to be read
+ * @param[out] data     : Pointer to data buffer to store the read data.
+ * @param[in] len       : No of bytes of data to be read.
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @note For most of the registers auto address increment applies, with the
+ * exception of a few special registers, which trap the address. For e.g.,
+ * Register address - 0x24(BMI160_FIFO_DATA_ADDR)
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API writes the given data to the register address
+ * of sensor.
+ *
+ * @param[in] reg_addr  : Register address from where the data to be written.
+ * @param[in] data      : Pointer to data buffer which is to be written
+ * in the sensor.
+ * @param[in] len       : No of bytes of data to write..
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API resets and restarts the device.
+ * All register values are overwritten with default parameters.
+ *
+ * @param[in] dev  : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+int8_t bmi160_soft_reset(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configures the power mode, range and bandwidth
+ * of sensor.
+ *
+ * @param[in] dev    : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+int8_t bmi160_set_sens_conf(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API sets the power mode of the sensor.
+ *
+ * @param[in] dev  : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+int8_t bmi160_set_power_mode(struct bmi160_dev *dev);
+
+/*!
+ * @brief This API gets the power mode of the sensor.
+ *
+ * @param[in] power_mode  : Power mode of the sensor
+ * @param[in] dev         : Structure instance of bmi160_dev
+ *
+ * power_mode Macros possible values for pmu_status->aux_pmu_status :
+ *  - BMI160_AUX_PMU_SUSPEND
+ *  - BMI160_AUX_PMU_NORMAL
+ *  - BMI160_AUX_PMU_LOW_POWER
+ *
+ * power_mode Macros possible values for pmu_status->gyro_pmu_status :
+ *  - BMI160_GYRO_PMU_SUSPEND
+ *  - BMI160_GYRO_PMU_NORMAL
+ *  - BMI160_GYRO_PMU_FSU
+ *
+ * power_mode Macros possible values for pmu_status->accel_pmu_status :
+ *  - BMI160_ACCEL_PMU_SUSPEND
+ *  - BMI160_ACCEL_PMU_NORMAL
+ *  - BMI160_ACCEL_PMU_LOW_POWER
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+int8_t bmi160_get_power_mode(struct bmi160_pmu_status *pmu_status, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API reads sensor data, stores it in
+ * the bmi160_sensor_data structure pointer passed by the user.
+ * The user can ask for accel data ,gyro data or both sensor
+ * data using bmi160_select_sensor enum
+ *
+ * @param[in] select_sensor    : enum to choose accel,gyro or both sensor data
+ * @param[out] accel    : Structure pointer to store accel data
+ * @param[out] gyro     : Structure pointer to store gyro data
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+int8_t bmi160_get_sensor_data(uint8_t select_sensor,
+                              struct bmi160_sensor_data *accel,
+                              struct bmi160_sensor_data *gyro,
+                              const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configures the necessary interrupt based on
+ *  the user settings in the bmi160_int_settg structure instance.
+ *
+ * @param[in] int_config  : Structure instance of bmi160_int_settg.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
+
+/*!
+ * @brief This API enables the step counter feature.
+ *
+ * @param[in] step_cnt_enable   : value to enable or disable
+ * @param[in] dev       : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API reads the step counter value.
+ *
+ * @param[in] step_val    : Pointer to store the step counter value.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API reads the mention no of byte of data from the given
+ * register address of auxiliary sensor.
+ *
+ * @param[in] reg_addr    : Address of register to read.
+ * @param[in] aux_data    : Pointer to store the read data.
+ * @param[in] len     : No of bytes to read.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API writes the mention no of byte of data to the given
+ * register address of auxiliary sensor.
+ *
+ * @param[in] reg_addr    : Address of register to write.
+ * @param[in] aux_data    : Pointer to write data.
+ * @param[in] len     : No of bytes to write.
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API initialize the auxiliary sensor
+ * in order to access it.
+ *
+ * @param[in] dev         : Structure instance of bmi160_dev.
+ * @note : Refer user guide for detailed info.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error
+ */
+int8_t bmi160_aux_init(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API is used to setup the auxiliary sensor of bmi160 in auto mode
+ * Thus enabling the auto update of 8 bytes of data from auxiliary sensor
+ * to BMI160 register address 0x04 to 0x0B
+ *
+ * @param[in] data_addr    : Starting address of aux. sensor's data register
+ *                           (BMI160 registers 0x04 to 0x0B will be updated
+ *                           with 8 bytes of data from auxiliary sensor
+ *                           starting from this register address.)
+ * @param[in] dev      : Structure instance of bmi160_dev.
+ *
+ * @note : Set the value of auxiliary polling rate by setting
+ *         dev->aux_cfg.aux_odr to the required value from the table
+ *         before calling this API
+ *
+ *   dev->aux_cfg.aux_odr  |   Auxiliary ODR (Hz)
+ *  -----------------------|-----------------------
+ *  BMI160_AUX_ODR_0_78HZ  |        25/32
+ *  BMI160_AUX_ODR_1_56HZ  |        25/16
+ *  BMI160_AUX_ODR_3_12HZ  |        25/8
+ *  BMI160_AUX_ODR_6_25HZ  |        25/4
+ *  BMI160_AUX_ODR_12_5HZ  |        25/2
+ *  BMI160_AUX_ODR_25HZ    |        25
+ *  BMI160_AUX_ODR_50HZ    |        50
+ *  BMI160_AUX_ODR_100HZ   |        100
+ *  BMI160_AUX_ODR_200HZ   |        200
+ *  BMI160_AUX_ODR_400HZ   |        400
+ *  BMI160_AUX_ODR_800HZ   |        800
+ *
+ * @note : Other values of  dev->aux_cfg.aux_odr are reserved and not for use
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev);
+
+/*!
+ * @brief This API configures the 0x4C register and settings like
+ * Auxiliary sensor manual enable/ disable and aux burst read length.
+ *
+ * @param[in] dev    : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev);
+
+/*!
+ * @brief This API is used to read the raw uncompensated auxiliary sensor
+ * data of 8 bytes from BMI160 register address 0x04 to 0x0B
+ *
+ * @param[in] aux_data       : Pointer to user array of length 8 bytes
+ *                             Ensure that the aux_data array is of
+ *                             length 8 bytes
+ * @param[in] dev        : Structure instance of bmi160_dev
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev);
+
+/*!
+ * @brief This is used to perform self test of accel/gyro of the BMI160 sensor
+ *
+ * @param[in] select_sensor  : enum to choose accel or gyro for self test
+ * @param[in] dev            : Structure instance of bmi160_dev
+ *
+ * @note self test can be performed either for accel/gyro at any instant.
+ *
+ *     value of select_sensor       |  Inference
+ *----------------------------------|--------------------------------
+ *   BMI160_ACCEL_ONLY              | Accel self test enabled
+ *   BMI160_GYRO_ONLY               | Gyro self test enabled
+ *   BMI160_BOTH_ACCEL_AND_GYRO     | NOT TO BE USED
+ *
+ * @note The return value of this API gives us the result of self test.
+ *
+ * @note Performing self test does soft reset of the sensor, User can
+ * set the desired settings after performing the self test.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error / +ve value -> Self-test fail
+ *
+ *   Return value                  |   Result of self test
+ * --------------------------------|---------------------------------
+ *  BMI160_OK                      |  Self test success
+ *  BMI160_W_GYRO_SELF_TEST_FAIL   |  Gyro self test fail
+ *  BMI160_W_ACCEl_SELF_TEST_FAIL  |  Accel self test fail
+ */
+int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API reads data from the fifo buffer.
+ *
+ *  @note User has to allocate the FIFO buffer along with
+ *  corresponding fifo length from his side before calling this API
+ *  as mentioned in the readme.md
+ *
+ *  @note User must specify the number of bytes to read from the FIFO in
+ *  dev->fifo->length , It will be updated by the number of bytes actually
+ *  read from FIFO after calling this API
+ *
+ *  @param[in] dev     : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success / -ve value -> Error
+ *
+ */
+int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API writes fifo_flush command to command register.This
+ *  action clears all data in the Fifo without changing fifo configuration
+ *  settings.
+ *
+ *  @param[in] dev     : Structure instance of bmi160_dev
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev);
+
+/*! @brief This API sets the FIFO configuration in the sensor.
+ *
+ *  @param[in] config : variable used to specify the FIFO
+ *  configurations which are to be enabled or disabled in the sensor.
+ *
+ *  @note : User can set either set one or more or all FIFO configurations
+ *  by ORing the below mentioned macros.
+ *      config                  |   Value
+ *      ------------------------|---------------------------
+ *      BMI160_FIFO_TIME        |   0x02
+ *      BMI160_FIFO_TAG_INT2    |   0x04
+ *      BMI160_FIFO_TAG_INT1    |   0x08
+ *      BMI160_FIFO_HEADER      |   0x10
+ *      BMI160_FIFO_AUX         |   0x20
+ *      BMI160_FIFO_ACCEL   |   0x40
+ *      BMI160_FIFO_GYRO        |   0x80
+ *
+ *  @param[in] enable : Parameter used to enable or disable the above
+ *  FIFO configuration
+ *  @param[in] dev : Structure instance of bmi160_dev.
+ *
+ *  @return status of bus communication result
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev);
+
+/*! @brief This API is used to configure the down sampling ratios of
+ *  the accel and gyro data for FIFO.Also, it configures filtered or
+ *  pre-filtered data for the fifo for accel and gyro.
+ *
+ *  @param[in] fifo_down : variable used to specify the FIFO down
+ *  configurations which are to be enabled or disabled in the sensor.
+ *
+ *  @note The user must select one among the following macros to
+ *  select down-sampling ratio for accel
+ *      config                               |   Value
+ *      -------------------------------------|---------------------------
+ *      BMI160_ACCEL_FIFO_DOWN_ZERO          |   0x00
+ *      BMI160_ACCEL_FIFO_DOWN_ONE           |   0x10
+ *      BMI160_ACCEL_FIFO_DOWN_TWO           |   0x20
+ *      BMI160_ACCEL_FIFO_DOWN_THREE         |   0x30
+ *      BMI160_ACCEL_FIFO_DOWN_FOUR          |   0x40
+ *      BMI160_ACCEL_FIFO_DOWN_FIVE          |   0x50
+ *      BMI160_ACCEL_FIFO_DOWN_SIX           |   0x60
+ *      BMI160_ACCEL_FIFO_DOWN_SEVEN         |   0x70
+ *
+ *  @note The user must select one among the following macros to
+ *  select down-sampling ratio for gyro
+ *
+ *      config                               |   Value
+ *      -------------------------------------|---------------------------
+ *      BMI160_GYRO_FIFO_DOWN_ZERO           |   0x00
+ *      BMI160_GYRO_FIFO_DOWN_ONE            |   0x01
+ *      BMI160_GYRO_FIFO_DOWN_TWO            |   0x02
+ *      BMI160_GYRO_FIFO_DOWN_THREE          |   0x03
+ *      BMI160_GYRO_FIFO_DOWN_FOUR           |   0x04
+ *      BMI160_GYRO_FIFO_DOWN_FIVE           |   0x05
+ *      BMI160_GYRO_FIFO_DOWN_SIX            |   0x06
+ *      BMI160_GYRO_FIFO_DOWN_SEVEN          |   0x07
+ *
+ *  @note The user can enable filtered accel data by the following macro
+ *      config                               |   Value
+ *      -------------------------------------|---------------------------
+ *      BMI160_ACCEL_FIFO_FILT_EN            |   0x80
+ *
+ *  @note The user can enable filtered gyro data by the following macro
+ *      config                               |   Value
+ *      -------------------------------------|---------------------------
+ *      BMI160_GYRO_FIFO_FILT_EN             |   0x08
+ *
+ *  @note : By ORing the above mentioned macros, the user can select
+ *  the required FIFO down config settings
+ *
+ *  @param[in] dev : Structure instance of bmi160_dev.
+ *
+ *  @return status of bus communication result
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API sets the FIFO watermark level in the sensor.
+ *
+ *  @note The FIFO watermark is issued when the FIFO fill level is
+ *  equal or above the watermark level and units of watermark is 4 bytes.
+ *
+ *  @param[in]  fifo_wm        : Variable used to set the FIFO water mark level
+ *  @param[in]  dev            : Structure instance of bmi160_dev
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API parses and extracts the accelerometer frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "accel_data" structure instance.
+ *
+ *  @note The bmi160_extract_accel API should be called only after
+ *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
+ *
+ *  @param[out] accel_data    : Structure instance of bmi160_sensor_data
+ *                              where the accelerometer data in FIFO is stored.
+ *  @param[in,out] accel_length  : Number of valid accelerometer frames
+ *                              (x,y,z axes data) read out from fifo.
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @note accel_length is updated with the number of valid accelerometer
+ *  frames extracted from fifo (1 accel frame   = 6 bytes) at the end of
+ *  execution of this API.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API parses and extracts the gyro frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "gyro_data" structure instance.
+ *
+ *  @note The bmi160_extract_gyro API should be called only after
+ *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
+ *
+ *  @param[out] gyro_data    : Structure instance of bmi160_sensor_data
+ *                             where the gyro data in FIFO is stored.
+ *  @param[in,out] gyro_length  : Number of valid gyro frames
+ *                             (x,y,z axes data) read out from fifo.
+ *  @param[in] dev           : Structure instance of bmi160_dev.
+ *
+ *  @note gyro_length is updated with the number of valid gyro
+ *  frames extracted from fifo (1 gyro frame   = 6 bytes) at the end of
+ *  execution of this API.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API parses and extracts the aux frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the bmi160_aux_data structure instance.
+ *
+ *  @note The bmi160_extract_aux API should be called only after
+ *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
+ *
+ *  @param[out] aux_data    : Structure instance of bmi160_aux_data
+ *                            where the aux data in FIFO is stored.
+ *  @param[in,out] aux_len  : Number of valid aux frames (8bytes)
+ *                            read out from FIFO.
+ *  @param[in] dev          : Structure instance of bmi160_dev.
+ *
+ *  @note aux_len is updated with the number of valid aux
+ *  frames extracted from fifo (1 aux frame = 8 bytes) at the end of
+ *  execution of this API.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API starts the FOC of accel and gyro
+ *
+ *  @note FOC should not be used in low-power mode of sensor
+ *
+ *  @note Accel FOC targets values of +1g , 0g , -1g
+ *  Gyro FOC always targets value of 0 dps
+ *
+ *  @param[in] foc_conf    : Structure instance of bmi160_foc_conf which
+ *                                   has the FOC configuration
+ *  @param[in,out] offset  : Structure instance to store Offset
+ *                                   values read from sensor
+ *  @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ *  @note Pre-requisites for triggering FOC in accel , Set the following,
+ *   Enable the acc_off_en
+ *       Ex :  foc_conf.acc_off_en = BMI160_ENABLE;
+ *
+ *   Set the desired target values of FOC to each axes (x,y,z) by using the
+ *   following macros
+ *       - BMI160_FOC_ACCEL_DISABLED
+ *       - BMI160_FOC_ACCEL_POSITIVE_G
+ *       - BMI160_FOC_ACCEL_NEGATIVE_G
+ *       - BMI160_FOC_ACCEL_0G
+ *
+ *   Ex : foc_conf.foc_acc_x  = BMI160_FOC_ACCEL_0G;
+ *        foc_conf.foc_acc_y  = BMI160_FOC_ACCEL_0G;
+ *        foc_conf.foc_acc_z  = BMI160_FOC_ACCEL_POSITIVE_G;
+ *
+ *  @note Pre-requisites for triggering FOC in gyro ,
+ *  Set the following parameters,
+ *
+ *   Ex : foc_conf.foc_gyr_en = BMI160_ENABLE;
+ *        foc_conf.gyro_off_en = BMI160_ENABLE;
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf,
+                        struct bmi160_offsets *offset,
+                        struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API reads and stores the offset values of accel and gyro
+ *
+ *  @param[in,out] offset : Structure instance of bmi160_offsets in which
+ *                          the offset values are read and stored
+ *  @param[in] dev        : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API writes the offset values of accel and gyro to
+ *  the sensor but these values will be reset on POR or soft reset.
+ *
+ *  @param[in] foc_conf    : Structure instance of bmi160_foc_conf which
+ *                                   has the FOC configuration
+ *  @param[in] offset      : Structure instance in which user updates offset
+ *                            values which are to be written in the sensor
+ *  @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ *  @note Offsets can be set by user like offset->off_acc_x = 10;
+ *  where 1LSB = 3.9mg and for gyro 1LSB = 0.061degrees/second
+ *
+ * @note BMI160 offset values for xyz axes of accel should be within range of
+ *  BMI160_ACCEL_MIN_OFFSET (-128) to BMI160_ACCEL_MAX_OFFSET (127)
+ *
+ * @note BMI160 offset values for xyz axes of gyro should be within range of
+ *  BMI160_GYRO_MIN_OFFSET (-512) to BMI160_GYRO_MAX_OFFSET (511)
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf,
+                          const struct bmi160_offsets *offset,
+                          struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API writes the image registers values to NVM which is
+ *  stored even after POR or soft reset
+ *
+ *  @param[in] dev         : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_update_nvm(struct bmi160_dev const *dev);
+
+/*!
+ *  @brief This API gets the interrupt status from the sensor.
+ *
+ *  @param[in] int_status_sel       : Enum variable to select either individual or all the
+ *  interrupt status bits.
+ *  @param[in] int_status           : pointer variable to get the interrupt status
+ *  from the sensor.
+ *  param[in] dev                   : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
+                             union bmi160_int_status *int_status,
+                             struct bmi160_dev const *dev);
+
+/*************************** C++ guard macro *****************************/
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* BMI160_H_ */
+/** @}*/
diff --git a/robosom_psoc_ws/Library/BMI160/bmi160_defs.h b/robosom_psoc_ws/Library/BMI160/bmi160_defs.h
new file mode 100644
index 0000000..9904a46
--- /dev/null
+++ b/robosom_psoc_ws/Library/BMI160/bmi160_defs.h
@@ -0,0 +1,1675 @@
+/**
+* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+*
+* BSD-3-Clause
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+*
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in the
+*    documentation and/or other materials provided with the distribution.
+*
+* 3. Neither the name of the copyright holder nor the names of its
+*    contributors may be used to endorse or promote products derived from
+*    this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+* @file bmi160_defs.h
+* @date 10/01/2020
+* @version  3.8.1
+*
+*/
+
+/*!
+ * @defgroup bmi160_defs
+ * @brief
+ * @{*/
+
+#ifndef BMI160_DEFS_H_
+#define BMI160_DEFS_H_
+
+/*************************** C types headers *****************************/
+#ifdef __KERNEL__
+#include <linux/types.h>
+#include <linux/kernel.h>
+#else
+#include <stdint.h>
+#include <stddef.h>
+#endif
+
+/*************************** Common macros   *****************************/
+
+#if !defined(UINT8_C) && !defined(INT8_C)
+#define INT8_C(x)   S8_C(x)
+#define UINT8_C(x)  U8_C(x)
+#endif
+
+#if !defined(UINT16_C) && !defined(INT16_C)
+#define INT16_C(x)  S16_C(x)
+#define UINT16_C(x) U16_C(x)
+#endif
+
+#if !defined(INT32_C) && !defined(UINT32_C)
+#define INT32_C(x)  S32_C(x)
+#define UINT32_C(x) U32_C(x)
+#endif
+
+#if !defined(INT64_C) && !defined(UINT64_C)
+#define INT64_C(x)  S64_C(x)
+#define UINT64_C(x) U64_C(x)
+#endif
+
+/**@}*/
+/**\name C standard macros */
+#ifndef NULL
+#ifdef __cplusplus
+#define NULL 0
+#else
+#define NULL ((void *) 0)
+#endif
+#endif
+
+/*************************** Sensor macros   *****************************/
+/* Test for an endian machine */
+#ifndef __ORDER_LITTLE_ENDIAN__
+#define __ORDER_LITTLE_ENDIAN__ 0
+#endif
+
+#ifndef __BYTE_ORDER__
+#define __BYTE_ORDER__          __ORDER_LITTLE_ENDIAN__
+#endif
+
+#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
+#ifndef LITTLE_ENDIAN
+#define LITTLE_ENDIAN           1
+#endif
+#elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
+#ifndef BIG_ENDIAN
+#define BIG_ENDIAN              1
+#endif
+#else
+#error "Code does not support Endian format of the processor"
+#endif
+
+/** Mask definitions */
+#define BMI160_ACCEL_BW_MASK                 UINT8_C(0x70)
+#define BMI160_ACCEL_ODR_MASK                UINT8_C(0x0F)
+#define BMI160_ACCEL_UNDERSAMPLING_MASK      UINT8_C(0x80)
+#define BMI160_ACCEL_RANGE_MASK              UINT8_C(0x0F)
+#define BMI160_GYRO_BW_MASK                  UINT8_C(0x30)
+#define BMI160_GYRO_ODR_MASK                 UINT8_C(0x0F)
+#define BMI160_GYRO_RANGE_MSK                UINT8_C(0x07)
+
+/** Mask definitions for INT_EN registers */
+#define BMI160_ANY_MOTION_X_INT_EN_MASK      UINT8_C(0x01)
+#define BMI160_HIGH_G_X_INT_EN_MASK          UINT8_C(0x01)
+#define BMI160_NO_MOTION_X_INT_EN_MASK       UINT8_C(0x01)
+#define BMI160_ANY_MOTION_Y_INT_EN_MASK      UINT8_C(0x02)
+#define BMI160_HIGH_G_Y_INT_EN_MASK          UINT8_C(0x02)
+#define BMI160_NO_MOTION_Y_INT_EN_MASK       UINT8_C(0x02)
+#define BMI160_ANY_MOTION_Z_INT_EN_MASK      UINT8_C(0x04)
+#define BMI160_HIGH_G_Z_INT_EN_MASK          UINT8_C(0x04)
+#define BMI160_NO_MOTION_Z_INT_EN_MASK       UINT8_C(0x04)
+#define BMI160_SIG_MOTION_INT_EN_MASK        UINT8_C(0x07)
+#define BMI160_ANY_MOTION_ALL_INT_EN_MASK    UINT8_C(0x07)
+#define BMI160_STEP_DETECT_INT_EN_MASK       UINT8_C(0x08)
+#define BMI160_DOUBLE_TAP_INT_EN_MASK        UINT8_C(0x10)
+#define BMI160_SINGLE_TAP_INT_EN_MASK        UINT8_C(0x20)
+#define BMI160_FIFO_FULL_INT_EN_MASK         UINT8_C(0x20)
+#define BMI160_ORIENT_INT_EN_MASK            UINT8_C(0x40)
+#define BMI160_FIFO_WATERMARK_INT_EN_MASK    UINT8_C(0x40)
+#define BMI160_LOW_G_INT_EN_MASK             UINT8_C(0x08)
+#define BMI160_STEP_DETECT_EN_MASK           UINT8_C(0x08)
+#define BMI160_FLAT_INT_EN_MASK              UINT8_C(0x80)
+#define BMI160_DATA_RDY_INT_EN_MASK          UINT8_C(0x10)
+
+/** PMU status Macros */
+#define BMI160_AUX_PMU_SUSPEND               UINT8_C(0x00)
+#define BMI160_AUX_PMU_NORMAL                UINT8_C(0x01)
+#define BMI160_AUX_PMU_LOW_POWER             UINT8_C(0x02)
+
+#define BMI160_GYRO_PMU_SUSPEND              UINT8_C(0x00)
+#define BMI160_GYRO_PMU_NORMAL               UINT8_C(0x01)
+#define BMI160_GYRO_PMU_FSU                  UINT8_C(0x03)
+
+#define BMI160_ACCEL_PMU_SUSPEND             UINT8_C(0x00)
+#define BMI160_ACCEL_PMU_NORMAL              UINT8_C(0x01)
+#define BMI160_ACCEL_PMU_LOW_POWER           UINT8_C(0x02)
+
+/** Mask definitions for INT_OUT_CTRL register */
+#define BMI160_INT1_EDGE_CTRL_MASK           UINT8_C(0x01)
+#define BMI160_INT1_OUTPUT_MODE_MASK         UINT8_C(0x04)
+#define BMI160_INT1_OUTPUT_TYPE_MASK         UINT8_C(0x02)
+#define BMI160_INT1_OUTPUT_EN_MASK           UINT8_C(0x08)
+#define BMI160_INT2_EDGE_CTRL_MASK           UINT8_C(0x10)
+#define BMI160_INT2_OUTPUT_MODE_MASK         UINT8_C(0x40)
+#define BMI160_INT2_OUTPUT_TYPE_MASK         UINT8_C(0x20)
+#define BMI160_INT2_OUTPUT_EN_MASK           UINT8_C(0x80)
+
+/** Mask definitions for INT_LATCH register */
+#define BMI160_INT1_INPUT_EN_MASK            UINT8_C(0x10)
+#define BMI160_INT2_INPUT_EN_MASK            UINT8_C(0x20)
+#define BMI160_INT_LATCH_MASK                UINT8_C(0x0F)
+
+/** Mask definitions for INT_MAP register */
+#define BMI160_INT1_LOW_G_MASK               UINT8_C(0x01)
+#define BMI160_INT1_HIGH_G_MASK              UINT8_C(0x02)
+#define BMI160_INT1_SLOPE_MASK               UINT8_C(0x04)
+#define BMI160_INT1_NO_MOTION_MASK           UINT8_C(0x08)
+#define BMI160_INT1_DOUBLE_TAP_MASK          UINT8_C(0x10)
+#define BMI160_INT1_SINGLE_TAP_MASK          UINT8_C(0x20)
+#define BMI160_INT1_FIFO_FULL_MASK           UINT8_C(0x20)
+#define BMI160_INT1_FIFO_WM_MASK             UINT8_C(0x40)
+#define BMI160_INT1_ORIENT_MASK              UINT8_C(0x40)
+#define BMI160_INT1_FLAT_MASK                UINT8_C(0x80)
+#define BMI160_INT1_DATA_READY_MASK          UINT8_C(0x80)
+#define BMI160_INT2_LOW_G_MASK               UINT8_C(0x01)
+#define BMI160_INT1_LOW_STEP_DETECT_MASK     UINT8_C(0x01)
+#define BMI160_INT2_LOW_STEP_DETECT_MASK     UINT8_C(0x01)
+#define BMI160_INT2_HIGH_G_MASK              UINT8_C(0x02)
+#define BMI160_INT2_FIFO_FULL_MASK           UINT8_C(0x02)
+#define BMI160_INT2_FIFO_WM_MASK             UINT8_C(0x04)
+#define BMI160_INT2_SLOPE_MASK               UINT8_C(0x04)
+#define BMI160_INT2_DATA_READY_MASK          UINT8_C(0x08)
+#define BMI160_INT2_NO_MOTION_MASK           UINT8_C(0x08)
+#define BMI160_INT2_DOUBLE_TAP_MASK          UINT8_C(0x10)
+#define BMI160_INT2_SINGLE_TAP_MASK          UINT8_C(0x20)
+#define BMI160_INT2_ORIENT_MASK              UINT8_C(0x40)
+#define BMI160_INT2_FLAT_MASK                UINT8_C(0x80)
+
+/** Mask definitions for INT_DATA register */
+#define BMI160_TAP_SRC_INT_MASK              UINT8_C(0x08)
+#define BMI160_LOW_HIGH_SRC_INT_MASK         UINT8_C(0x80)
+#define BMI160_MOTION_SRC_INT_MASK           UINT8_C(0x80)
+
+/** Mask definitions for INT_MOTION register */
+#define BMI160_SLOPE_INT_DUR_MASK            UINT8_C(0x03)
+#define BMI160_NO_MOTION_INT_DUR_MASK        UINT8_C(0xFC)
+#define BMI160_NO_MOTION_SEL_BIT_MASK        UINT8_C(0x01)
+
+/** Mask definitions for INT_TAP register */
+#define BMI160_TAP_DUR_MASK                  UINT8_C(0x07)
+#define BMI160_TAP_SHOCK_DUR_MASK            UINT8_C(0x40)
+#define BMI160_TAP_QUIET_DUR_MASK            UINT8_C(0x80)
+#define BMI160_TAP_THRES_MASK                UINT8_C(0x1F)
+
+/** Mask definitions for INT_FLAT register */
+#define BMI160_FLAT_THRES_MASK               UINT8_C(0x3F)
+#define BMI160_FLAT_HOLD_TIME_MASK           UINT8_C(0x30)
+#define BMI160_FLAT_HYST_MASK                UINT8_C(0x07)
+
+/** Mask definitions for INT_LOWHIGH register */
+#define BMI160_LOW_G_HYST_MASK               UINT8_C(0x03)
+#define BMI160_LOW_G_LOW_MODE_MASK           UINT8_C(0x04)
+#define BMI160_HIGH_G_HYST_MASK              UINT8_C(0xC0)
+
+/** Mask definitions for INT_SIG_MOTION register */
+#define BMI160_SIG_MOTION_SEL_MASK           UINT8_C(0x02)
+#define BMI160_SIG_MOTION_SKIP_MASK          UINT8_C(0x0C)
+#define BMI160_SIG_MOTION_PROOF_MASK         UINT8_C(0x30)
+
+/** Mask definitions for INT_ORIENT register */
+#define BMI160_ORIENT_MODE_MASK              UINT8_C(0x03)
+#define BMI160_ORIENT_BLOCK_MASK             UINT8_C(0x0C)
+#define BMI160_ORIENT_HYST_MASK              UINT8_C(0xF0)
+#define BMI160_ORIENT_THETA_MASK             UINT8_C(0x3F)
+#define BMI160_ORIENT_UD_ENABLE              UINT8_C(0x40)
+#define BMI160_AXES_EN_MASK                  UINT8_C(0x80)
+
+/** Mask definitions for FIFO_CONFIG register */
+#define BMI160_FIFO_GYRO                     UINT8_C(0x80)
+#define BMI160_FIFO_ACCEL                    UINT8_C(0x40)
+#define BMI160_FIFO_AUX                      UINT8_C(0x20)
+#define BMI160_FIFO_TAG_INT1                 UINT8_C(0x08)
+#define BMI160_FIFO_TAG_INT2                 UINT8_C(0x04)
+#define BMI160_FIFO_TIME                     UINT8_C(0x02)
+#define BMI160_FIFO_HEADER                   UINT8_C(0x10)
+#define BMI160_FIFO_CONFIG_1_MASK            UINT8_C(0xFE)
+
+/** Mask definitions for STEP_CONF register */
+#define BMI160_STEP_COUNT_EN_BIT_MASK        UINT8_C(0x08)
+#define BMI160_STEP_DETECT_MIN_THRES_MASK    UINT8_C(0x18)
+#define BMI160_STEP_DETECT_STEPTIME_MIN_MASK UINT8_C(0x07)
+#define BMI160_STEP_MIN_BUF_MASK             UINT8_C(0x07)
+
+/** Mask definition for FIFO Header Data Tag */
+#define BMI160_FIFO_TAG_INTR_MASK            UINT8_C(0xFC)
+
+/** Fifo byte counter mask definitions */
+#define BMI160_FIFO_BYTE_COUNTER_MASK        UINT8_C(0x07)
+
+/** Enable/disable bit value */
+#define BMI160_ENABLE                        UINT8_C(0x01)
+#define BMI160_DISABLE                       UINT8_C(0x00)
+
+/** Latch Duration */
+#define BMI160_LATCH_DUR_NONE                UINT8_C(0x00)
+#define BMI160_LATCH_DUR_312_5_MICRO_SEC     UINT8_C(0x01)
+#define BMI160_LATCH_DUR_625_MICRO_SEC       UINT8_C(0x02)
+#define BMI160_LATCH_DUR_1_25_MILLI_SEC      UINT8_C(0x03)
+#define BMI160_LATCH_DUR_2_5_MILLI_SEC       UINT8_C(0x04)
+#define BMI160_LATCH_DUR_5_MILLI_SEC         UINT8_C(0x05)
+#define BMI160_LATCH_DUR_10_MILLI_SEC        UINT8_C(0x06)
+#define BMI160_LATCH_DUR_20_MILLI_SEC        UINT8_C(0x07)
+#define BMI160_LATCH_DUR_40_MILLI_SEC        UINT8_C(0x08)
+#define BMI160_LATCH_DUR_80_MILLI_SEC        UINT8_C(0x09)
+#define BMI160_LATCH_DUR_160_MILLI_SEC       UINT8_C(0x0A)
+#define BMI160_LATCH_DUR_320_MILLI_SEC       UINT8_C(0x0B)
+#define BMI160_LATCH_DUR_640_MILLI_SEC       UINT8_C(0x0C)
+#define BMI160_LATCH_DUR_1_28_SEC            UINT8_C(0x0D)
+#define BMI160_LATCH_DUR_2_56_SEC            UINT8_C(0x0E)
+#define BMI160_LATCHED                       UINT8_C(0x0F)
+
+/** BMI160 Register map */
+#define BMI160_CHIP_ID_ADDR                  UINT8_C(0x00)
+#define BMI160_ERROR_REG_ADDR                UINT8_C(0x02)
+#define BMI160_PMU_STATUS_ADDR               UINT8_C(0x03)
+#define BMI160_AUX_DATA_ADDR                 UINT8_C(0x04)
+#define BMI160_GYRO_DATA_ADDR                UINT8_C(0x0C)
+#define BMI160_ACCEL_DATA_ADDR               UINT8_C(0x12)
+#define BMI160_STATUS_ADDR                   UINT8_C(0x1B)
+#define BMI160_INT_STATUS_ADDR               UINT8_C(0x1C)
+#define BMI160_FIFO_LENGTH_ADDR              UINT8_C(0x22)
+#define BMI160_FIFO_DATA_ADDR                UINT8_C(0x24)
+#define BMI160_ACCEL_CONFIG_ADDR             UINT8_C(0x40)
+#define BMI160_ACCEL_RANGE_ADDR              UINT8_C(0x41)
+#define BMI160_GYRO_CONFIG_ADDR              UINT8_C(0x42)
+#define BMI160_GYRO_RANGE_ADDR               UINT8_C(0x43)
+#define BMI160_AUX_ODR_ADDR                  UINT8_C(0x44)
+#define BMI160_FIFO_DOWN_ADDR                UINT8_C(0x45)
+#define BMI160_FIFO_CONFIG_0_ADDR            UINT8_C(0x46)
+#define BMI160_FIFO_CONFIG_1_ADDR            UINT8_C(0x47)
+#define BMI160_AUX_IF_0_ADDR                 UINT8_C(0x4B)
+#define BMI160_AUX_IF_1_ADDR                 UINT8_C(0x4C)
+#define BMI160_AUX_IF_2_ADDR                 UINT8_C(0x4D)
+#define BMI160_AUX_IF_3_ADDR                 UINT8_C(0x4E)
+#define BMI160_AUX_IF_4_ADDR                 UINT8_C(0x4F)
+#define BMI160_INT_ENABLE_0_ADDR             UINT8_C(0x50)
+#define BMI160_INT_ENABLE_1_ADDR             UINT8_C(0x51)
+#define BMI160_INT_ENABLE_2_ADDR             UINT8_C(0x52)
+#define BMI160_INT_OUT_CTRL_ADDR             UINT8_C(0x53)
+#define BMI160_INT_LATCH_ADDR                UINT8_C(0x54)
+#define BMI160_INT_MAP_0_ADDR                UINT8_C(0x55)
+#define BMI160_INT_MAP_1_ADDR                UINT8_C(0x56)
+#define BMI160_INT_MAP_2_ADDR                UINT8_C(0x57)
+#define BMI160_INT_DATA_0_ADDR               UINT8_C(0x58)
+#define BMI160_INT_DATA_1_ADDR               UINT8_C(0x59)
+#define BMI160_INT_LOWHIGH_0_ADDR            UINT8_C(0x5A)
+#define BMI160_INT_LOWHIGH_1_ADDR            UINT8_C(0x5B)
+#define BMI160_INT_LOWHIGH_2_ADDR            UINT8_C(0x5C)
+#define BMI160_INT_LOWHIGH_3_ADDR            UINT8_C(0x5D)
+#define BMI160_INT_LOWHIGH_4_ADDR            UINT8_C(0x5E)
+#define BMI160_INT_MOTION_0_ADDR             UINT8_C(0x5F)
+#define BMI160_INT_MOTION_1_ADDR             UINT8_C(0x60)
+#define BMI160_INT_MOTION_2_ADDR             UINT8_C(0x61)
+#define BMI160_INT_MOTION_3_ADDR             UINT8_C(0x62)
+#define BMI160_INT_TAP_0_ADDR                UINT8_C(0x63)
+#define BMI160_INT_TAP_1_ADDR                UINT8_C(0x64)
+#define BMI160_INT_ORIENT_0_ADDR             UINT8_C(0x65)
+#define BMI160_INT_ORIENT_1_ADDR             UINT8_C(0x66)
+#define BMI160_INT_FLAT_0_ADDR               UINT8_C(0x67)
+#define BMI160_INT_FLAT_1_ADDR               UINT8_C(0x68)
+#define BMI160_FOC_CONF_ADDR                 UINT8_C(0x69)
+#define BMI160_CONF_ADDR                     UINT8_C(0x6A)
+
+#define BMI160_IF_CONF_ADDR                  UINT8_C(0x6B)
+#define BMI160_SELF_TEST_ADDR                UINT8_C(0x6D)
+#define BMI160_OFFSET_ADDR                   UINT8_C(0x71)
+#define BMI160_OFFSET_CONF_ADDR              UINT8_C(0x77)
+#define BMI160_INT_STEP_CNT_0_ADDR           UINT8_C(0x78)
+#define BMI160_INT_STEP_CONFIG_0_ADDR        UINT8_C(0x7A)
+#define BMI160_INT_STEP_CONFIG_1_ADDR        UINT8_C(0x7B)
+#define BMI160_COMMAND_REG_ADDR              UINT8_C(0x7E)
+#define BMI160_SPI_COMM_TEST_ADDR            UINT8_C(0x7F)
+#define BMI160_INTL_PULLUP_CONF_ADDR         UINT8_C(0x85)
+
+/** Error code definitions */
+#define BMI160_OK                            INT8_C(0)
+#define BMI160_E_NULL_PTR                    INT8_C(-1)
+#define BMI160_E_COM_FAIL                    INT8_C(-2)
+#define BMI160_E_DEV_NOT_FOUND               INT8_C(-3)
+#define BMI160_E_OUT_OF_RANGE                INT8_C(-4)
+#define BMI160_E_INVALID_INPUT               INT8_C(-5)
+#define BMI160_E_ACCEL_ODR_BW_INVALID        INT8_C(-6)
+#define BMI160_E_GYRO_ODR_BW_INVALID         INT8_C(-7)
+#define BMI160_E_LWP_PRE_FLTR_INT_INVALID    INT8_C(-8)
+#define BMI160_E_LWP_PRE_FLTR_INVALID        INT8_C(-9)
+#define BMI160_E_AUX_NOT_FOUND               INT8_C(-10)
+#define BMI160_FOC_FAILURE                   INT8_C(-11)
+#define BMI160_READ_WRITE_LENGHT_INVALID     INT8_C(-12)
+
+/**\name API warning codes */
+#define BMI160_W_GYRO_SELF_TEST_FAIL         INT8_C(1)
+#define BMI160_W_ACCEl_SELF_TEST_FAIL        INT8_C(2)
+
+/** BMI160 unique chip identifier */
+#define BMI160_CHIP_ID                       UINT8_C(0xD1)
+
+/** Soft reset command */
+#define BMI160_SOFT_RESET_CMD                UINT8_C(0xb6)
+#define BMI160_SOFT_RESET_DELAY_MS           UINT8_C(1)
+
+/** Start FOC command */
+#define BMI160_START_FOC_CMD                 UINT8_C(0x03)
+
+/** NVM backup enabling command */
+#define BMI160_NVM_BACKUP_EN                 UINT8_C(0xA0)
+
+/* Delay in ms settings */
+#define BMI160_ACCEL_DELAY_MS                UINT8_C(5)
+#define BMI160_GYRO_DELAY_MS                 UINT8_C(81)
+#define BMI160_ONE_MS_DELAY                  UINT8_C(1)
+#define BMI160_AUX_COM_DELAY                 UINT8_C(10)
+#define BMI160_GYRO_SELF_TEST_DELAY          UINT8_C(20)
+#define BMI160_ACCEL_SELF_TEST_DELAY         UINT8_C(50)
+
+/** Self test configurations */
+#define BMI160_ACCEL_SELF_TEST_CONFIG        UINT8_C(0x2C)
+#define BMI160_ACCEL_SELF_TEST_POSITIVE_EN   UINT8_C(0x0D)
+#define BMI160_ACCEL_SELF_TEST_NEGATIVE_EN   UINT8_C(0x09)
+#define BMI160_ACCEL_SELF_TEST_LIMIT         UINT16_C(8192)
+
+/** Power mode settings */
+/* Accel power mode */
+#define BMI160_ACCEL_NORMAL_MODE             UINT8_C(0x11)
+#define BMI160_ACCEL_LOWPOWER_MODE           UINT8_C(0x12)
+#define BMI160_ACCEL_SUSPEND_MODE            UINT8_C(0x10)
+
+/* Gyro power mode */
+#define BMI160_GYRO_SUSPEND_MODE             UINT8_C(0x14)
+#define BMI160_GYRO_NORMAL_MODE              UINT8_C(0x15)
+#define BMI160_GYRO_FASTSTARTUP_MODE         UINT8_C(0x17)
+
+/* Aux power mode */
+#define BMI160_AUX_SUSPEND_MODE              UINT8_C(0x18)
+#define BMI160_AUX_NORMAL_MODE               UINT8_C(0x19)
+#define BMI160_AUX_LOWPOWER_MODE             UINT8_C(0x1A)
+
+/** Range settings */
+/* Accel Range */
+#define BMI160_ACCEL_RANGE_2G                UINT8_C(0x03)
+#define BMI160_ACCEL_RANGE_4G                UINT8_C(0x05)
+#define BMI160_ACCEL_RANGE_8G                UINT8_C(0x08)
+#define BMI160_ACCEL_RANGE_16G               UINT8_C(0x0C)
+
+/* Gyro Range */
+#define BMI160_GYRO_RANGE_2000_DPS           UINT8_C(0x00)
+#define BMI160_GYRO_RANGE_1000_DPS           UINT8_C(0x01)
+#define BMI160_GYRO_RANGE_500_DPS            UINT8_C(0x02)
+#define BMI160_GYRO_RANGE_250_DPS            UINT8_C(0x03)
+#define BMI160_GYRO_RANGE_125_DPS            UINT8_C(0x04)
+
+/** Bandwidth settings */
+/* Accel Bandwidth */
+#define BMI160_ACCEL_BW_OSR4_AVG1            UINT8_C(0x00)
+#define BMI160_ACCEL_BW_OSR2_AVG2            UINT8_C(0x01)
+#define BMI160_ACCEL_BW_NORMAL_AVG4          UINT8_C(0x02)
+#define BMI160_ACCEL_BW_RES_AVG8             UINT8_C(0x03)
+#define BMI160_ACCEL_BW_RES_AVG16            UINT8_C(0x04)
+#define BMI160_ACCEL_BW_RES_AVG32            UINT8_C(0x05)
+#define BMI160_ACCEL_BW_RES_AVG64            UINT8_C(0x06)
+#define BMI160_ACCEL_BW_RES_AVG128           UINT8_C(0x07)
+
+#define BMI160_GYRO_BW_OSR4_MODE             UINT8_C(0x00)
+#define BMI160_GYRO_BW_OSR2_MODE             UINT8_C(0x01)
+#define BMI160_GYRO_BW_NORMAL_MODE           UINT8_C(0x02)
+
+/* Output Data Rate settings */
+/* Accel Output data rate */
+#define BMI160_ACCEL_ODR_RESERVED            UINT8_C(0x00)
+#define BMI160_ACCEL_ODR_0_78HZ              UINT8_C(0x01)
+#define BMI160_ACCEL_ODR_1_56HZ              UINT8_C(0x02)
+#define BMI160_ACCEL_ODR_3_12HZ              UINT8_C(0x03)
+#define BMI160_ACCEL_ODR_6_25HZ              UINT8_C(0x04)
+#define BMI160_ACCEL_ODR_12_5HZ              UINT8_C(0x05)
+#define BMI160_ACCEL_ODR_25HZ                UINT8_C(0x06)
+#define BMI160_ACCEL_ODR_50HZ                UINT8_C(0x07)
+#define BMI160_ACCEL_ODR_100HZ               UINT8_C(0x08)
+#define BMI160_ACCEL_ODR_200HZ               UINT8_C(0x09)
+#define BMI160_ACCEL_ODR_400HZ               UINT8_C(0x0A)
+#define BMI160_ACCEL_ODR_800HZ               UINT8_C(0x0B)
+#define BMI160_ACCEL_ODR_1600HZ              UINT8_C(0x0C)
+#define BMI160_ACCEL_ODR_RESERVED0           UINT8_C(0x0D)
+#define BMI160_ACCEL_ODR_RESERVED1           UINT8_C(0x0E)
+#define BMI160_ACCEL_ODR_RESERVED2           UINT8_C(0x0F)
+
+/* Gyro Output data rate */
+#define BMI160_GYRO_ODR_RESERVED             UINT8_C(0x00)
+#define BMI160_GYRO_ODR_25HZ                 UINT8_C(0x06)
+#define BMI160_GYRO_ODR_50HZ                 UINT8_C(0x07)
+#define BMI160_GYRO_ODR_100HZ                UINT8_C(0x08)
+#define BMI160_GYRO_ODR_200HZ                UINT8_C(0x09)
+#define BMI160_GYRO_ODR_400HZ                UINT8_C(0x0A)
+#define BMI160_GYRO_ODR_800HZ                UINT8_C(0x0B)
+#define BMI160_GYRO_ODR_1600HZ               UINT8_C(0x0C)
+#define BMI160_GYRO_ODR_3200HZ               UINT8_C(0x0D)
+
+/* Auxiliary sensor Output data rate */
+#define BMI160_AUX_ODR_RESERVED              UINT8_C(0x00)
+#define BMI160_AUX_ODR_0_78HZ                UINT8_C(0x01)
+#define BMI160_AUX_ODR_1_56HZ                UINT8_C(0x02)
+#define BMI160_AUX_ODR_3_12HZ                UINT8_C(0x03)
+#define BMI160_AUX_ODR_6_25HZ                UINT8_C(0x04)
+#define BMI160_AUX_ODR_12_5HZ                UINT8_C(0x05)
+#define BMI160_AUX_ODR_25HZ                  UINT8_C(0x06)
+#define BMI160_AUX_ODR_50HZ                  UINT8_C(0x07)
+#define BMI160_AUX_ODR_100HZ                 UINT8_C(0x08)
+#define BMI160_AUX_ODR_200HZ                 UINT8_C(0x09)
+#define BMI160_AUX_ODR_400HZ                 UINT8_C(0x0A)
+#define BMI160_AUX_ODR_800HZ                 UINT8_C(0x0B)
+
+/* Maximum limits definition */
+#define BMI160_ACCEL_ODR_MAX                 UINT8_C(15)
+#define BMI160_ACCEL_BW_MAX                  UINT8_C(2)
+#define BMI160_ACCEL_RANGE_MAX               UINT8_C(12)
+#define BMI160_GYRO_ODR_MAX                  UINT8_C(13)
+#define BMI160_GYRO_BW_MAX                   UINT8_C(2)
+#define BMI160_GYRO_RANGE_MAX                UINT8_C(4)
+
+/** FIFO_CONFIG Definitions */
+#define BMI160_FIFO_TIME_ENABLE              UINT8_C(0x02)
+#define BMI160_FIFO_TAG_INT2_ENABLE          UINT8_C(0x04)
+#define BMI160_FIFO_TAG_INT1_ENABLE          UINT8_C(0x08)
+#define BMI160_FIFO_HEAD_ENABLE              UINT8_C(0x10)
+#define BMI160_FIFO_M_ENABLE                 UINT8_C(0x20)
+#define BMI160_FIFO_A_ENABLE                 UINT8_C(0x40)
+#define BMI160_FIFO_M_A_ENABLE               UINT8_C(0x60)
+#define BMI160_FIFO_G_ENABLE                 UINT8_C(0x80)
+#define BMI160_FIFO_M_G_ENABLE               UINT8_C(0xA0)
+#define BMI160_FIFO_G_A_ENABLE               UINT8_C(0xC0)
+#define BMI160_FIFO_M_G_A_ENABLE             UINT8_C(0xE0)
+
+/* Macro to specify the number of bytes over-read from the
+ * FIFO in order to get the sensor time at the end of FIFO */
+#ifndef BMI160_FIFO_BYTES_OVERREAD
+#define BMI160_FIFO_BYTES_OVERREAD           UINT8_C(25)
+#endif
+
+/* Accel, gyro and aux. sensor length and also their combined
+ * length definitions in FIFO */
+#define BMI160_FIFO_G_LENGTH                 UINT8_C(6)
+#define BMI160_FIFO_A_LENGTH                 UINT8_C(6)
+#define BMI160_FIFO_M_LENGTH                 UINT8_C(8)
+#define BMI160_FIFO_GA_LENGTH                UINT8_C(12)
+#define BMI160_FIFO_MA_LENGTH                UINT8_C(14)
+#define BMI160_FIFO_MG_LENGTH                UINT8_C(14)
+#define BMI160_FIFO_MGA_LENGTH               UINT8_C(20)
+
+/** FIFO Header Data definitions */
+#define BMI160_FIFO_HEAD_SKIP_FRAME          UINT8_C(0x40)
+#define BMI160_FIFO_HEAD_SENSOR_TIME         UINT8_C(0x44)
+#define BMI160_FIFO_HEAD_INPUT_CONFIG        UINT8_C(0x48)
+#define BMI160_FIFO_HEAD_OVER_READ           UINT8_C(0x80)
+#define BMI160_FIFO_HEAD_A                   UINT8_C(0x84)
+#define BMI160_FIFO_HEAD_G                   UINT8_C(0x88)
+#define BMI160_FIFO_HEAD_G_A                 UINT8_C(0x8C)
+#define BMI160_FIFO_HEAD_M                   UINT8_C(0x90)
+#define BMI160_FIFO_HEAD_M_A                 UINT8_C(0x94)
+#define BMI160_FIFO_HEAD_M_G                 UINT8_C(0x98)
+#define BMI160_FIFO_HEAD_M_G_A               UINT8_C(0x9C)
+
+/** FIFO sensor time length definitions */
+#define BMI160_SENSOR_TIME_LENGTH            UINT8_C(3)
+
+/** FIFO DOWN selection */
+/* Accel fifo down-sampling values*/
+#define  BMI160_ACCEL_FIFO_DOWN_ZERO         UINT8_C(0x00)
+#define  BMI160_ACCEL_FIFO_DOWN_ONE          UINT8_C(0x10)
+#define  BMI160_ACCEL_FIFO_DOWN_TWO          UINT8_C(0x20)
+#define  BMI160_ACCEL_FIFO_DOWN_THREE        UINT8_C(0x30)
+#define  BMI160_ACCEL_FIFO_DOWN_FOUR         UINT8_C(0x40)
+#define  BMI160_ACCEL_FIFO_DOWN_FIVE         UINT8_C(0x50)
+#define  BMI160_ACCEL_FIFO_DOWN_SIX          UINT8_C(0x60)
+#define  BMI160_ACCEL_FIFO_DOWN_SEVEN        UINT8_C(0x70)
+
+/* Gyro fifo down-smapling values*/
+#define  BMI160_GYRO_FIFO_DOWN_ZERO          UINT8_C(0x00)
+#define  BMI160_GYRO_FIFO_DOWN_ONE           UINT8_C(0x01)
+#define  BMI160_GYRO_FIFO_DOWN_TWO           UINT8_C(0x02)
+#define  BMI160_GYRO_FIFO_DOWN_THREE         UINT8_C(0x03)
+#define  BMI160_GYRO_FIFO_DOWN_FOUR          UINT8_C(0x04)
+#define  BMI160_GYRO_FIFO_DOWN_FIVE          UINT8_C(0x05)
+#define  BMI160_GYRO_FIFO_DOWN_SIX           UINT8_C(0x06)
+#define  BMI160_GYRO_FIFO_DOWN_SEVEN         UINT8_C(0x07)
+
+/* Accel Fifo filter enable*/
+#define  BMI160_ACCEL_FIFO_FILT_EN           UINT8_C(0x80)
+
+/* Gyro Fifo filter enable*/
+#define  BMI160_GYRO_FIFO_FILT_EN            UINT8_C(0x08)
+
+/** Definitions to check validity of FIFO frames */
+#define FIFO_CONFIG_MSB_CHECK                UINT8_C(0x80)
+#define FIFO_CONFIG_LSB_CHECK                UINT8_C(0x00)
+
+/*! BMI160 accel FOC configurations */
+#define BMI160_FOC_ACCEL_DISABLED            UINT8_C(0x00)
+#define BMI160_FOC_ACCEL_POSITIVE_G          UINT8_C(0x01)
+#define BMI160_FOC_ACCEL_NEGATIVE_G          UINT8_C(0x02)
+#define BMI160_FOC_ACCEL_0G                  UINT8_C(0x03)
+
+/** Array Parameter DefinItions */
+#define BMI160_SENSOR_TIME_LSB_BYTE          UINT8_C(0)
+#define BMI160_SENSOR_TIME_XLSB_BYTE         UINT8_C(1)
+#define BMI160_SENSOR_TIME_MSB_BYTE          UINT8_C(2)
+
+/** Interface settings */
+#define BMI160_SPI_INTF                      UINT8_C(1)
+#define BMI160_I2C_INTF                      UINT8_C(0)
+#define BMI160_SPI_RD_MASK                   UINT8_C(0x80)
+#define BMI160_SPI_WR_MASK                   UINT8_C(0x7F)
+
+/* Sensor & time select definition*/
+#define BMI160_ACCEL_SEL                     UINT8_C(0x01)
+#define BMI160_GYRO_SEL                      UINT8_C(0x02)
+#define BMI160_TIME_SEL                      UINT8_C(0x04)
+
+/* Sensor select mask*/
+#define BMI160_SEN_SEL_MASK                  UINT8_C(0x07)
+
+/* Error code mask */
+#define BMI160_ERR_REG_MASK                  UINT8_C(0x0F)
+
+/* BMI160 I2C address */
+#define BMI160_I2C_ADDR                      UINT8_C(0x68)
+
+/* BMI160 secondary IF address */
+#define BMI160_AUX_BMM150_I2C_ADDR           UINT8_C(0x10)
+
+/** BMI160 Length definitions */
+#define BMI160_ONE                           UINT8_C(1)
+#define BMI160_TWO                           UINT8_C(2)
+#define BMI160_THREE                         UINT8_C(3)
+#define BMI160_FOUR                          UINT8_C(4)
+#define BMI160_FIVE                          UINT8_C(5)
+
+/** BMI160 fifo level Margin */
+#define BMI160_FIFO_LEVEL_MARGIN             UINT8_C(16)
+
+/** BMI160 fifo flush Command */
+#define BMI160_FIFO_FLUSH_VALUE              UINT8_C(0xB0)
+
+/** BMI160 offset values for xyz axes of accel */
+#define BMI160_ACCEL_MIN_OFFSET              INT8_C(-128)
+#define BMI160_ACCEL_MAX_OFFSET              INT8_C(127)
+
+/** BMI160 offset values for xyz axes of gyro */
+#define BMI160_GYRO_MIN_OFFSET               INT16_C(-512)
+#define BMI160_GYRO_MAX_OFFSET               INT16_C(511)
+
+/** BMI160 fifo full interrupt position and mask */
+#define BMI160_FIFO_FULL_INT_POS             UINT8_C(5)
+#define BMI160_FIFO_FULL_INT_MSK             UINT8_C(0x20)
+#define BMI160_FIFO_WTM_INT_POS              UINT8_C(6)
+#define BMI160_FIFO_WTM_INT_MSK              UINT8_C(0x40)
+
+#define BMI160_FIFO_FULL_INT_PIN1_POS        UINT8_C(5)
+#define BMI160_FIFO_FULL_INT_PIN1_MSK        UINT8_C(0x20)
+#define BMI160_FIFO_FULL_INT_PIN2_POS        UINT8_C(1)
+#define BMI160_FIFO_FULL_INT_PIN2_MSK        UINT8_C(0x02)
+
+#define BMI160_FIFO_WTM_INT_PIN1_POS         UINT8_C(6)
+#define BMI160_FIFO_WTM_INT_PIN1_MSK         UINT8_C(0x40)
+#define BMI160_FIFO_WTM_INT_PIN2_POS         UINT8_C(2)
+#define BMI160_FIFO_WTM_INT_PIN2_MSK         UINT8_C(0x04)
+
+#define BMI160_MANUAL_MODE_EN_POS            UINT8_C(7)
+#define BMI160_MANUAL_MODE_EN_MSK            UINT8_C(0x80)
+#define BMI160_AUX_READ_BURST_POS            UINT8_C(0)
+#define BMI160_AUX_READ_BURST_MSK            UINT8_C(0x03)
+
+#define BMI160_GYRO_SELF_TEST_POS            UINT8_C(4)
+#define BMI160_GYRO_SELF_TEST_MSK            UINT8_C(0x10)
+#define BMI160_GYRO_SELF_TEST_STATUS_POS     UINT8_C(1)
+#define BMI160_GYRO_SELF_TEST_STATUS_MSK     UINT8_C(0x02)
+
+#define BMI160_GYRO_FOC_EN_POS               UINT8_C(6)
+#define BMI160_GYRO_FOC_EN_MSK               UINT8_C(0x40)
+
+#define BMI160_ACCEL_FOC_X_CONF_POS          UINT8_C(4)
+#define BMI160_ACCEL_FOC_X_CONF_MSK          UINT8_C(0x30)
+
+#define BMI160_ACCEL_FOC_Y_CONF_POS          UINT8_C(2)
+#define BMI160_ACCEL_FOC_Y_CONF_MSK          UINT8_C(0x0C)
+
+#define BMI160_ACCEL_FOC_Z_CONF_MSK          UINT8_C(0x03)
+
+#define BMI160_FOC_STATUS_POS                UINT8_C(3)
+#define BMI160_FOC_STATUS_MSK                UINT8_C(0x08)
+
+#define BMI160_GYRO_OFFSET_X_MSK             UINT8_C(0x03)
+
+#define BMI160_GYRO_OFFSET_Y_POS             UINT8_C(2)
+#define BMI160_GYRO_OFFSET_Y_MSK             UINT8_C(0x0C)
+
+#define BMI160_GYRO_OFFSET_Z_POS             UINT8_C(4)
+#define BMI160_GYRO_OFFSET_Z_MSK             UINT8_C(0x30)
+
+#define BMI160_GYRO_OFFSET_EN_POS            UINT8_C(7)
+#define BMI160_GYRO_OFFSET_EN_MSK            UINT8_C(0x80)
+
+#define BMI160_ACCEL_OFFSET_EN_POS           UINT8_C(6)
+#define BMI160_ACCEL_OFFSET_EN_MSK           UINT8_C(0x40)
+
+#define BMI160_GYRO_OFFSET_POS               UINT16_C(8)
+#define BMI160_GYRO_OFFSET_MSK               UINT16_C(0x0300)
+
+#define BMI160_NVM_UPDATE_POS                UINT8_C(1)
+#define BMI160_NVM_UPDATE_MSK                UINT8_C(0x02)
+
+#define BMI160_NVM_STATUS_POS                UINT8_C(4)
+#define BMI160_NVM_STATUS_MSK                UINT8_C(0x10)
+
+#define BMI160_MAG_POWER_MODE_MSK            UINT8_C(0x03)
+
+#define BMI160_ACCEL_POWER_MODE_MSK          UINT8_C(0x30)
+#define BMI160_ACCEL_POWER_MODE_POS          UINT8_C(4)
+
+#define BMI160_GYRO_POWER_MODE_MSK           UINT8_C(0x0C)
+#define BMI160_GYRO_POWER_MODE_POS           UINT8_C(2)
+
+/* BIT SLICE GET AND SET FUNCTIONS */
+#define BMI160_GET_BITS(regvar, bitname) \
+    ((regvar & bitname##_MSK) >> bitname##_POS)
+#define BMI160_SET_BITS(regvar, bitname, val) \
+    ((regvar & ~bitname##_MSK) | \
+     ((val << bitname##_POS) & bitname##_MSK))
+
+#define BMI160_SET_BITS_POS_0(reg_data, bitname, data) \
+    ((reg_data & ~(bitname##_MSK)) | \
+     (data & bitname##_MSK))
+
+#define BMI160_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
+
+/**\name UTILITY MACROS */
+#define BMI160_SET_LOW_BYTE  UINT16_C(0x00FF)
+#define BMI160_SET_HIGH_BYTE UINT16_C(0xFF00)
+
+#define BMI160_GET_LSB(var) (uint8_t)(var & BMI160_SET_LOW_BYTE)
+#define BMI160_GET_MSB(var) (uint8_t)((var & BMI160_SET_HIGH_BYTE) >> 8)
+
+/*****************************************************************************/
+/* type definitions */
+typedef int8_t (*bmi160_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len);
+typedef void (*bmi160_delay_fptr_t)(uint32_t period);
+
+/*************************** Data structures *********************************/
+struct bmi160_pmu_status
+{
+    /*! Power mode status of Accel
+     * Possible values :
+     *  - BMI160_ACCEL_PMU_SUSPEND
+     *  - BMI160_ACCEL_PMU_NORMAL
+     *  - BMI160_ACCEL_PMU_LOW_POWER
+     */
+    uint8_t accel_pmu_status;
+
+    /*! Power mode status of Gyro
+     * Possible values :
+     *  - BMI160_GYRO_PMU_SUSPEND
+     *  - BMI160_GYRO_PMU_NORMAL
+     *  - BMI160_GYRO_PMU_FSU
+     */
+    uint8_t gyro_pmu_status;
+
+    /*! Power mode status of 'Auxiliary sensor interface' whereas the actual
+     *  power mode of the aux. sensor should be configured
+     *  according to the connected sensor specifications
+     * Possible values :
+     *  - BMI160_AUX_PMU_SUSPEND
+     *  - BMI160_AUX_PMU_NORMAL
+     *  - BMI160_AUX_PMU_LOW_POWER
+     */
+    uint8_t aux_pmu_status;
+};
+
+/*!
+ * @brief bmi160 interrupt status selection enum.
+ */
+enum bmi160_int_status_sel {
+    BMI160_INT_STATUS_0 = 1,
+    BMI160_INT_STATUS_1 = 2,
+    BMI160_INT_STATUS_2 = 4,
+    BMI160_INT_STATUS_3 = 8,
+    BMI160_INT_STATUS_ALL = 15
+};
+
+/*!
+ * @brief bmi160 interrupt status bits structure
+ */
+struct bmi160_int_status_bits
+{
+#if LITTLE_ENDIAN == 1
+    uint32_t step : 1;
+    uint32_t sigmot : 1;
+    uint32_t anym : 1;
+
+    /* pmu trigger will be handled later */
+    uint32_t pmu_trigger_reserved : 1;
+    uint32_t d_tap : 1;
+    uint32_t s_tap : 1;
+    uint32_t orient : 1;
+    uint32_t flat_int : 1;
+    uint32_t reserved : 2;
+    uint32_t high_g : 1;
+    uint32_t low_g : 1;
+    uint32_t drdy : 1;
+    uint32_t ffull : 1;
+    uint32_t fwm : 1;
+    uint32_t nomo : 1;
+    uint32_t anym_first_x : 1;
+    uint32_t anym_first_y : 1;
+    uint32_t anym_first_z : 1;
+    uint32_t anym_sign : 1;
+    uint32_t tap_first_x : 1;
+    uint32_t tap_first_y : 1;
+    uint32_t tap_first_z : 1;
+    uint32_t tap_sign : 1;
+    uint32_t high_first_x : 1;
+    uint32_t high_first_y : 1;
+    uint32_t high_first_z : 1;
+    uint32_t high_sign : 1;
+    uint32_t orient_1_0 : 2;
+    uint32_t orient_2 : 1;
+    uint32_t flat : 1;
+#elif BIG_ENDIAN == 1
+    uint32_t high_first_x : 1;
+    uint32_t high_first_y : 1;
+    uint32_t high_first_z : 1;
+    uint32_t high_sign : 1;
+    uint32_t orient_1_0 : 2;
+    uint32_t orient_2 : 1;
+    uint32_t flat : 1;
+    uint32_t anym_first_x : 1;
+    uint32_t anym_first_y : 1;
+    uint32_t anym_first_z : 1;
+    uint32_t anym_sign : 1;
+    uint32_t tap_first_x : 1;
+    uint32_t tap_first_y : 1;
+    uint32_t tap_first_z : 1;
+    uint32_t tap_sign : 1;
+    uint32_t reserved : 2;
+    uint32_t high_g : 1;
+    uint32_t low_g : 1;
+    uint32_t drdy : 1;
+    uint32_t ffull : 1;
+    uint32_t fwm : 1;
+    uint32_t nomo : 1;
+    uint32_t step : 1;
+    uint32_t sigmot : 1;
+    uint32_t anym : 1;
+
+    /* pmu trigger will be handled later */
+    uint32_t pmu_trigger_reserved : 1;
+    uint32_t d_tap : 1;
+    uint32_t s_tap : 1;
+    uint32_t orient : 1;
+    uint32_t flat_int : 1;
+#endif
+};
+
+/*!
+ * @brief bmi160 interrupt status structure
+ */
+union bmi160_int_status
+{
+    uint8_t data[4];
+    struct bmi160_int_status_bits bit;
+};
+
+/*!
+ * @brief bmi160 sensor data structure which comprises of accel data
+ */
+struct bmi160_sensor_data
+{
+    /*! X-axis sensor data */
+    int16_t x;
+
+    /*! Y-axis sensor data */
+    int16_t y;
+
+    /*! Z-axis sensor data */
+    int16_t z;
+
+    /*! sensor time */
+    uint32_t sensortime;
+};
+
+/*!
+ * @brief bmi160 aux data structure which comprises of 8 bytes of accel data
+ */
+struct bmi160_aux_data
+{
+    /*! Auxiliary data */
+    uint8_t data[8];
+};
+
+/*!
+ * @brief bmi160 FOC configuration structure
+ */
+struct bmi160_foc_conf
+{
+    /*! Enabling FOC in gyro
+     * Assignable macros :
+     *  - BMI160_ENABLE
+     *  - BMI160_DISABLE
+     */
+    uint8_t foc_gyr_en;
+
+    /*! Accel FOC configurations
+     * Assignable macros :
+     *  - BMI160_FOC_ACCEL_DISABLED
+     *  - BMI160_FOC_ACCEL_POSITIVE_G
+     *  - BMI160_FOC_ACCEL_NEGATIVE_G
+     *  - BMI160_FOC_ACCEL_0G
+     */
+    uint8_t foc_acc_x;
+    uint8_t foc_acc_y;
+    uint8_t foc_acc_z;
+
+    /*! Enabling offset compensation for accel in data registers
+     * Assignable macros :
+     *  - BMI160_ENABLE
+     *  - BMI160_DISABLE
+     */
+    uint8_t acc_off_en;
+
+    /*! Enabling offset compensation for gyro in data registers
+     * Assignable macros :
+     *  - BMI160_ENABLE
+     *  - BMI160_DISABLE
+     */
+    uint8_t gyro_off_en;
+};
+
+/*!
+ * @brief bmi160 accel gyro offsets
+ */
+struct bmi160_offsets
+{
+    /*! Accel offset for x axis */
+    int8_t off_acc_x;
+
+    /*! Accel offset for y axis */
+    int8_t off_acc_y;
+
+    /*! Accel offset for z axis */
+    int8_t off_acc_z;
+
+    /*! Gyro offset for x axis */
+    int16_t off_gyro_x;
+
+    /*! Gyro offset for y axis */
+    int16_t off_gyro_y;
+
+    /*! Gyro offset for z axis */
+    int16_t off_gyro_z;
+};
+
+/*!
+ * @brief FIFO aux. sensor data structure
+ */
+struct bmi160_aux_fifo_data
+{
+    /*! The value of aux. sensor x LSB data */
+    uint8_t aux_x_lsb;
+
+    /*! The value of aux. sensor x MSB data */
+    uint8_t aux_x_msb;
+
+    /*! The value of aux. sensor y LSB data */
+    uint8_t aux_y_lsb;
+
+    /*! The value of aux. sensor y MSB data */
+    uint8_t aux_y_msb;
+
+    /*! The value of aux. sensor z LSB data */
+    uint8_t aux_z_lsb;
+
+    /*! The value of aux. sensor z MSB data */
+    uint8_t aux_z_msb;
+
+    /*! The value of aux. sensor r for BMM150 LSB data */
+    uint8_t aux_r_y2_lsb;
+
+    /*! The value of aux. sensor r for BMM150 MSB data */
+    uint8_t aux_r_y2_msb;
+};
+
+/*!
+ * @brief bmi160 sensor select structure
+ */
+enum bmi160_select_sensor {
+    BMI160_ACCEL_ONLY = 1,
+    BMI160_GYRO_ONLY,
+    BMI160_BOTH_ACCEL_AND_GYRO
+};
+
+/*!
+ * @brief bmi160 sensor step detector mode structure
+ */
+enum bmi160_step_detect_mode {
+    BMI160_STEP_DETECT_NORMAL,
+    BMI160_STEP_DETECT_SENSITIVE,
+    BMI160_STEP_DETECT_ROBUST,
+
+    /*! Non recommended User defined setting */
+    BMI160_STEP_DETECT_USER_DEFINE
+};
+
+/*!
+ * @brief enum for auxiliary burst read selection
+ */
+enum bm160_aux_read_len {
+    BMI160_AUX_READ_LEN_0,
+    BMI160_AUX_READ_LEN_1,
+    BMI160_AUX_READ_LEN_2,
+    BMI160_AUX_READ_LEN_3
+};
+
+/*!
+ * @brief bmi160 sensor configuration structure
+ */
+struct bmi160_cfg
+{
+    /*! power mode */
+    uint8_t power;
+
+    /*! output data rate */
+    uint8_t odr;
+
+    /*! range */
+    uint8_t range;
+
+    /*! bandwidth */
+    uint8_t bw;
+};
+
+/*!
+ * @brief Aux sensor configuration structure
+ */
+struct bmi160_aux_cfg
+{
+    /*! Aux sensor, 1 - enable 0 - disable */
+    uint8_t aux_sensor_enable : 1;
+
+    /*! Aux manual/auto mode status */
+    uint8_t manual_enable : 1;
+
+    /*! Aux read burst length */
+    uint8_t aux_rd_burst_len : 2;
+
+    /*! output data rate */
+    uint8_t aux_odr : 4;
+
+    /*! i2c addr of auxiliary sensor */
+    uint8_t aux_i2c_addr;
+};
+
+/*!
+ * @brief bmi160 interrupt channel selection structure
+ */
+enum bmi160_int_channel {
+    /*! Un-map both channels */
+    BMI160_INT_CHANNEL_NONE,
+
+    /*! interrupt Channel 1 */
+    BMI160_INT_CHANNEL_1,
+
+    /*! interrupt Channel 2 */
+    BMI160_INT_CHANNEL_2,
+
+    /*! Map both channels */
+    BMI160_INT_CHANNEL_BOTH
+};
+enum bmi160_int_types {
+    /*! Slope/Any-motion interrupt */
+    BMI160_ACC_ANY_MOTION_INT,
+
+    /*! Significant motion interrupt */
+    BMI160_ACC_SIG_MOTION_INT,
+
+    /*! Step detector interrupt */
+    BMI160_STEP_DETECT_INT,
+
+    /*! double tap interrupt */
+    BMI160_ACC_DOUBLE_TAP_INT,
+
+    /*! single tap interrupt */
+    BMI160_ACC_SINGLE_TAP_INT,
+
+    /*! orientation interrupt */
+    BMI160_ACC_ORIENT_INT,
+
+    /*! flat interrupt */
+    BMI160_ACC_FLAT_INT,
+
+    /*! high-g interrupt */
+    BMI160_ACC_HIGH_G_INT,
+
+    /*! low-g interrupt */
+    BMI160_ACC_LOW_G_INT,
+
+    /*! slow/no-motion interrupt */
+    BMI160_ACC_SLOW_NO_MOTION_INT,
+
+    /*! data ready interrupt  */
+    BMI160_ACC_GYRO_DATA_RDY_INT,
+
+    /*! fifo full interrupt */
+    BMI160_ACC_GYRO_FIFO_FULL_INT,
+
+    /*! fifo watermark interrupt */
+    BMI160_ACC_GYRO_FIFO_WATERMARK_INT,
+
+    /*! fifo tagging feature support */
+    BMI160_FIFO_TAG_INT_PIN
+};
+
+/*!
+ * @brief bmi160 active state of any & sig motion interrupt.
+ */
+enum bmi160_any_sig_motion_active_interrupt_state {
+    /*! Both any & sig motion are disabled */
+    BMI160_BOTH_ANY_SIG_MOTION_DISABLED = -1,
+
+    /*! Any-motion selected */
+    BMI160_ANY_MOTION_ENABLED,
+
+    /*! Sig-motion selected */
+    BMI160_SIG_MOTION_ENABLED
+};
+struct bmi160_acc_tap_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! tap threshold */
+    uint16_t tap_thr : 5;
+
+    /*! tap shock */
+    uint16_t tap_shock : 1;
+
+    /*! tap quiet */
+    uint16_t tap_quiet : 1;
+
+    /*! tap duration */
+    uint16_t tap_dur : 3;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint16_t tap_data_src : 1;
+
+    /*! tap enable, 1 - enable, 0 - disable */
+    uint16_t tap_en : 1;
+#elif BIG_ENDIAN == 1
+
+    /*! tap enable, 1 - enable, 0 - disable */
+    uint16_t tap_en : 1;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint16_t tap_data_src : 1;
+
+    /*! tap duration */
+    uint16_t tap_dur : 3;
+
+    /*! tap quiet */
+    uint16_t tap_quiet : 1;
+
+    /*! tap shock */
+    uint16_t tap_shock : 1;
+
+    /*! tap threshold */
+    uint16_t tap_thr : 5;
+#endif
+};
+struct bmi160_acc_any_mot_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! 1 any-motion enable, 0 - any-motion disable */
+    uint8_t anymotion_en : 1;
+
+    /*! slope interrupt x, 1 - enable, 0 - disable */
+    uint8_t anymotion_x : 1;
+
+    /*! slope interrupt y, 1 - enable, 0 - disable */
+    uint8_t anymotion_y : 1;
+
+    /*! slope interrupt z, 1 - enable, 0 - disable */
+    uint8_t anymotion_z : 1;
+
+    /*! slope duration */
+    uint8_t anymotion_dur : 2;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint8_t anymotion_data_src : 1;
+
+    /*! slope threshold */
+    uint8_t anymotion_thr;
+#elif BIG_ENDIAN == 1
+
+    /*! slope threshold */
+    uint8_t anymotion_thr;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint8_t anymotion_data_src : 1;
+
+    /*! slope duration */
+    uint8_t anymotion_dur : 2;
+
+    /*! slope interrupt z, 1 - enable, 0 - disable */
+    uint8_t anymotion_z : 1;
+
+    /*! slope interrupt y, 1 - enable, 0 - disable */
+    uint8_t anymotion_y : 1;
+
+    /*! slope interrupt x, 1 - enable, 0 - disable */
+    uint8_t anymotion_x : 1;
+
+    /*! 1 any-motion enable, 0 - any-motion disable */
+    uint8_t anymotion_en : 1;
+#endif
+};
+struct bmi160_acc_sig_mot_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! skip time of sig-motion interrupt */
+    uint8_t sig_mot_skip : 2;
+
+    /*! proof time of sig-motion interrupt */
+    uint8_t sig_mot_proof : 2;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint8_t sig_data_src : 1;
+
+    /*! 1 - enable sig, 0 - disable sig & enable anymotion */
+    uint8_t sig_en : 1;
+
+    /*! sig-motion threshold */
+    uint8_t sig_mot_thres;
+#elif BIG_ENDIAN == 1
+
+    /*! sig-motion threshold */
+    uint8_t sig_mot_thres;
+
+    /*! 1 - enable sig, 0 - disable sig & enable anymotion */
+    uint8_t sig_en : 1;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint8_t sig_data_src : 1;
+
+    /*! proof time of sig-motion interrupt */
+    uint8_t sig_mot_proof : 2;
+
+    /*! skip time of sig-motion interrupt */
+    uint8_t sig_mot_skip : 2;
+#endif
+};
+struct bmi160_acc_step_detect_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! 1- step detector enable, 0- step detector disable */
+    uint16_t step_detector_en : 1;
+
+    /*! minimum threshold */
+    uint16_t min_threshold : 2;
+
+    /*! minimal detectable step time */
+    uint16_t steptime_min : 3;
+
+    /*! enable step counter mode setting */
+    uint16_t step_detector_mode : 2;
+
+    /*! minimum step buffer size*/
+    uint16_t step_min_buf : 3;
+#elif BIG_ENDIAN == 1
+
+    /*! minimum step buffer size*/
+    uint16_t step_min_buf : 3;
+
+    /*! enable step counter mode setting */
+    uint16_t step_detector_mode : 2;
+
+    /*! minimal detectable step time */
+    uint16_t steptime_min : 3;
+
+    /*! minimum threshold */
+    uint16_t min_threshold : 2;
+
+    /*! 1- step detector enable, 0- step detector disable */
+    uint16_t step_detector_en : 1;
+#endif
+};
+struct bmi160_acc_no_motion_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! no motion interrupt x */
+    uint16_t no_motion_x : 1;
+
+    /*! no motion interrupt y */
+    uint16_t no_motion_y : 1;
+
+    /*! no motion interrupt z */
+    uint16_t no_motion_z : 1;
+
+    /*! no motion duration */
+    uint16_t no_motion_dur : 6;
+
+    /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
+    uint16_t no_motion_sel : 1;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint16_t no_motion_src : 1;
+
+    /*! no motion threshold */
+    uint8_t no_motion_thres;
+#elif BIG_ENDIAN == 1
+
+    /*! no motion threshold */
+    uint8_t no_motion_thres;
+
+    /*! data source 0- filter & 1 pre-filter*/
+    uint16_t no_motion_src : 1;
+
+    /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
+    uint16_t no_motion_sel : 1;
+
+    /*! no motion duration */
+    uint16_t no_motion_dur : 6;
+
+    /* no motion interrupt z */
+    uint16_t no_motion_z : 1;
+
+    /*! no motion interrupt y */
+    uint16_t no_motion_y : 1;
+
+    /*! no motion interrupt x */
+    uint16_t no_motion_x : 1;
+#endif
+};
+struct bmi160_acc_orient_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! thresholds for switching between the different orientations */
+    uint16_t orient_mode : 2;
+
+    /*! blocking_mode */
+    uint16_t orient_blocking : 2;
+
+    /*! Orientation interrupt hysteresis */
+    uint16_t orient_hyst : 4;
+
+    /*! Orientation interrupt theta */
+    uint16_t orient_theta : 6;
+
+    /*! Enable/disable Orientation interrupt */
+    uint16_t orient_ud_en : 1;
+
+    /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
+    uint16_t axes_ex : 1;
+
+    /*! 1 - orient enable, 0 - orient disable */
+    uint8_t orient_en : 1;
+#elif BIG_ENDIAN == 1
+
+    /*! 1 - orient enable, 0 - orient disable */
+    uint8_t orient_en : 1;
+
+    /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
+    uint16_t axes_ex : 1;
+
+    /*! Enable/disable Orientation interrupt */
+    uint16_t orient_ud_en : 1;
+
+    /*! Orientation interrupt theta */
+    uint16_t orient_theta : 6;
+
+    /*! Orientation interrupt hysteresis */
+    uint16_t orient_hyst : 4;
+
+    /*! blocking_mode */
+    uint16_t orient_blocking : 2;
+
+    /*! thresholds for switching between the different orientations */
+    uint16_t orient_mode : 2;
+#endif
+};
+struct bmi160_acc_flat_detect_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! flat threshold */
+    uint16_t flat_theta : 6;
+
+    /*! flat interrupt hysteresis */
+    uint16_t flat_hy : 3;
+
+    /*! delay time for which the flat value must remain stable for the
+     * flat interrupt to be generated */
+    uint16_t flat_hold_time : 2;
+
+    /*! 1 - flat enable, 0 - flat disable */
+    uint16_t flat_en : 1;
+#elif BIG_ENDIAN == 1
+
+    /*! 1 - flat enable, 0 - flat disable */
+    uint16_t flat_en : 1;
+
+    /*! delay time for which the flat value must remain stable for the
+     * flat interrupt to be generated */
+    uint16_t flat_hold_time : 2;
+
+    /*! flat interrupt hysteresis */
+    uint16_t flat_hy : 3;
+
+    /*! flat threshold */
+    uint16_t flat_theta : 6;
+#endif
+};
+struct bmi160_acc_low_g_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! low-g interrupt trigger delay */
+    uint8_t low_dur;
+
+    /*! low-g interrupt trigger threshold */
+    uint8_t low_thres;
+
+    /*! hysteresis of low-g interrupt */
+    uint8_t low_hyst : 2;
+
+    /*! 0 - single-axis mode ,1 - axis-summing mode */
+    uint8_t low_mode : 1;
+
+    /*! data source 0- filter & 1 pre-filter */
+    uint8_t low_data_src : 1;
+
+    /*! 1 - enable low-g, 0 - disable low-g */
+    uint8_t low_en : 1;
+#elif BIG_ENDIAN == 1
+
+    /*! 1 - enable low-g, 0 - disable low-g */
+    uint8_t low_en : 1;
+
+    /*! data source 0- filter & 1 pre-filter */
+    uint8_t low_data_src : 1;
+
+    /*! 0 - single-axis mode ,1 - axis-summing mode */
+    uint8_t low_mode : 1;
+
+    /*! hysteresis of low-g interrupt */
+    uint8_t low_hyst : 2;
+
+    /*! low-g interrupt trigger threshold */
+    uint8_t low_thres;
+
+    /*! low-g interrupt trigger delay */
+    uint8_t low_dur;
+#endif
+};
+struct bmi160_acc_high_g_int_cfg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! High-g interrupt x, 1 - enable, 0 - disable */
+    uint8_t high_g_x : 1;
+
+    /*! High-g interrupt y, 1 - enable, 0 - disable */
+    uint8_t high_g_y : 1;
+
+    /*! High-g interrupt z, 1 - enable, 0 - disable */
+    uint8_t high_g_z : 1;
+
+    /*! High-g hysteresis  */
+    uint8_t high_hy : 2;
+
+    /*! data source 0- filter & 1 pre-filter */
+    uint8_t high_data_src : 1;
+
+    /*! High-g threshold */
+    uint8_t high_thres;
+
+    /*! High-g duration */
+    uint8_t high_dur;
+#elif BIG_ENDIAN == 1
+
+    /*! High-g duration */
+    uint8_t high_dur;
+
+    /*! High-g threshold */
+    uint8_t high_thres;
+
+    /*! data source 0- filter & 1 pre-filter */
+    uint8_t high_data_src : 1;
+
+    /*! High-g hysteresis  */
+    uint8_t high_hy : 2;
+
+    /*! High-g interrupt z, 1 - enable, 0 - disable */
+    uint8_t high_g_z : 1;
+
+    /*! High-g interrupt y, 1 - enable, 0 - disable */
+    uint8_t high_g_y : 1;
+
+    /*! High-g interrupt x, 1 - enable, 0 - disable */
+    uint8_t high_g_x : 1;
+#endif
+};
+struct bmi160_int_pin_settg
+{
+#if LITTLE_ENDIAN == 1
+
+    /*! To enable either INT1 or INT2 pin as output.
+     * 0- output disabled ,1- output enabled */
+    uint16_t output_en : 1;
+
+    /*! 0 - push-pull 1- open drain,only valid if output_en is set 1 */
+    uint16_t output_mode : 1;
+
+    /*! 0 - active low , 1 - active high level.
+     * if output_en is 1,this applies to interrupts,else PMU_trigger */
+    uint16_t output_type : 1;
+
+    /*! 0 - level trigger , 1 - edge trigger  */
+    uint16_t edge_ctrl : 1;
+
+    /*! To enable either INT1 or INT2 pin as input.
+     * 0 - input disabled ,1 - input enabled */
+    uint16_t input_en : 1;
+
+    /*! latch duration*/
+    uint16_t latch_dur : 4;
+#elif BIG_ENDIAN == 1
+
+    /*! latch duration*/
+    uint16_t latch_dur : 4;
+
+    /*! Latched,non-latched or temporary interrupt modes */
+    uint16_t input_en : 1;
+
+    /*! 1 - edge trigger, 0 - level trigger */
+    uint16_t edge_ctrl : 1;
+
+    /*! 0 - active low , 1 - active high level.
+     * if output_en is 1,this applies to interrupts,else PMU_trigger */
+    uint16_t output_type : 1;
+
+    /*! 0 - push-pull , 1 - open drain,only valid if output_en is set 1 */
+    uint16_t output_mode : 1;
+
+    /*! To enable either INT1 or INT2 pin as output.
+     * 0 - output disabled , 1 - output enabled */
+    uint16_t output_en : 1;
+#endif
+};
+union bmi160_int_type_cfg
+{
+    /*! Tap interrupt structure */
+    struct bmi160_acc_tap_int_cfg acc_tap_int;
+
+    /*! Slope interrupt structure */
+    struct bmi160_acc_any_mot_int_cfg acc_any_motion_int;
+
+    /*! Significant motion interrupt structure */
+    struct bmi160_acc_sig_mot_int_cfg acc_sig_motion_int;
+
+    /*! Step detector interrupt structure */
+    struct bmi160_acc_step_detect_int_cfg acc_step_detect_int;
+
+    /*! No motion interrupt structure */
+    struct bmi160_acc_no_motion_int_cfg acc_no_motion_int;
+
+    /*! Orientation interrupt structure */
+    struct bmi160_acc_orient_int_cfg acc_orient_int;
+
+    /*! Flat interrupt structure */
+    struct bmi160_acc_flat_detect_int_cfg acc_flat_int;
+
+    /*! Low-g interrupt structure */
+    struct bmi160_acc_low_g_int_cfg acc_low_g_int;
+
+    /*! High-g interrupt structure */
+    struct bmi160_acc_high_g_int_cfg acc_high_g_int;
+};
+struct bmi160_int_settg
+{
+    /*! Interrupt channel */
+    enum bmi160_int_channel int_channel;
+
+    /*! Select Interrupt */
+    enum bmi160_int_types int_type;
+
+    /*! Structure configuring Interrupt pins */
+    struct bmi160_int_pin_settg int_pin_settg;
+
+    /*! Union configures required interrupt */
+    union bmi160_int_type_cfg int_type_cfg;
+
+    /*! FIFO FULL INT 1-enable, 0-disable */
+    uint8_t fifo_full_int_en : 1;
+
+    /*! FIFO WTM INT 1-enable, 0-disable */
+    uint8_t fifo_wtm_int_en : 1;
+};
+
+/*!
+ *  @brief This structure holds the information for usage of
+ *  FIFO by the user.
+ */
+struct bmi160_fifo_frame
+{
+    /*! Data buffer of user defined length is to be mapped here */
+    uint8_t *data;
+
+    /*! While calling the API  "bmi160_get_fifo_data" , length stores
+     *  number of bytes in FIFO to be read (specified by user as input)
+     *  and after execution of the API ,number of FIFO data bytes
+     *  available is provided as an output to user
+     */
+    uint16_t length;
+
+    /*! FIFO time enable */
+    uint8_t fifo_time_enable;
+
+    /*! Enabling of the FIFO header to stream in header mode */
+    uint8_t fifo_header_enable;
+
+    /*! Streaming of the Accelerometer, Gyroscope
+     * sensor data or both in FIFO */
+    uint8_t fifo_data_enable;
+
+    /*! Will be equal to length when no more frames are there to parse */
+    uint16_t accel_byte_start_idx;
+
+    /*! Will be equal to length when no more frames are there to parse */
+    uint16_t gyro_byte_start_idx;
+
+    /*! Will be equal to length when no more frames are there to parse */
+    uint16_t aux_byte_start_idx;
+
+    /*! Value of FIFO sensor time time */
+    uint32_t sensor_time;
+
+    /*! Value of Skipped frame counts */
+    uint8_t skipped_frame_count;
+};
+struct bmi160_dev
+{
+    /*! Chip Id */
+    uint8_t chip_id;
+
+    /*! Device Id */
+    uint8_t id;
+
+    /*! 0 - I2C , 1 - SPI Interface */
+    uint8_t interface;
+
+    /*! Hold active interrupts status for any and sig motion
+     *  0 - Any-motion enable, 1 - Sig-motion enable,
+     *  -1 neither any-motion nor sig-motion selected */
+    enum bmi160_any_sig_motion_active_interrupt_state any_sig_sel;
+
+    /*! Structure to configure Accel sensor */
+    struct bmi160_cfg accel_cfg;
+
+    /*! Structure to hold previous/old accel config parameters.
+     * This is used at driver level to prevent overwriting of same
+     * data, hence user does not change it in the code */
+    struct bmi160_cfg prev_accel_cfg;
+
+    /*! Structure to configure Gyro sensor */
+    struct bmi160_cfg gyro_cfg;
+
+    /*! Structure to hold previous/old gyro config parameters.
+     * This is used at driver level to prevent overwriting of same
+     * data, hence user does not change it in the code */
+    struct bmi160_cfg prev_gyro_cfg;
+
+    /*! Structure to configure the auxiliary sensor */
+    struct bmi160_aux_cfg aux_cfg;
+
+    /*! Structure to hold previous/old aux config parameters.
+     * This is used at driver level to prevent overwriting of same
+     * data, hence user does not change it in the code */
+    struct bmi160_aux_cfg prev_aux_cfg;
+
+    /*! FIFO related configurations */
+    struct bmi160_fifo_frame *fifo;
+
+    /*! Read function pointer */
+    bmi160_com_fptr_t read;
+
+    /*! Write function pointer */
+    bmi160_com_fptr_t write;
+
+    /*!  Delay function pointer */
+    bmi160_delay_fptr_t delay_ms;
+
+    /*! User set read/write length */
+    uint16_t read_write_len;
+
+    /*! For switching from I2C to SPI */
+    uint8_t dummy_byte;
+};
+
+#endif /* BMI160_DEFS_H_ */
diff --git a/robosom_psoc_ws/Library/BMI160/bmi160_psoc.c b/robosom_psoc_ws/Library/BMI160/bmi160_psoc.c
new file mode 100644
index 0000000..05f4b6c
--- /dev/null
+++ b/robosom_psoc_ws/Library/BMI160/bmi160_psoc.c
@@ -0,0 +1,21 @@
+/**
+ * @file bmi160_psoc.c
+ * @author Lu Li (lilulab@github)
+ * @brief PSOC HAL for BMI160 IMU
+ * @version 0.1
+ * @date 2020-02-20
+ * 
+ * @copyright Copyright (c) 2020
+ * 
+ */
+
+// PSOC related header files
+#include "project.h"
+#include "stdio.h"
+
+// BMI160 official driver header file
+#include "bmi160.h"
+
+/* type definitions */
+typedef int8_t (*bmi160_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len);
+typedef void (*bmi160_delay_fptr_t)(uint32_t period); 
\ No newline at end of file
diff --git a/robosom_psoc_ws/Pri00_ROBOSOM_Bootloader.cydsn/TopDesign/TopDesign.cysch b/robosom_psoc_ws/Pri00_ROBOSOM_Bootloader.cydsn/TopDesign/TopDesign.cysch
index 4fbdf1242c7c549fa9200d729e6645ad184e8a87..b76a29597d9e68a9caf237a420f427ea3d96a2dc 100644
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diff --git a/robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/Pri01_ROBOSOM_Template_Bootloadable.cycdx b/robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/Pri01_ROBOSOM_Template_Bootloadable.cycdx
new file mode 100644
index 0000000..f003678
--- /dev/null
+++ b/robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/Pri01_ROBOSOM_Template_Bootloadable.cycdx
@@ -0,0 +1,197 @@
+<?xml version="1.0" encoding="utf-8"?>
+<blockRegMap version="1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://cypress.com/xsd/cyblockregmap cyblockregmap.xsd" xmlns="http://cypress.com/xsd/cyblockregmap">
+  <block name="BIO_24" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_23" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_22" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_27" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_26" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_25" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_21" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_17" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_16" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_15" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_20" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_19" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_18" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_28" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="SCL_1" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="SDA_1" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="GND_1" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="Em_EEPROM_Dynamic" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="cy_boot" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="I2C_1" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false">
+    <block name="BusClock" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="or_ff" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="ZeroTerminal_1" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="Vmux_clock" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="Vmux_scl_out" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="OneTerminal_1" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="OneTerminal_2" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="or_udb" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="Bufoe_sda" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="Vmux_timeout_clock" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="or_udb_1" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="Bufoe_scl" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="ZeroTerminal_2" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="Vmux_scl_in" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="Vmux_sda_in" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="ZeroTerminal_3" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="Vmux_sda_out" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="Vmux_interrupt" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="I2C_FF" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="I2C_IRQ" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <register name="I2C_1_FF_XCFG" address="0x400049C8" bitWidth="8" desc="I2C Extended Configuration Register" hidden="false">
+      <field name="csr_clk_en" from="7" to="7" access="RW" resetVal="" desc="This bit is used for gating system clock for the blocks core logic that is not associated with AHB interface. Clock is made available to the core logic only when this bit is set to 1 and the input pin ext_clk_en is also active. If either of them is not active, the blocks core logic does not receive the system clock." hidden="false" />
+      <field name="i2c_on" from="6" to="6" access="RW" resetVal="" desc="This bit should be set by the user during initial block configuration if the user wants to use the I2C block as wake-up source. Only when this bit set along with other bits mentioned in the sleep mode section, the I2C wakes up system from sleep on address match." hidden="false" />
+      <field name="ready_to_sleep" from="5" to="5" access="R" resetVal="" desc="Once the user sets the force_nack bit, the I2C block sets this bit if I2C is not busy or it waits for ongoing transaction to be completed and then sets this bit. As long as this bit is set, the I2C block is going to nack all the transactions.Clearing force_nack bit automatically clears this bit. HW clears this bit automatically on assertion of PD (Power Down)" hidden="false" />
+      <field name="force_nack" from="4" to="4" access="RW" resetVal="" desc="This bit must be set by the user before putting the device to sleep and wait for ready_to_sleep status bit to be set. This can be cleared by user by writing '0' and the HW clears it automatically on assertion of PD(Power Down)" hidden="false" />
+      <field name="hw_addr_en" from="0" to="0" access="RW" resetVal="" desc="When this bit is set to a '1', hardware address compare is enabled. On an address match, an interrupt is generated, CSR register bit 3 is set, and the clock is stalled until the CPU writes a 0 into the CSR register bit 3. The address is automatically ACKed on a match. On an address mismatch,no interrupt is generated, clock is not stalled, and bit 3 in the CSR register is set. The CPU must write a 0 into the CSR register bit 3 to clear it. The address is automatically NACKed on a mismatch. You must configure the compare address in the ADR register. When this bit is set to a '0', software address compare is enabled. An interrupt is generated, the clock is stalled, and CSR register bit 3 is set when the received address byte is available in the Data register; to enable the CPU to do a firmware address compare. The clock is stalled until the CPU writes a 0 into the CSR register bit 3. The functionality of this bit is independent of the data buffering mode." hidden="false" />
+    </register>
+    <register name="I2C_1_FF_ADDR" address="0x400049CA" bitWidth="8" desc="I2C Slave Adddress Register" hidden="false">
+      <field name="slave_address" from="6" to="0" access="RW" resetVal="" desc="These seven bits hold the slave's own device address. These bits are held zero if I2C_CFG.en_mstr and I2C_CFG.en_slave are both zero." hidden="false" />
+    </register>
+    <register name="I2C_1_FF_CFG" address="0x400049D6" bitWidth="8" desc="I2C Configuration Register" hidden="false">
+      <field name="sio_select" from="7" to="7" access="RW" resetVal="" desc="I2C Pin Select for SCL/SDA lines from SIO1/SIO2, 0 = SCL and SDA lines get their inputs from SIO1 module.sclk_str1 and sda_ack1 are driven to SIO1 module and they get asserted once device wakes up from sleep. 1 = SCL and SDA lines get their inputs from SIO2 module. sclk_str2 and sda_ack2 are driven to SIO2 module and they get asserted once device wakes up from sleep. This bit is valid only when I2C.CFG[6] is asserted." hidden="false" />
+      <field name="pselect" from="6" to="6" access="RW" resetVal="" desc="I2C Pin Select for SCL/SDA lines from GPIO/SIO, 0 = SCL and SDA lines get their inputs from GPIO module.sclk_str0 and sda_ack0 are driven to GPIO module and they get asserted once device wakes up from sleep. 1 = SCL and SDA lines get their inputs from one of the SIO Blocks that is chosen based on the configuration of bit I2C.CFG[7]" hidden="false" />
+      <field name="bus_error_ie" from="5" to="5" access="RW" resetVal="" desc="Bus Error Interrupt Enable 0 disabled 1 enabled. An interrupt is generated on the detection of a Bus error condition." hidden="false" />
+      <field name="stop_ie" from="4" to="4" access="RW" resetVal="" desc="Stop Interrupt Enable 0 disabled 1 enabled. An interrupt is generated on the detection of a Stop condition." hidden="false" />
+      <field name="clock_rate" from="2" to="2" access="RW" resetVal="" desc="0 Samples/bit is 16, 1 Samples/bit is 32" hidden="false" />
+      <field name="en_mstr" from="1" to="1" access="RW" resetVal="" desc="Enables master mode for the device" hidden="false" />
+      <field name="en_slave" from="0" to="0" access="RW" resetVal="" desc="Enables Slave mode for the device" hidden="false" />
+    </register>
+    <register name="I2C_1_FF_CSR" address="0x400049D7" bitWidth="8" desc="I2C Control and Status Register" hidden="false">
+      <field name="bus_error" from="7" to="7" access="RW" resetVal="" desc="It must be cleared by firmware by writing a '0' to the bit position. It is never cleared by the hardware. 1 a misplaced Start or Stop condition was detected. This bit is held zero if I2C_CFG.en_mstr and I2C_CFG.en_slave are both zero." hidden="false" />
+      <field name="lost_arb" from="6" to="6" access="RW" resetVal="" desc="This bit is set immediately on lost arbitration; however, it does not cause an interrupt. This status may be checked after the following Byte Complete interrupt. Any Start detect or a write to the Start or Restart generate bits (MCSR register), when operating in Master mode, will also clear the bit. 1 lost Arbitration. This bit is held zero if I2C_CFG.en_mstr is zero." hidden="false" />
+      <field name="stop_status" from="5" to="5" access="RW" resetVal="" desc="It must be cleared by firmware with write of '0' to the bit position. It is never cleared by the hardware. 1 a Stop condition was detected. This bit is held zero if I2C_CFG.en_mstr and I2C_CFG.en_slave are both zero." hidden="false" />
+      <field name="ack" from="4" to="4" access="RW" resetVal="" desc="Acknowledge Out. Bit is automatically cleared by hardware on a Byte Complete event. 0 nack the last received byte. 1 ack the last received byte" hidden="false" />
+      <field name="address" from="3" to="3" access="RW" resetVal="" desc="It must be cleared by firmware with write of '0' to the bit position. 1 the received byte is a slave address. This bit is held zero if I2C_CFG.en_mstr and I2C_CFG.en_slave are both zero" hidden="false" />
+      <field name="transmit" from="2" to="2" access="RW" resetVal="" desc="Bit is set by firmware to define the direction of the byte transfer. Any Start detect will clear the bit. 0 receive mode 1 transmit mode. This bit is held zero if I2C_CFG.en_mstr and I2C_CFG.en_slave are both zero." hidden="false" />
+      <field name="lrb" from="1" to="1" access="RW" resetVal="" desc="Last Received Bit. The value of the 9th bit in a Transmit sequence, which is the acknowledge bit from the receiver. Any Start detect or a write to the Start or Restart generate bits, when operating in Master mode, will also clear the bit. 0 last transmitted byte was ACK'ed by the receiver. 1 last transmitted byte was NACK'ed by the receiver. This bit is held zero if I2C_CFG.en_mstr and I2C_CFG.en_slave are both zero." hidden="false" />
+      <field name="byte_complete" from="0" to="0" access="RW" resetVal="" desc="Transmit/Receive Mode: 0 no completed transmit/receive since last cleared by firmware. Any Start detect or a write to the start or Restart generate bits, when operating in Master mode, will also clear the bit. Transmit mode: 1 eight bits of data have been transmitted and an ACK or NACK has been received. Receive mode: 1 eight bits of data have been received. This bit is held zero if I2C_CFG.en_mstr and I2C_CFG.en_slave are both zero." hidden="false" />
+    </register>
+    <register name="I2C_1_FF_DATA" address="0x400049D8" bitWidth="8" desc="I2C Data Register" hidden="false">
+      <field name="data" from="7" to="0" access="RW" resetVal="" desc="Read received data or write data to transmit. These bits are held zero if I2C_CFG.en_mstr and I2C_CFG.en_slave are both zero." hidden="false" />
+    </register>
+    <register name="I2C_1_FF_MCSR" address="0x400049D9" bitWidth="8" desc="Master Control and Status Register: I2C_MCSR" hidden="false">
+      <field name="stop_gen" from="4" to="4" access="RW" resetVal="" desc="This bit is set only for master transmitter and used at the end of byte transfer. After byte complete status is set, if this bit is set followed by the Transmit bit in I2C.CSR register, Stop condition is generated after byte complete. This bit is automatically reset to 0 after the Stop, start or Restart has been generated. During data phase, if Stop Gen bit is set to 0, clearing the Transmit bit in I2C.CSR register will also generate a Stop condition. This bit is held zero if I2C_CFG.en_mstr and I2C_CFG.en_slave are both zero." hidden="false" />
+      <field name="bus_busy" from="3" to="3" access="R" resetVal="" desc="This bit is set to the following. 0 when a Stop condition is detected (from any bus master). 1 when a Start condition is detected (from any bus master). This bit is held zero if I2C_CFG.en_mstr and I2C_CFG.en_slave are both zero." hidden="false" />
+      <field name="master_mode" from="2" to="2" access="R" resetVal="" desc="This bit is set/cleared by hardware when the device is operating as a master. 0 stop condition detected, generated by this device. 1 start condition detected, generated by this device. This bit is held zero if I2C_CFG.en_mstr and I2C_CFG.en_slave are both zero." hidden="false" />
+      <field name="restart_gen" from="1" to="1" access="RW" resetVal="" desc="This bit is cleared by hardware when the Restart generation is complete. 0 restart generation complete. 1 generate a Restart condition. This bit is held zero if I2C_CFG.en_mstr and I2C_CFG.en_slave are both zero." hidden="false" />
+      <field name="start_gen" from="0" to="0" access="RW" resetVal="" desc="This bit is cleared by hardware when the Start generation is complete. 0 start generation complete. 1 generate a Start condition and send a byte (address) to the I2C bus, if bus is not busy. This bit is held zero if I2C_CFG.en_mstr and I2C_CFG.en_slave are both zero." hidden="false" />
+    </register>
+    <register name="I2C_1_FF_CLK_DIV1" address="0x400049DB" bitWidth="8" desc="I2C Clock Divide Factor Register-1" hidden="false">
+      <field name="Div" from="7" to="0" access="RW" resetVal="" desc="The configuration of this register along with that in register CLK_DIV2 defines the factor by which the SYSCLK will be divided in the I2C block. These bits are held zero if I2C_CFG.en_mstr and I2C_CFG.en_slave are both zero." hidden="false" />
+    </register>
+    <register name="I2C_1_FF_CLK_DIV2" address="0x400049DC" bitWidth="8" desc="I2C Clock Divide Factor Register-2" hidden="false">
+      <field name="Div" from="1" to="0" access="RW" resetVal="" desc="The configuration of this register along with that in register CLK_DIV1 defines the factor by whichthe SYSCLK will be divided in the I2C block. These bits are held zero if I2C_CFG.en_mstr and I2C_CFG.en_slave are both zero." hidden="false" />
+    </register>
+    <register name="I2C_1_FF__TMOUT_CSR" address="0x400049DD" bitWidth="8" desc="I2C Timerout Control and Status Register" hidden="false">
+      <field name="sda_pin_status" from="4" to="4" access="RW" resetVal="" desc="SDA Line status." hidden="false" />
+      <field name="scl_pin_status" from="3" to="3" access="RW" resetVal="" desc="SCL Line status." hidden="false" />
+      <field name="i2c_timeout_int_enable" from="2" to="2" access="R" resetVal="" desc="I2C Timeout interrupt enable." hidden="false" />
+      <field name="i2c_sda_timeout_enable" from="1" to="1" access="RW" resetVal="" desc="I2C SDA Timeout enable." hidden="false" />
+      <field name="i2c_scl_timeout_enable" from="0" to="0" access="RW" resetVal="" desc="I2C SCL Timeout enable." hidden="false" />
+    </register>
+    <register name="I2C_1_FF__TMOUT_SR" address="0x400049DE" bitWidth="8" desc="I2C Timerout Status Register" hidden="false">
+      <field name="sda_tmout_status" from="1" to="1" access="RW" resetVal="" desc="SDA Timeout status." hidden="false" />
+      <field name="scl_tmout_status" from="0" to="0" access="RW" resetVal="" desc="SCL Timeout status." hidden="false" />
+    </register>
+    <register name="I2C_1_FF__TMOUT_CFG0" address="0x400049DF" bitWidth="8" desc="I2C Timerout Period Configuration Register-0" hidden="false">
+      <field name="timeout_period_lowbyte" from="7" to="0" access="RW" resetVal="" desc="The configuration of this register along with that in register TMOUT_CFG1 to define the number units before SCL or SDA stuck low timeout triggers the I2C interrupt. The one unit is equal to SYSCLK/1024. The TMOUT_CFG0 defines lower byte of the period." hidden="false" />
+    </register>
+    <register name="I2C_1_FF__TMOUT_CFG1" address="0x400049E0" bitWidth="8" desc="Extended Configuration Register: TMOUT_CFG1" hidden="false">
+      <field name="timeout_period_highnibble" from="3" to="0" access="RW" resetVal="" desc="The configuration of this register along with that in register TMOUT_CFG1 to define the number units before SCL or SDA stuck low timeout triggers the I2C interrupt. The one unit is equal to SYSCLK/1024. The TMOUT_CFG1 defines higher octet of the period." hidden="false" />
+    </register>
+  </block>
+  <block name="Resistor_Red_1" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_31" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_30" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_29" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="GND_2" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_33" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_32" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="ZeroTerminal_1" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="Led_Red" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="P2_7" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_00" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="Clock_1" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="P2_4" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="P2_5" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="P2_6" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="PWM_LED" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false">
+    <block name="vmIRQ" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="vmCompare" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="ZeroTerminal_1" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="FFKillMux" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="OneTerminal_1" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="vmTC" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <block name="PWMHW" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+    <register name="PWM_LED_GLOBAL_ENABLE" address="0x400043A3" bitWidth="8" desc="PM.ACT.CFG" hidden="false">
+      <field name="en_timer" from="3" to="0" access="RW" resetVal="" desc="Enable timer/counters." hidden="false" />
+    </register>
+    <register name="PWM_LED_CONTROL" address="0x40004F00" bitWidth="8" desc="TMRx.CFG0" hidden="false">
+      <field name="EN" from="0" to="0" access="RW" resetVal="" desc="Enables timer/comparator." hidden="false" />
+      <field name="MODE" from="1" to="1" access="R" resetVal="" desc="Mode. (0 = Timer; 1 = Comparator)" hidden="false">
+        <value name="Timer" value="0" desc="Timer mode. CNT/CMP register holds timer count value." />
+        <value name="Comparator" value="1" desc="Comparator mode. CNT/CMP register holds comparator threshold value." />
+      </field>
+      <field name="ONESHOT" from="2" to="2" access="RW" resetVal="" desc="Timer stops upon reaching stop condition defined by TMR_CFG bits. Can be restarted by asserting TIMER RESET or disabling and re-enabling block." hidden="false" />
+      <field name="CMP_BUFF" from="3" to="3" access="RW" resetVal="" desc="Buffer compare register. Compare register updates only on timer terminal count." hidden="false" />
+      <field name="INV" from="4" to="4" access="RW" resetVal="" desc="Invert sense of TIMEREN signal" hidden="false" />
+      <field name="DB" from="5" to="5" access="RW" resetVal="" desc="Deadband mode--Deadband phases phi1 and phi2 are outputted on CMP and TC output pins respectively." hidden="false">
+        <value name="Timer" value="0" desc="CMP and TC are output." />
+        <value name="Deadband" value="1" desc="PHI1 (instead of CMP) and PHI2 (instead of TC) are output." />
+      </field>
+      <field name="DEADBAND_PERIOD" from="7" to="6" access="RW" resetVal="" desc="Deadband Period" hidden="false" />
+    </register>
+    <register name="PWM_LED_CONTROL2" address="0x40004F01" bitWidth="8" desc="TMRx.CFG1" hidden="false">
+      <field name="IRQ_SEL" from="0" to="0" access="RW" resetVal="" desc="Irq selection. (0 = raw interrupts; 1 = status register interrupts)" hidden="false" />
+      <field name="FTC" from="1" to="1" access="RW" resetVal="" desc="First Terminal Count (FTC). Setting this bit forces a single pulse on the TC pin when first enabled." hidden="false">
+        <value name="Disable FTC" value="0" desc="Disable the single cycle pulse, which signifies the timer is starting." />
+        <value name="Enable FTC" value="1" desc="Enable the single cycle pulse, which signifies the timer is starting." />
+      </field>
+      <field name="DCOR" from="2" to="2" access="RW" resetVal="" desc="Disable Clear on Read (DCOR) of Status Register SR0." hidden="false" />
+      <field name="DBMODE" from="3" to="3" access="RW" resetVal="" desc="Deadband mode (asynchronous/synchronous). CMP output pin is also affected when not in deadband mode (CFG0.DEADBAND)." hidden="false" />
+      <field name="CLK_BUS_EN_SEL" from="6" to="4" access="RW" resetVal="" desc="Digital Global Clock selection." hidden="false" />
+      <field name="BUS_CLK_SEL" from="7" to="7" access="RW" resetVal="" desc="Bus Clock selection." hidden="false" />
+    </register>
+    <register name="PWM_LED_CONTROL3_" address="0x40004F02" bitWidth="8" desc="TMRx.CFG2" hidden="false">
+      <field name="TMR_CFG" from="1" to="0" access="RW" resetVal="" desc="Timer configuration (MODE = 0): 000 = Continuous; 001 = Pulsewidth; 010 = Period; 011 = Stop on IRQ" hidden="false">
+        <value name="Continuous" value="0" desc="Timer runs while EN bit of CFG0 register is set to '1'." />
+        <value name="Pulsewidth" value="1" desc="Timer runs from positive to negative edge of TIMEREN." />
+        <value name="Period" value="10" desc="Timer runs from positive to positive edge of TIMEREN." />
+        <value name="Irq" value="11" desc="Timer runs until IRQ." />
+      </field>
+      <field name="COD" from="2" to="2" access="RW" resetVal="" desc="Clear On Disable (COD). Clears or gates outputs to zero." hidden="false" />
+      <field name="ROD" from="3" to="3" access="RW" resetVal="" desc="Reset On Disable (ROD). Resets internal state of output logic" hidden="false" />
+      <field name="CMP_CFG" from="6" to="4" access="RW" resetVal="" desc="Comparator configurations" hidden="false">
+        <value name="Equal" value="0" desc="Compare Equal " />
+        <value name="Less than" value="1" desc="Compare Less Than " />
+        <value name="Less than or equal" value="10" desc="Compare Less Than or Equal ." />
+        <value name="Greater" value="11" desc="Compare Greater Than ." />
+        <value name="Greater than or equal" value="100" desc="Compare Greater Than or Equal " />
+      </field>
+      <field name="HW_EN" from="7" to="7" access="RW" resetVal="" desc="When set Timer Enable controls counting." hidden="false" />
+    </register>
+    <register name="PWM_LED_PERIOD" address="0x40004F04" bitWidth="16" desc="TMRx.PER0 - Assigned Period" hidden="false" />
+    <register name="PWM_LED_COMPARE" address="0x40004F06" bitWidth="16" desc="TMRx.CNT_CMP0 - Assigned Compare Value" hidden="false" />
+  </block>
+  <block name="Led_Blue" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="ZeroTerminal_2" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="Led_Green" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="Led_Key" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_01" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_11" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_10" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_09" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_14" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_13" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_12" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_08" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_04" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_03" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_02" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_07" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_06" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+  <block name="BIO_05" BASE="0x0" SIZE="0x0" desc="" visible="true" hidden="false" />
+</blockRegMap>
\ No newline at end of file
diff --git a/robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/Pri01_ROBOSOM_Template_Bootloadable.cydwr b/robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/Pri01_ROBOSOM_Template_Bootloadable.cydwr
new file mode 100644
index 0000000..3d3507e
--- /dev/null
+++ b/robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/Pri01_ROBOSOM_Template_Bootloadable.cydwr
@@ -0,0 +1,3999 @@
+<?xml version="1.0" encoding="utf-8"?>
+<DesignWideResources xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://cypress.com/xsd/cydwr">
+  <Group key="Clock2">
+    <Data key="ClockSolver" value="1" />
+    <Group key="DesigneWideClks" />
+    <Group key="LocalClks">
+      <Group key="2c366327-8ea9-4813-ab0d-a7ce473af76e/ccbbccde-4db5-4009-af85-8e8bae589faa">
+        <Data key="check_tolerance" value="True" />
+        <Data key="clock_version" value="v1" />
+        <Data key="derive_type" value="NAMED_DIVIDER" />
+        <Data key="desired_freq" value="0" />
+        <Data key="desired_unit" value="15" />
+        <Data key="divider" value="0" />
+        <Data key="domain" value="DIGITAL" />
+        <Data key="enabled" value="True" />
+        <Data key="minus_accuracy" value="0.001" />
+        <Data key="minus_tolerance" value="1.5" />
+        <Data key="name" value="CAN_1_Clock" />
+        <Data key="named_src_direct_connect" value="True" />
+        <Data key="netlist_name" value="\CAN_1:Clock\" />
+        <Data key="placement" value="AUTO" />
+        <Data key="plus_accuracy" value="0.001" />
+        <Data key="plus_tolerance" value="1.5" />
+        <Data key="scope" value="LOCAL" />
+        <Data key="src_clk_id" value="75C2148C-3656-4d8a-846D-0CAE99AB6FF7" />
+        <Data key="src_clk_name" value="BUS_CLK" />
+        <Data key="start_on_reset" value="True" />
+        <Data key="sync_with_bus_clk" value="True" />
+        <Data key="user_set_domain" value="False" />
+      </Group>
+      <Group key="3aa212d1-6141-4cab-9749-2667439785ef/be0a0e37-ad17-42ca-b5a1-1a654d736358">
+        <Data key="check_tolerance" value="True" />
+        <Data key="clock_version" value="v1" />
+        <Data key="derive_type" value="AUTO" />
+        <Data key="desired_freq" value="921.6" />
+        <Data key="desired_unit" value="3" />
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+    <Group key="SystemClks">
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+        <Data key="xtal_minus_Crystal_acuracy_name" value="0" />
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+      <Data key="cy_boot" value="cy_boot_v5_80" />
+      <Data key="Em_EEPROM_Dynamic" value="Em_EEPROM_Dynamic_v2_20" />
+      <Data key="LIN_Dynamic" value="LIN_Dynamic_v5_0" />
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diff --git a/robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/Pri01_ROBOSOM_Template_Bootloadable.cyprj b/robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/Pri01_ROBOSOM_Template_Bootloadable.cyprj
new file mode 100644
index 0000000..9fb5412
--- /dev/null
+++ b/robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/Pri01_ROBOSOM_Template_Bootloadable.cyprj
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diff --git a/robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/main.c b/robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/main.c
new file mode 100644
index 0000000..fb8a9b3
--- /dev/null
+++ b/robosom_psoc_ws/Pri01_ROBOSOM_Template_Bootloadable.cydsn/main.c
@@ -0,0 +1,49 @@
+/* ========================================
+ *
+ * Copyright YOUR COMPANY, THE YEAR
+ * All Rights Reserved
+ * UNPUBLISHED, LICENSED SOFTWARE.
+ *
+ * CONFIDENTIAL AND PROPRIETARY INFORMATION
+ * WHICH IS THE PROPERTY OF your company.
+ *
+ * ========================================
+*/
+#include "project.h"
+#include "stdio.h"
+
+int main(void)
+{
+    uint8_t led_test = 0;
+    
+    CyGlobalIntEnable; /* Enable global interrupts. */
+    
+    PWM_LED_Start();
+   
+    /* Turn off LEDs */
+    Led_Red_Write(0);
+    Led_Green_Write(0);
+    Led_Blue_Write(0);
+    Led_Key_Write(1);
+    
+    CyDelay(100);
+       
+    for(;;)
+    {
+        led_test++;
+        
+        Led_Red_Write((led_test >> 0) & 0x01);
+        Led_Green_Write((led_test >> 1) & 0x01);
+        Led_Blue_Write((led_test >> 2) & 0x01);   
+
+        if (Led_Key_Read() == 0)
+        {
+            led_test = 0;
+        }
+          
+        
+        CyDelay(500);       
+    }
+}
+
+/* [] END OF FILE */
diff --git a/robosom_psoc_ws/robosom_psoc_ws.cywrk b/robosom_psoc_ws/robosom_psoc_ws.cywrk
index be5572e..d90bc45 100644
--- a/robosom_psoc_ws/robosom_psoc_ws.cywrk
+++ b/robosom_psoc_ws/robosom_psoc_ws.cywrk
@@ -3,11 +3,12 @@
 <!--This file is machine generated and read. It is not intended to be edited by hand.-->
 <!--Due to this, there is no schema for this file.-->
 <CyGuid_2867d519-54d2-4c01-9830-c51cb08bc3dd type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtWorkspaceSerialize" version="5" xml_contents_version="3" name="robosom_psoc_ws" persistent="robosom_psoc_ws.cywrk" platform="NOT_USED">
-<current_project name=".\Pri00_ROBOSOM_Bootloader.cydsn\Pri00_ROBOSOM_Bootloader.cyprj" />
+<current_project name=".\Pri01_ROBOSOM_Template_Bootloadable.cydsn\Pri01_ROBOSOM_Template_Bootloadable.cyprj" />
 <wrkspc_folders />
 <files />
 <projects>
 <v>.\Pri00_ROBOSOM_Bootloader.cydsn\Pri00_ROBOSOM_Bootloader.cyprj</v>
+<v>.\Pri01_ROBOSOM_Template_Bootloadable.cydsn\Pri01_ROBOSOM_Template_Bootloadable.cyprj</v>
 </projects>
 <workspace_id v="43adb24a-68a4-4637-884f-83778c930dfb" />
 <WriteAppVersionLastSavedWith v="4.2.0.641" />